Revert "Address review comments, run clang-format on whitelist"

gnawme · gnawme · commit b756b9b4b924 · 2025-12-01T09:53:17.000-08:00
This reverts commit 60a7ee4.
diff --git a/.clang-tidy b/.clang-tidy
@@ -53,5 +53,5 @@ Checks: >
     readability-simplify-subscript-expr,
 WarningsAsErrors: '*'
 CheckOptions:
-        - {key: modernize-use-auto.MinTypeNameLength, value: 7}
+    - {key: modernize-use-auto.MinTypeNameLength, value: 7}
 UseColor: true
diff --git a/.github/workflows/clang-tidy.yml b/.github/workflows/clang-tidy.yml
@@ -20,5 +20,5 @@ jobs:
             -DBUILD_surface_on_nurbs=ON \
             -DBUILD_simulation=ON \
             -DBUILD_global_tests=ON
-   
+          
           run-clang-tidy -header-filter='.*'
diff --git a/2d/include/pcl/2d/convolution.h b/2d/include/pcl/2d/convolution.h
@@ -53,7 +53,7 @@ struct EIGEN_ALIGN16 PointXYZIEdge {
   float magnitude_x;
   float magnitude_y;
   PCL_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned
-}; // enforce SSE padding for correct memory alignment
+};                              // enforce SSE padding for correct memory alignment
 
 /// A 2D convolution class.
 template <typename PointT>
diff --git a/geometry/include/pcl/geometry/mesh_indices.h b/geometry/include/pcl/geometry/mesh_indices.h
@@ -160,7 +160,8 @@ class MeshIndex
   /** \brief Stored index. */
   int index_;
 
-  friend std::istream& operator>> <>(std::istream& is, MeshIndex<IndexTagT>& index);
+  friend std::istream&
+  operator>><>(std::istream& is, MeshIndex<IndexTagT>& index);
 };
 
 /** \brief ostream operator. */
diff --git a/gpu/containers/include/pcl/gpu/containers/kernel_containers.h b/gpu/containers/include/pcl/gpu/containers/kernel_containers.h
@@ -67,11 +67,7 @@ struct DevPtr {
 
   __PCL_GPU_HOST_DEVICE__
   operator T*() { return data; }
-  __PCL_GPU_HOST_DEVICE__
-  operator const T*() const
-  {
-    return data;
-  }
+  __PCL_GPU_HOST_DEVICE__ operator const T*() const { return data; }
 };
 
 template <typename T>
diff --git a/gpu/containers/src/initialization.cpp b/gpu/containers/src/initialization.cpp
@@ -45,7 +45,7 @@
 #if !defined(HAVE_CUDA)
 #define HAVE_CUDA
 #endif
-// #include <pcl_config.h>
+//#include <pcl_config.h>
 
 #if !defined(HAVE_CUDA)
 
diff --git a/ml/include/pcl/ml/impl/kmeans.hpp b/ml/include/pcl/ml/impl/kmeans.hpp
@@ -41,11 +41,11 @@
 
 #include <pcl/ml/kmeans.h>
 
-// #include <pcl/common/io.h>
+//#include <pcl/common/io.h>
 
-// #include <stdio.h>
-// #include <stdlib.h>
-// #include <time.h>
+//#include <stdio.h>
+//#include <stdlib.h>
+//#include <time.h>
 
 namespace pcl {
 template <typename PointT>
diff --git a/ml/include/pcl/ml/svm_wrapper.h b/ml/include/pcl/ml/svm_wrapper.h
@@ -136,7 +136,7 @@ class SVM {
 
   /** Set for output printings during classification. */
   static void
-  printNull(const char*) {};
+  printNull(const char*){};
 
   /** To read a line from the input file. Stored in "line_". */
   char*
diff --git a/octree/include/pcl/octree/octree2buf_base.h b/octree/include/pcl/octree/octree2buf_base.h
@@ -330,7 +330,7 @@ class Octree2BufBase {
   Octree2BufBase(const Octree2BufBase& source)
   : leaf_count_(source.leaf_count_)
   , branch_count_(source.branch_count_)
-  , root_node_(new(BranchNode)(*(source.root_node_)))
+  , root_node_(new (BranchNode)(*(source.root_node_)))
   , depth_mask_(source.depth_mask_)
   , max_key_(source.max_key_)
   , buffer_selector_(source.buffer_selector_)
diff --git a/octree/include/pcl/octree/octree_base.h b/octree/include/pcl/octree/octree_base.h
@@ -317,7 +317,7 @@ class OctreeBase {
   OctreeBase(const OctreeBase& source)
   : leaf_count_(source.leaf_count_)
   , branch_count_(source.branch_count_)
-  , root_node_(new(BranchNode)(*(source.root_node_)))
+  , root_node_(new (BranchNode)(*(source.root_node_)))
   , depth_mask_(source.depth_mask_)
   , octree_depth_(source.octree_depth_)
   , dynamic_depth_enabled_(source.dynamic_depth_enabled_)
diff --git a/registration/include/pcl/registration/impl/correspondence_estimation.hpp b/registration/include/pcl/registration/impl/correspondence_estimation.hpp
@@ -162,7 +162,7 @@ CorrespondenceEstimation<PointSource, PointTarget, Scalar>::determineCorresponde
 
 #pragma omp parallel for default(none)                                                 \
     shared(max_dist_sqr, per_thread_correspondences) firstprivate(index, distance)     \
-    num_threads(num_threads_)
+        num_threads(num_threads_)
   // Iterate over the input set of source indices
   for (int i = 0; i < static_cast<int>(indices_->size()); i++) {
     const auto& idx = (*indices_)[i];
@@ -244,8 +244,8 @@ CorrespondenceEstimation<PointSource, PointTarget, Scalar>::
 
 #pragma omp parallel for default(none)                                                 \
     shared(max_dist_sqr, per_thread_correspondences)                                   \
-    firstprivate(index, distance, index_reciprocal, distance_reciprocal)               \
-    num_threads(num_threads_)
+        firstprivate(index, distance, index_reciprocal, distance_reciprocal)           \
+            num_threads(num_threads_)
   // Iterate over the input set of source indices
   for (int i = 0; i < static_cast<int>(indices_->size()); i++) {
     const auto& idx = (*indices_)[i];
@@ -313,7 +313,7 @@ CorrespondenceEstimation<PointSource, PointTarget, Scalar>::
 } // namespace registration
 } // namespace pcl
 
-// #define PCL_INSTANTIATE_CorrespondenceEstimation(T,U) template class PCL_EXPORTS
-//  pcl::registration::CorrespondenceEstimation<T,U>;
+//#define PCL_INSTANTIATE_CorrespondenceEstimation(T,U) template class PCL_EXPORTS
+// pcl::registration::CorrespondenceEstimation<T,U>;
 
 #endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_ESTIMATION_H_ */
diff --git a/registration/include/pcl/registration/impl/ia_ransac.hpp b/registration/include/pcl/registration/impl/ia_ransac.hpp
@@ -269,4 +269,4 @@ SampleConsensusInitialAlignment<PointSource, PointTarget, FeatureT>::
 
 } // namespace pcl
 
-#endif // #ifndef IA_RANSAC_HPP_
+#endif //#ifndef IA_RANSAC_HPP_
diff --git a/registration/include/pcl/registration/impl/ppf_registration.hpp b/registration/include/pcl/registration/impl/ppf_registration.hpp
@@ -374,7 +374,7 @@ pcl::PPFRegistration<PointSource, PointTarget>::clusterVotesCompareFunction(
   return (a.second > b.second);
 }
 
-// #define PCL_INSTANTIATE_PPFRegistration(PointSource,PointTarget) template class
-//  PCL_EXPORTS pcl::PPFRegistration<PointSource, PointTarget>;
+//#define PCL_INSTANTIATE_PPFRegistration(PointSource,PointTarget) template class
+// PCL_EXPORTS pcl::PPFRegistration<PointSource, PointTarget>;
 
 #endif // PCL_REGISTRATION_IMPL_PPF_REGISTRATION_H_
diff --git a/registration/include/pcl/registration/impl/transformation_estimation_3point.hpp b/registration/include/pcl/registration/impl/transformation_estimation_3point.hpp
@@ -191,8 +191,7 @@ pcl::registration::TransformationEstimation3Point<PointSource, PointTarget, Scal
       target_mean.template head<3>() - R * source_mean.template head<3>();
 }
 
-// #define PCL_INSTANTIATE_TransformationEstimation3Point(T,U) template class
-// PCL_EXPORTS
-//  pcl::registration::TransformationEstimation3Point<T,U>;
+//#define PCL_INSTANTIATE_TransformationEstimation3Point(T,U) template class PCL_EXPORTS
+// pcl::registration::TransformationEstimation3Point<T,U>;
 
 #endif // PCL_REGISTRATION_IMPL_TRANSFORMATION_ESTIMATION_3POINT_H_
diff --git a/registration/include/pcl/registration/impl/transformation_estimation_svd.hpp b/registration/include/pcl/registration/impl/transformation_estimation_svd.hpp
@@ -227,7 +227,7 @@ TransformationEstimationSVD<PointSource, PointTarget, Scalar>::
 } // namespace registration
 } // namespace pcl
 
-// #define PCL_INSTANTIATE_TransformationEstimationSVD(T,U) template class PCL_EXPORTS
-//  pcl::registration::TransformationEstimationSVD<T,U>;
+//#define PCL_INSTANTIATE_TransformationEstimationSVD(T,U) template class PCL_EXPORTS
+// pcl::registration::TransformationEstimationSVD<T,U>;
 
 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_HPP_ */
diff --git a/registration/include/pcl/registration/impl/transformation_estimation_svd_scale.hpp b/registration/include/pcl/registration/impl/transformation_estimation_svd_scale.hpp
@@ -105,7 +105,7 @@ TransformationEstimationSVDScale<PointSource, PointTarget, Scalar>::
 } // namespace registration
 } // namespace pcl
 
-// #define PCL_INSTANTIATE_TransformationEstimationSVD(T,U) template class PCL_EXPORTS
-//  pcl::registration::TransformationEstimationSVD<T,U>;
+//#define PCL_INSTANTIATE_TransformationEstimationSVD(T,U) template class PCL_EXPORTS
+// pcl::registration::TransformationEstimationSVD<T,U>;
 
 #endif /* PCL_REGISTRATION_TRANSFORMATION_ESTIMATION_SVD_SCALE_HPP_ */
diff --git a/registration/src/ppf_registration.cpp b/registration/src/ppf_registration.cpp
@@ -38,10 +38,10 @@
 
 #include <pcl/registration/ppf_registration.h>
 
-// #ifndef PCL_NO_PRECOMPILE
-// #include <pcl/point_types.h>
-// #include <pcl/impl/instantiate.hpp>
-// #include <pcl/registration/impl/ppf_registration.hpp>
+//#ifndef PCL_NO_PRECOMPILE
+//#include <pcl/point_types.h>
+//#include <pcl/impl/instantiate.hpp>
+//#include <pcl/registration/impl/ppf_registration.hpp>
 
 // PCL_INSTANTIATE_PRODUCT(PPFRegistration,
 // (PCL_XYZ_POINT_TYPES)(PCL_NORMAL_POINT_TYPES)); #endif    // PCL_NO_PRECOMPILE
diff --git a/simulation/include/pcl/simulation/scene.h b/simulation/include/pcl/simulation/scene.h
@@ -9,7 +9,7 @@
 
 #include <pcl/memory.h>
 #include <pcl/pcl_macros.h>
-// #include <pcl/win32_macros.h>
+//#include <pcl/win32_macros.h>
 #include <pcl/simulation/camera.h>
 #include <pcl/simulation/model.h>
 
diff --git a/simulation/src/range_likelihood.cpp b/simulation/src/range_likelihood.cpp
@@ -19,7 +19,7 @@
 // For adding noise:
 static std::minstd_rand rng(std::random_device{}());
 
-// #define SIMULATION_DEBUG 1
+//#define SIMULATION_DEBUG 1
 #define DO_TIMING_PROFILE 0
 
 // 301 values, 0.0 uniform  1.0 normal. properly truncated/normalized
@@ -587,7 +587,7 @@ costFunction0(float ref_val, float depth_val)
 float
 costFunction1(float ref_val, float depth_val)
 {
-  float cost = sqr(ref_val - 1 / (1.4285f - (depth_val) * 1.3788f));
+  float cost = sqr(ref_val - 1 / (1.4285f - (depth_val)*1.3788f));
   // std::cout << " [" << ref_val << "," << 1/(1.4285 -(depth_val)*1.3788) << "] ";
   if (ref_val < 0) { // all images pixels with no range
     cost = 1;
@@ -604,7 +604,7 @@ costFunction1(float ref_val, float depth_val)
 float
 costFunction2(float ref_val, float depth_val)
 {
-  float min_dist = std::abs(ref_val - 1 / (1.4285f - (depth_val) * 1.3788f));
+  float min_dist = std::abs(ref_val - 1 / (1.4285f - (depth_val)*1.3788f));
   int lup = static_cast<int>(std::ceil(min_dist * 100)); // has resolution of 0.01m
 
   if (lup > 300) { // implicitly this caps the cost if there is a hole in the model
@@ -672,7 +672,7 @@ costFunction4(float ref_val, float depth_val)
   // bottom:
   // bottom = bottom_lookup(   round(mu*1000+1));
   int bottom_lup =
-      static_cast<int>(std::ceil((depth_val) * 300)); // has resolution of 0.001m
+      static_cast<int>(std::ceil((depth_val)*300)); // has resolution of 0.001m
   if (bottom_lup > 300) {
     bottom_lup = 300;
   }
diff --git a/simulation/tools/sim_viewer.cpp b/simulation/tools/sim_viewer.cpp
@@ -368,9 +368,12 @@ simulate_callback(const pcl::visualization::KeyboardEvent& event, void* viewer_v
 
     // matrix->GetElement(1,0);
 
-    std::cout << m(0, 0) << " " << m(0, 1) << " " << m(0, 2) << " " << " x0\n";
-    std::cout << m(1, 0) << " " << m(1, 1) << " " << m(1, 2) << " " << " x1\n";
-    std::cout << m(2, 0) << " " << m(2, 1) << " " << m(2, 2) << " " << "x2\n\n";
+    std::cout << m(0, 0) << " " << m(0, 1) << " " << m(0, 2) << " "
+              << " x0\n";
+    std::cout << m(1, 0) << " " << m(1, 1) << " " << m(1, 2) << " "
+              << " x1\n";
+    std::cout << m(2, 0) << " " << m(2, 1) << " " << m(2, 2) << " "
+              << "x2\n\n";
 
     Eigen::Quaternionf rf;
     rf = Eigen::Quaternionf(m);
diff --git a/stereo/include/pcl/stereo/impl/disparity_map_converter.hpp b/stereo/include/pcl/stereo/impl/disparity_map_converter.hpp
@@ -186,7 +186,7 @@ pcl::DisparityMapConverter<PointT>::loadDisparityMap(const std::string& file_nam
 
       disparity_map_[column + row * disparity_map_width_] = disparity;
     } // column
-  } // row
+  }   // row
 
   return true;
 }
@@ -287,7 +287,7 @@ pcl::DisparityMapConverter<PointT>::compute(PointCloud& out_cloud)
       // Put the point to the output cloud.
       out_cloud[disparity_point] = new_point;
     } // column
-  } // row
+  }   // row
 }
 
 template <typename PointT>
diff --git a/stereo/src/digital_elevation_map.cpp b/stereo/src/digital_elevation_map.cpp
@@ -145,8 +145,8 @@ pcl::DigitalElevationMapBuilder::compute(pcl::PointCloud<PointDEM>& out_cloud)
         intensity_histograms[index].addValue(intensity);
 
       } // if
-    } // row
-  } // column
+    }   // row
+  }     // column
 
   // For all histograms.
   for (std::size_t index_column = 0; index_column < resolution_column_;
@@ -183,5 +183,5 @@ pcl::DigitalElevationMapBuilder::compute(pcl::PointCloud<PointDEM>& out_cloud)
       out_cloud.at(index_column, index_disparity) = point_DEM;
 
     } // index_disparity
-  } // index_column
+  }   // index_column
 }
diff --git a/stereo/src/stereo_adaptive_cost_so.cpp b/stereo/src/stereo_adaptive_cost_so.cpp
@@ -108,7 +108,7 @@ pcl::AdaptiveCostSOStereoMatching::compute_impl(unsigned char* ref_img,
         acc[x][d] = num / sumw;
 
       } // d
-    } // x
+    }   // x
 
     // Forward
     for (int d = 0; d < max_disp_; d++)
@@ -197,7 +197,7 @@ pcl::AdaptiveCostSOStereoMatching::compute_impl(unsigned char* ref_img,
         disp_map_[y * width_ + x] = computeStereoSubpixel(
             dbest, acc[x][dbest - 1], acc[x][dbest], acc[x][dbest + 1]);
     } // x
-  } // y
+  }   // y
 
   for (int x = 0; x < width_; x++) {
     delete[] fwd[x];
diff --git a/stereo/src/stereo_block_based.cpp b/stereo/src/stereo_block_based.cpp
@@ -81,7 +81,7 @@ pcl::BlockBasedStereoMatching::compute_impl(unsigned char* ref_img,
       }
       acc[d] += v[x + radius_][d] - v[x - radius_ - 1][d];
     } // d
-  } // x
+  }   // x
 
   // 2
   const int ind1 = radius_ + radius_ + max_disp_ + x_off_;
@@ -147,7 +147,7 @@ pcl::BlockBasedStereoMatching::compute_impl(unsigned char* ref_img,
             computeStereoSubpixel(dbest, acc[dbest - 1], acc[dbest], acc[dbest + 1]);
 
     } // x
-  } // y
+  }   // y
 
   for (int d = 0; d < width_; d++)
     delete[] v[d];
diff --git a/tracking/include/pcl/tracking/impl/tracking.hpp b/tracking/include/pcl/tracking/impl/tracking.hpp
@@ -231,7 +231,7 @@ operator-(const ParticleXYZRPY& a, const ParticleXYZRPY& b)
 } // namespace tracking
 } // namespace pcl
 
-// ########################################################################33
+//########################################################################33
 
 namespace pcl {
 namespace tracking {
@@ -415,7 +415,7 @@ operator-(const ParticleXYZR& a, const ParticleXYZR& b)
 } // namespace tracking
 } // namespace pcl
 
-// ########################################################################33
+//########################################################################33
 
 namespace pcl {
 namespace tracking {
@@ -605,7 +605,7 @@ operator-(const ParticleXYRPY& a, const ParticleXYRPY& b)
 } // namespace tracking
 } // namespace pcl
 
-// ########################################################################33
+//########################################################################33
 
 namespace pcl {
 namespace tracking {
@@ -792,7 +792,7 @@ operator-(const ParticleXYRP& a, const ParticleXYRP& b)
 } // namespace tracking
 } // namespace pcl
 
-// ########################################################################33
+//########################################################################33
 
 namespace pcl {
 namespace tracking {
diff --git a/tracking/include/pcl/tracking/kld_adaptive_particle_filter_omp.h b/tracking/include/pcl/tracking/kld_adaptive_particle_filter_omp.h
@@ -97,7 +97,7 @@ class KLDAdaptiveParticleFilterOMPTracker
 } // namespace tracking
 } // namespace pcl
 
-// #include <pcl/tracking/impl/particle_filter_omp.hpp>
+//#include <pcl/tracking/impl/particle_filter_omp.hpp>
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/tracking/impl/kld_adaptive_particle_filter_omp.hpp>
 #endif
diff --git a/tracking/include/pcl/tracking/particle_filter_omp.h b/tracking/include/pcl/tracking/particle_filter_omp.h
@@ -85,7 +85,7 @@ class ParticleFilterOMPTracker : public ParticleFilterTracker<PointInT, StateT>
 } // namespace tracking
 } // namespace pcl
 
-// #include <pcl/tracking/impl/particle_filter_omp.hpp>
+//#include <pcl/tracking/impl/particle_filter_omp.hpp>
 #ifdef PCL_NO_PRECOMPILE
 #include <pcl/tracking/impl/particle_filter_omp.hpp>
 #endif
