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Fixes pointed out by clang-tidy #310

Merged
merged 21 commits into from
Nov 11, 2019
Merged

Fixes pointed out by clang-tidy #310

merged 21 commits into from
Nov 11, 2019

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clalancette
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This is a bunch of small fixes pointed out when running clang-tidy against the codebase. Most of them are minor, though there is one fix in here that changes the calculation of the intensity to match the documentation. It's probably easiest to review this commit-by-commit, as I've split them up logically.

@clalancette
Rearrange header includes so clang-tidy is happy.
b9f09f7 
The ament checkers are also happy with this arrangement.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Get rid of unnecessary void arguments on methods.
a7bc2f2 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Properly mark methods as override where appropriate.
1141894 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Initialize members and stack variables to zero before use.
e71f13b 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Mark function implementations in header files 'inline'.
e2ddc2f 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Use more efficient 'empty' method instead of empty string.
faf38e2 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Get rid of unnecessary else statements after a continue/return.
e9029aa 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Get rid of unnecessary == false use.
ba8c2b0 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Make sure to add a virtual destructor to DataContainerBase.
d4beb8b 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Use string != comparison instead of 'compare' method.
e3304fe 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Rename PointcloudXYZIR parameter name to match implementation.
2664193 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Get rid of usage of typedef.
b2fe01b 
Also use C++-style reinterpret_cast instead of C-style cast.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Be more explicit about using floats.
ea755bd 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Do an explicit lround to do int->float conversion.
7d94f5b 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Fix the intensity calculation.
7c35acd 
There are a few problems.  First is that it was doing an
integer divide, which seems like it would be always 0.  Second,
the number that was being used was the raw integer, not the
distance.  Finally, the order of operations meant that it wasn't
actually implementing the algorithm shown in the VLP documentation.
This commit fixes all of those problems.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Remove the azimuth from addPoint.
b988943 
None of the implementations use it.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Make sure to reset the cloud data to 0 before reusing.
098058b 
We were seeing artifacts in the organize_cloud case that this removes.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Use underscores on pointcloud member variables.
e4df08b 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Using std::lround means we don't need to add 0.5 to the result.
b4ceb19 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Slightly rearrange and simplify range checks.
c229f29 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Add in example launch files for VLP32C.
2670244 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
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There are a lot of changes here, but most of them are cleanup or making things more nice. There are 2 important bugfixes that I'll call out separately:

  • 7c35acd - This changes the intensity calculation to follow the guidance in the VLP datasheet.
  • 098058b - This clears out the data in the pointcloud before using it, which gets rid of some odd artifacts when using organize_cloud along with view_width.

Both of these could be considered to be backported to the ROS 1 version.

JWhitleyWork
JWhitleyWork approved these changes Nov 8, 2019
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@JWhitleyWork JWhitleyWork left a comment

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Everything looks good to me. Most of them are pretty straight-forward. Since this changes the intensity reading, have you tried it on a sensor? Did you notice anything obvious?

@clalancette
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Everything looks good to me. Most of them are pretty straight-forward. Since this changes the intensity reading, have you tried it on a sensor? Did you notice anything obvious?

I did try it out on both the VLP16 and VLP32C I have, and nothing was obviously wrong in the RViz2 visualization. However, I'm honestly not entirely sure how to test that it is doing the "right" thing; any thoughts there?

@JWhitleyWork
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Now that I think about it, the only way would be using a target with a known reflectivity and I doubt you have one of those lying around. If intensity appears to still be working in general, I'm OK with merging.

@JWhitleyWork JWhitleyWork merged commit 8091dda into ros-drivers:dashing-devel Nov 11, 2019
@clalancette
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Now that I think about it, the only way would be using a target with a known reflectivity and I doubt you have one of those lying around. If intensity appears to still be working in general, I'm OK with merging.

Good assumption :). Thanks for the review and merge!

@clalancette clalancette deleted the clang-tidy-fixes branch November 11, 2019 13:49
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@JWhitleyWork JWhitleyWork JWhitleyWork approved these changes

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