Feature/pre commit (#35)

* Set pre-commit & run

* Reflect cpp clang error

Author: LimHyungTae

.clang-format

@@ -0,0 +1,108 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignOperands: true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: true
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: false
+BinPackParameters: false
+BraceWrapping:
+  AfterClass: false
+  AfterControlStatement: false
+  AfterEnum: false
+  AfterFunction: false
+  AfterNamespace: false
+  AfterObjCDeclaration: false
+  AfterStruct: false
+  AfterUnion: false
+  BeforeCatch: false
+  BeforeElse: false
+  IndentBraces: false
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+CommentPragmas: "^ IWYU pragma:"
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: true
+DisableFormat: false
+ExperimentalAutoDetectBinPacking: false
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeCategories:
+  # Spacers
+  - Regex: "^<clang-format-priority-15>$"
+    Priority: 15
+  - Regex: "^<clang-format-priority-25>$"
+    Priority: 25
+  - Regex: "^<clang-format-priority-35>$"
+    Priority: 35
+  - Regex: "^<clang-format-priority-45>$"
+    Priority: 45
+  # C system headers
+  - Regex: '^[<"](aio|arpa/inet|assert|complex|cpio|ctype|curses|dirent|dlfcn|errno|fcntl|fenv|float|fmtmsg|fnmatch|ftw|glob|grp|iconv|inttypes|iso646|langinfo|libgen|limits|locale|math|monetary|mqueue|ndbm|netdb|net/if|netinet/in|netinet/tcp|nl_types|poll|pthread|pwd|regex|sched|search|semaphore|setjmp|signal|spawn|stdalign|stdarg|stdatomic|stdbool|stddef|stdint|stdio|stdlib|stdnoreturn|string|strings|stropts|sys/ipc|syslog|sys/mman|sys/msg|sys/resource|sys/select|sys/sem|sys/shm|sys/socket|sys/stat|sys/statvfs|sys/time|sys/times|sys/types|sys/uio|sys/un|sys/utsname|sys/wait|tar|term|termios|tgmath|threads|time|trace|uchar|ulimit|uncntrl|unistd|utime|utmpx|wchar|wctype|wordexp)\.h[">]$'
+    Priority: 10
+  # C++ system headers
+  - Regex: '^[<"](algorithm|any|array|atomic|bitset|cassert|ccomplex|cctype|cerrno|cfenv|cfloat|charconv|chrono|cinttypes|ciso646|climits|clocale|cmath|codecvt|complex|condition_variable|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype|deque|exception|execution|filesystem|forward_list|fstream|functional|future|initializer_list|iomanip|ios|iosfwd|iostream|istream|iterator|limits|list|locale|map|memory|memory_resource|mutex|new|numeric|optional|ostream|queue|random|ratio|regex|scoped_allocator|set|shared_mutex|sstream|stack|stdexcept|streambuf|string|string_view|strstream|system_error|thread|tuple|type_traits|typeindex|typeinfo|unordered_map|unordered_set|utility|valarray|variant|vector)[">]$'
+    Priority: 20
+  # Other library h files (with angles)
+  - Regex: "^<"
+    Priority: 30
+  # Your project's h files (with angles)
+  - Regex: "^<khronos"
+    Priority: 40
+  # Your project's h files
+  - Regex: '^"khronos'
+    Priority: 50
+IndentCaseLabels: true
+IndentWidth: 2
+IndentWrappedFunctionNames: false
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ""
+MacroBlockEnd: ""
+ColumnLimit: 100
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: false
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+ReflowComments: true
+SortIncludes: true
+SpaceAfterCStyleCast: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: Auto
+TabWidth: 4
+UseTab: Never

.gitignore

@@ -130,4 +130,3 @@ local.properties
 .sts4-cache/
 
 # End of https://www.gitignore.io/api/c++,code,cmake,eclipse
-

.pre-commit-config.yaml

@@ -0,0 +1,36 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: check-yaml
+      - id: check-json
+      - id: check-xml
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
+      - id: check-added-large-files
+      - id: check-merge-conflict
+
+  - repo: https://github.com/psf/black
+    rev: "23.7.0"
+    hooks:
+      - id: black
+
+  # - repo: https://github.com/pylint-dev/pylint
+  #   rev: "v3.0.0a6"
+  #   hooks:
+  #     - id: pylint
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: "v16.0.6"
+    hooks:
+      - id: clang-format
+
+  - repo: https://github.com/cpplint/cpplint
+    rev: "1.6.1"
+    hooks:
+      - id: cpplint
+        args:
+          [
+            "--filter=-whitespace/line_length,-legal/copyright,-build/include_order,-runtime/references,-build/c++11,-build/namespaces,-build/header_guard,-runtime/string",
+          ]
+        exclude: '3rd_party/|include/label_generator/nanoflann\.hpp|include/label_generator/nanoflann_utils\.hpp'

README.md

@@ -27,15 +27,15 @@
 
 ---
 
-**IMPORTANT**: (Aug. 18th, 2024) I employ TBB, so its FPS is increased from **50 Hz** to **100 Hz**! 
+**IMPORTANT**: (Aug. 18th, 2024) I employ TBB, so its FPS is increased from **50 Hz** to **100 Hz**!
 If you want to use the paper version of Patchwork for SOTA comparison purpose, Please use this [ground seg. benchmark code](https://github.com/url-kaist/Ground-Segmentation-Benchmark).
 
 
 Patchwork                  |  Concept of our method (CZM & GLE)
 :-------------------------:|:-------------------------:
 ![](img/patchwork_concept_resized.jpg) |  ![](img/patchwork.gif)
 
-It's an overall updated version of **R-GPF of ERASOR** [**[Code](https://github.com/LimHyungTae/ERASOR)**] [**[Paper](https://arxiv.org/abs/2103.04316)**]. 
+It's an overall updated version of **R-GPF of ERASOR** [**[Code](https://github.com/LimHyungTae/ERASOR)**] [**[Paper](https://arxiv.org/abs/2103.04316)**].
 
 ---
 
@@ -64,7 +64,7 @@ The code is tested successfully at
 ## :package: Prerequisite Installation
 
 ### ROS Setting
-- 1. Install [ROS](http://torch.ch/docs/getting-started.html) on a machine. 
+- 1. Install [ROS](http://torch.ch/docs/getting-started.html) on a machine.
 - 2. Thereafter, [jsk-visualization](https://github.com/jsk-ros-pkg/jsk_visualization) is required to visualize Ground Likelihood Estimation status.
 
 ```bash
@@ -83,7 +83,7 @@ sudo apt-get install ros-melodic-jsk-rviz-plugins
 mkdir -p ~/catkin_ws/src
 cd ~/catkin_ws/src
 git clone https://github.com/LimHyungTae/patchwork.git
-cd .. && catkin build patchwork 
+cd .. && catkin build patchwork
 ```
 
 ## :gear: How to Run Patchwork
@@ -119,10 +119,10 @@ _____labels
      |___000002.label
      |...
 _____...
-   
+
 ```
 
-3. Run launch file 
+3. Run launch file
 ```
 roslaunch patchwork offline_kitti.launch
 ```
@@ -137,7 +137,7 @@ It is easy by re-using `run_patchwork.launch`.
 Other important parameters are
 * If you feel too many below parts of non-ground points are considered as ground, lower `th_seeds` and `th_dist`.
 * If your environment is mostly flat, then turn on `using_global_elevation` as `true`.
-* Change `min_r`, `max_r`, and `evelation_thresholds` 
+* Change `min_r`, `max_r`, and `evelation_thresholds`
 
 If you are unsure about the `sensor_height`, simply launch Patchwork and set the `sensor_height` value in the terminal as shown below.
 
@@ -161,17 +161,17 @@ roslaunch patchwork run_patchwork.launch is_kitti:=false
 Note that `is_kitti=false` is important! Because it decides which rviz is opened. The rviz shows only estimated ground and non-ground because your own dataset may have no point-wise labels.
 
 4. Then play your bag file!
- 
+
 ```
 rosbag play $YOUR_BAG_FILE_NAME$.bag
 ```
 
-<details> 
+<details>
   <summary><strong>Exercise with the <a href="https://github.com/MIT-SPARK/Kimera-Multi-Data">Kimera-Multi dataset</a></strong></summary>
   For the Kimera-Multi dataset, you can use the following command:
 
   ```angular2html
-    roslaunch patchwork run_patchwork_kimera_multi.launch 
+    roslaunch patchwork run_patchwork_kimera_multi.launch
   ```
 
   Then, play the bag file as follows:
@@ -191,7 +191,7 @@ rosbag play $YOUR_BAG_FILE_NAME$.bag
 
 ### :mag: Own dataset using pcd files
 
-Please refer to `/nodes/offilne_own_data.cpp`. 
+Please refer to `/nodes/offilne_own_data.cpp`.
 
 (Note that in your own data format, there may not exist ground truth labels!)
 
@@ -209,7 +209,7 @@ For better understanding of the parameters of Patchwork, please read [our wiki,
 
 2. Please check the output by following command and corresponding files:
 
-3. Set appropriate absolute file directory, i.e. `file_dir`, in `offline_ouster128.launch` 
+3. Set appropriate absolute file directory, i.e. `file_dir`, in `offline_ouster128.launch`
 ```
 roslaunch patchwork offline_ouster128.launch
 ```
@@ -228,9 +228,9 @@ If you use our code or method in your work, please consider citing the following
 
 ---------
 
---- 
+---
 
-## Updates 
+## Updates
 
 #### NEWS (22.12.24)
 - Merry christmas eve XD! `include/label_generator` is added to make the `.label` file, following the SemanticKITTI format.
@@ -241,11 +241,11 @@ If you use our code or method in your work, please consider citing the following
 - Pybinding + more advanced version is now available on [Patchwork++](https://github.com/url-kaist/patchwork-plusplus) as a preprocessing step for deep learning users (i.e., python users can also use our robust ground segmentation)!
 
 #### NEWS (22.07.13)
-- For increasing convenience of use, the examples and codes are extensively revised by reflecting [issue #12](https://github.com/LimHyungTae/patchwork/issues/12). 
+- For increasing convenience of use, the examples and codes are extensively revised by reflecting [issue #12](https://github.com/LimHyungTae/patchwork/issues/12).
 
 #### NEWS (22.05.22)
 - The meaning of `elevation_thresholds` is changed to increase the usability. The meaning is explained in [wiki](https://github.com/LimHyungTae/patchwork/wiki/4.-IMPORTANT:-Setting-Parameters-of-Patchwork-in-Your-Own-Env.).
-- A novel height estimator, called *All-Terrain Automatic heighT estimator (ATAT)* is added within the patchwork code, which auto-calibrates the sensor height using the ground points in the vicinity of the vehicle/mobile robot. 
+- A novel height estimator, called *All-Terrain Automatic heighT estimator (ATAT)* is added within the patchwork code, which auto-calibrates the sensor height using the ground points in the vicinity of the vehicle/mobile robot.
   - Please refer to the function `consensus_set_based_height_estimation()`.
 
 #### NEWS (21.12.27)
@@ -259,5 +259,3 @@ roslaunch patchwork pub_for_legoloam.launch
 rosbag play {YOUR_FILE_PATH}/KITTI_BAG/kitti_sequence_00.bag --clock /kitti/velo/pointcloud:=/velodyne_points
 ```
 - **This README about this LiDAR odometry is still incomplete. It will be updated soon!**
-
-

config/params_kitti.yaml

@@ -1,4 +1,4 @@
-# 22.05.02 Update 
+# 22.05.02 Update
 #          `sensor_height` denotes the elevation of the origin of the point cloud "with respect to the ground"
 #          So, it mostly have a positive value
 #          Note that if `patchwork/ATAT/ATAT_ON` is set to be true, the sensor_height is auto-calibrated
@@ -11,7 +11,7 @@ extrinsic_rot: [1, 0, 0,
                0, 1, 0,
                0, 0, 1]
 patchwork:
-    mode: "czm" 
+    mode: "czm"
     verbose: false  # To check effect of uprightness/elevation/flatness
     visualize: true # Ground Likelihood Estimation is visualized
     # Ground Plane Fitting parameters
@@ -28,20 +28,20 @@ patchwork:
     # For reject points caused by reflection or multipath problems.
     # it should be lower than -1.0
     adaptive_seed_selection_margin: -1.1
-    
+
     # It is not in the paper
     # It is also not matched our philosophy, but it is employed to reject some FPs easily & intuitively.
     # For patchwork, the global elevation threshold is only applied on Z3 and Z4
     using_global_elevation: false
     # W.r.t sensor frame (That is, if it is 0.0, then the candidates whose z is higher than z height of 3D LiDAR sensor are rejected
     global_elevation_threshold: -0.5
 
-    # 22.05.02 Update 
+    # 22.05.02 Update
     # ATAT is the abbrev. for All-Terrain Automatic heighT estimator
     # It automatically corrects the wrong sensor height input
     ATAT:
         ATAT_ON: true
-        # 22.05.02 Update 
+        # 22.05.02 Update
         # IMPORTANT - `max_r_for_ATAT` affects the quality of the estimation of sensor height
         # If it is too large, then the z-elevation values of the bins become more ambiguous
         # If it is too small, there is a potential risk that does not include the cloud points in the vicinity of the vehicles/mobile robots
@@ -63,6 +63,3 @@ patchwork:
         # That is, if the z-elevation of the bin is higher than -1.2, then the cloud points from the bin are rejected
         elevation_thresholds:  [0.523, 0.746, 0.879, 1.125] # For elevation. The size should be equal to flatness_thresholds vector
         flatness_thresholds:  [0.0005, 0.000725, 0.001, 0.001]  # For flatness. The size should be equal to elevation_thresholds vector
-         
-
-

config/params_ouster128.yaml

@@ -1,4 +1,4 @@
-# 22.05.02 Update 
+# 22.05.02 Update
 #          `sensor_height` denotes the elevation of the origin of the point cloud "with respect to the ground"
 #          So, it mostly have a positive value
 #          Note that if `patchwork/ATAT/ATAT_ON` is set to be true, the sensor_height is auto-calibrated
@@ -14,7 +14,7 @@ extrinsic_rot: [1, 0, 0,
                0, 1, 0,
                0, 0, 1]
 patchwork:
-    mode: "czm" 
+    mode: "czm"
     verbose: false # To check effect of uprightness/elevation/flatness
     visualize: true # Ground Likelihood Estimation is visualized
     # Ground Plane Fitting parameters
@@ -31,20 +31,20 @@ patchwork:
     # Tor rejecti points caused by reflection or multipath problems.
     # it should be lower than -1.0
     adaptive_seed_selection_margin: -1.1
-    
+
     # It is not in the paper
     # It is also not matched our philosophy, but it is employed to reject some FPs easily & intuitively.
     # For patchwork, the global elevation threshold is only applied on Z3 and Z4
     using_global_elevation: false
     # W.r.t sensor frame (That is, if it is 0.0, then the candidates whose z is higher than z height of 3D LiDAR sensor are rejected
     global_elevation_threshold: -0.5
-    
-    # 22.05.02 Update 
+
+    # 22.05.02 Update
     # ATAT is the abbrev. for All-Terrain Automatic heighT estimator
     # It automatically corrects the wrong sensor height input
     ATAT:
         ATAT_ON: true
-        # 22.05.02 Update 
+        # 22.05.02 Update
         # IMPORTANT - `max_r_for_ATAT` affects the quality of the estimation of sensor height
         # If it is too large, then the z-elevation values of the bins become more ambiguous
         # If it is too small, there is a potential risk that does not include the cloud points in the vicinity of the vehicles/mobile robots
@@ -70,6 +70,3 @@ patchwork:
         # Note that the size of below parameters are indepentent to `num_zones`!
         elevation_thresholds:  [0.5, 0.8, 1.0, 1.1] # For elevation. The size should be equal to flatness_thresholds vector
         flatness_thresholds:  [0.0, 0.000125, 0.000185, 0.000185]  # For flatness. The size should be equal to elevation_thresholds vector
-         
-
-