style(pre-commit): autofix

localization/yabloc/yabloc_image_processing/include/yabloc_image_processing/graph_segment/histogram.hpp

@@ -37,12 +37,9 @@ struct Histogram
   void add(const cv::Vec3b & rgb)
   {
     for (int ch = 0; ch < 3; ++ch) {
-      int index =
-        std::clamp(
-          static_cast<int>(static_cast<float>(rgb[ch]) * static_cast<float>(bin) / 255.f),
-          0,
-          bin - 1
-        );
+      int index = std::clamp(
+        static_cast<int>(static_cast<float>(rgb[ch]) * static_cast<float>(bin) / 255.f), 0,
+        bin - 1);
       data(ch, index) += 1.0f;
     }
   }

localization/yabloc/yabloc_image_processing/include/yabloc_image_processing/line_segment_detector/line_segment_detector.hpp

@@ -52,7 +52,7 @@ class LineSegmentDetector : public rclcpp::Node
   cv::Ptr<cv::LineSegmentDetector> line_segment_detector_;
 
   static std::vector<cv::Mat> remove_too_outer_elements(
-    const cv::Mat & lines, const cv::Size & size) ;
+    const cv::Mat & lines, const cv::Size & size);
   void on_image(const sensor_msgs::msg::Image & msg);
   void execute(const cv::Mat & image, const rclcpp::Time & stamp);
 };

localization/yabloc/yabloc_image_processing/src/graph_segment/graph_segment_core.cpp

@@ -27,8 +27,7 @@ GraphSegment::GraphSegment(const rclcpp::NodeOptions & options)
 : Node("graph_segment", options),
   target_height_ratio_(static_cast<float>(declare_parameter<float>("target_height_ratio"))),
   target_candidate_box_width_(
-    static_cast<int>(declare_parameter<int>("target_candidate_box_width"))
-  )
+    static_cast<int>(declare_parameter<int>("target_candidate_box_width")))
 {
   using std::placeholders::_1;
 
@@ -47,9 +46,7 @@ GraphSegment::GraphSegment(const rclcpp::NodeOptions & options)
   // additional area pickup module
   if (declare_parameter<bool>("pickup_additional_areas", true)) {
     similar_area_searcher_ =
-      std::make_unique<SimilarAreaSearcher>(
-        declare_parameter<float>("similarity_score_threshold")
-      );
+      std::make_unique<SimilarAreaSearcher>(declare_parameter<float>("similarity_score_threshold"));
   }
 }
 
@@ -59,9 +56,7 @@ cv::Vec3b random_hsv(int index)
   auto base = static_cast<double>(index);
   return {
     static_cast<unsigned char>(std::fmod(base * 0.7, 1.0) * 180),
-    static_cast<unsigned char>(0.7 * 255),
-    static_cast<unsigned char>(0.5 * 255)
-  };
+    static_cast<unsigned char>(0.7 * 255), static_cast<unsigned char>(0.5 * 255)};
 };
 
 int GraphSegment::search_most_road_like_class(const cv::Mat & segmented) const
@@ -70,8 +65,7 @@ int GraphSegment::search_most_road_like_class(const cv::Mat & segmented) const
   const float r = target_height_ratio_;
   cv::Point2i target_px(
     static_cast<int>(static_cast<float>(segmented.cols) * 0.5),
-    static_cast<int>(static_cast<float>(segmented.rows) * r)
-  );
+    static_cast<int>(static_cast<float>(segmented.rows) * r));
   cv::Rect2i rect(target_px + cv::Point2i(-bw, -bw), target_px + cv::Point2i(bw, bw));
 
   std::unordered_map<int, int> areas;

localization/yabloc/yabloc_image_processing/src/lanelet2_overlay/lanelet2_overlay_core.cpp

@@ -72,7 +72,7 @@ void Lanelet2Overlay::on_image(const sensor_msgs::msg::Image & msg)
   // Search synchronized pose
   float min_abs_dt = std::numeric_limits<float>::max();
   std::optional<Pose> synched_pose{std::nullopt};
-  for (const auto& pose : pose_buffer_) {
+  for (const auto & pose : pose_buffer_) {
     auto dt = (rclcpp::Time(pose.header.stamp) - stamp);
     auto abs_dt = std::abs(dt.seconds());
     if (abs_dt < min_abs_dt) {
@@ -93,7 +93,7 @@ void Lanelet2Overlay::on_line_segments(const PointCloud2 & msg)
   // Search synchronized pose
   float min_dt = std::numeric_limits<float>::max();
   geometry_msgs::msg::PoseStamped synched_pose;
-  for (const auto& pose : pose_buffer_) {
+  for (const auto & pose : pose_buffer_) {
     auto dt = (rclcpp::Time(pose.header.stamp) - stamp);
     auto abs_dt = std::abs(dt.seconds());
     if (abs_dt < min_dt) {
@@ -160,8 +160,9 @@ void Lanelet2Overlay::draw_overlay_line_segments(
     if (p2_is_visible) uv2 = from_camera2 / from_camera2.z();
 
     if ((p1_is_visible) && (p2_is_visible))
-      return {true, cv::Point2i(static_cast<int>(uv1.x()), static_cast<int>(uv1.y())),
-    cv::Point2i(static_cast<int>(uv2.x()), static_cast<int>(uv2.y()))};
+      return {
+        true, cv::Point2i(static_cast<int>(uv1.x()), static_cast<int>(uv1.y())),
+        cv::Point2i(static_cast<int>(uv2.x()), static_cast<int>(uv2.y()))};
 
     Eigen::Vector3f tangent = from_camera2 - from_camera1;
     float mu = (epsilon - from_camera1.z()) / (tangent.z());
@@ -173,8 +174,9 @@ void Lanelet2Overlay::draw_overlay_line_segments(
       from_camera2 = from_camera1 + mu * tangent;
       uv2 = from_camera2 / from_camera2.z();
     }
-    return {true, cv::Point2i(static_cast<int>(uv1.x()), static_cast<int>(uv1.y())),
-    cv::Point2i(static_cast<int>(uv2.x()), static_cast<int>(uv2.y()))};
+    return {
+      true, cv::Point2i(static_cast<int>(uv1.x()), static_cast<int>(uv1.y())),
+      cv::Point2i(static_cast<int>(uv2.x()), static_cast<int>(uv2.y()))};
   };
 
   for (const pcl::PointNormal & pn : near_segments) {

localization/yabloc/yabloc_image_processing/src/line_segments_overlay/line_segments_overlay_core.cpp

@@ -82,7 +82,8 @@ void LineSegmentsOverlay::on_line_segments(const PointCloud2::ConstSharedPtr & l
       color = cv::Scalar(0, 0, 255);  // Red
     }
 
-    cv::line(image, cv::Point(static_cast<int>(xy1(0)), static_cast<int>(xy1(1))),
+    cv::line(
+      image, cv::Point(static_cast<int>(xy1(0)), static_cast<int>(xy1(1))),
       cv::Point(static_cast<int>(xy2(0)), static_cast<int>(xy2(1))), color, 2);
   }
 

localization/yabloc/yabloc_image_processing/src/segment_filter/segment_filter_core.cpp

@@ -48,10 +48,11 @@ SegmentFilter::SegmentFilter(const rclcpp::NodeOptions & options)
 cv::Point2i SegmentFilter::to_cv_point(const Eigen::Vector3f & v) const
 {
   cv::Point2i pt;
-  pt.x = static_cast<int>(-v.y() / max_range_ * static_cast<float>(image_size_) * 0.5f +
+  pt.x = static_cast<int>(
+    -v.y() / max_range_ * static_cast<float>(image_size_) * 0.5f +
     static_cast<float>(image_size_) / 2.0);
-  pt.y = static_cast<int>(-v.x() / max_range_ * static_cast<float>(image_size_) * 0.5f +
-    static_cast<float>(image_size_));
+  pt.y = static_cast<int>(
+    -v.x() / max_range_ * static_cast<float>(image_size_) * 0.5f + static_cast<float>(image_size_));
   return pt;
 }
 

localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp

@@ -86,9 +86,10 @@ class UndistortNode : public rclcpp::Node
     cv::Size new_size = size;
     if (OUTPUT_WIDTH_ > 0)
       // set new_size along with aspect ratio
-      new_size = cv::Size(OUTPUT_WIDTH_,
-        static_cast<int>(static_cast<float>(OUTPUT_WIDTH_) *
-        (static_cast<float>(size.height) / static_cast<float>(size.width))));
+      new_size = cv::Size(
+        OUTPUT_WIDTH_, static_cast<int>(
+                         static_cast<float>(OUTPUT_WIDTH_) *
+                         (static_cast<float>(size.height) / static_cast<float>(size.width))));
 
     cv::Mat new_k = cv::getOptimalNewCameraMatrix(k, d, size, 0, new_size);