chore(compare_map_segmentation): rename defined type (autowarefoundat…

…ion#9181) Signed-off-by: badai-nguyen <[email protected]>
a-maumau · Dec 5, 2024 · c1d3478 · c1d3478
1 parent 0992f1d
commit c1d3478
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Showing 4 changed files with 24 additions and 22 deletions.
diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.hpp
@@ -28,14 +28,14 @@
 namespace autoware::compare_map_segmentation
 {
 
-using PointCloud = typename pcl::Filter<pcl::PointXYZ>::PointCloud;
-using PointCloudPtr = typename PointCloud::Ptr;
-using PointCloudConstPtr = typename PointCloud::ConstPtr;
+using FilteredPointCloud = typename pcl::Filter<pcl::PointXYZ>::PointCloud;
+using FilteredPointCloudPtr = typename FilteredPointCloud::Ptr;
+using FilteredPointCloudConstPtr = typename FilteredPointCloud::ConstPtr;
 
 class DistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader
 {
 private:
-  PointCloudConstPtr map_ptr_;
+  FilteredPointCloudConstPtr map_ptr_;
   pcl::search::Search<pcl::PointXYZ>::Ptr tree_;
 
 public:

diff --git a/...on/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp b/...on/autoware_compare_map_segmentation/src/voxel_distance_based_compare_map_filter/node.hpp
@@ -29,14 +29,14 @@
 namespace autoware::compare_map_segmentation
 {
 
-using PointCloud = typename pcl::Filter<pcl::PointXYZ>::PointCloud;
-using PointCloudPtr = typename PointCloud::Ptr;
-using PointCloudConstPtr = typename PointCloud::ConstPtr;
+using FilteredPointCloud = typename pcl::Filter<pcl::PointXYZ>::PointCloud;
+using FilteredPointCloudPtr = typename FilteredPointCloud::Ptr;
+using FilteredPointCloudConstPtr = typename FilteredPointCloud::ConstPtr;
 
 class VoxelDistanceBasedStaticMapLoader : public VoxelGridStaticMapLoader
 {
 private:
-  PointCloudConstPtr map_ptr_;
+  FilteredPointCloudConstPtr map_ptr_;
   pcl::search::Search<pcl::PointXYZ>::Ptr tree_;
 
 public:
@@ -55,7 +55,7 @@ class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader
 {
 protected:
 private:
-  PointCloudConstPtr map_ptr_;
+  FilteredPointCloudConstPtr map_ptr_;
   /* data */
 public:
   explicit VoxelDistanceBasedDynamicMapLoader(
@@ -78,7 +78,7 @@ class VoxelDistanceBasedDynamicMapLoader : public VoxelGridDynamicMapLoader
     pcl::fromROSMsg(map_cell_to_add.pointcloud, map_cell_pc_tmp);
 
     VoxelGridPointXYZ map_cell_voxel_grid_tmp;
-    PointCloudPtr map_cell_downsampled_pc_ptr_tmp;
+    FilteredPointCloudPtr map_cell_downsampled_pc_ptr_tmp;
 
     auto map_cell_voxel_input_tmp_ptr =
       std::make_shared<pcl::PointCloud<pcl::PointXYZ>>(map_cell_pc_tmp);

diff --git a/...ion/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp b/...ion/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp
@@ -63,7 +63,7 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels(
 }
 
 bool VoxelGridMapLoader::is_close_to_neighbor_voxels(
-  const pcl::PointXYZ & point, const double distance_threshold, const PointCloudPtr & map,
+  const pcl::PointXYZ & point, const double distance_threshold, const FilteredPointCloudPtr & map,
   VoxelGridPointXYZ & voxel) const
 {
   // check map downsampled pc
@@ -228,7 +228,8 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels(
 
 bool VoxelGridMapLoader::is_in_voxel(
   const pcl::PointXYZ & src_point, const pcl::PointXYZ & target_point,
-  const double distance_threshold, const PointCloudPtr & map, VoxelGridPointXYZ & voxel) const
+  const double distance_threshold, const FilteredPointCloudPtr & map,
+  VoxelGridPointXYZ & voxel) const
 {
   int voxel_index =
     voxel.getCentroidIndexAt(voxel.getGridCoordinates(src_point.x, src_point.y, src_point.z));

diff --git a/...ion/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp b/...ion/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp
@@ -54,9 +54,9 @@ class VoxelGridEx : public pcl::VoxelGrid<PointT>
   using pcl::VoxelGrid<PointT>::div_b_;
   using pcl::VoxelGrid<PointT>::inverse_leaf_size_;
 
-  using PointCloud = typename pcl::Filter<PointT>::PointCloud;
-  using PointCloudPtr = typename PointCloud::Ptr;
-  using PointCloudConstPtr = typename PointCloud::ConstPtr;
+  using FilteredPointCloud = typename pcl::Filter<PointT>::PointCloud;
+  using FilteredPointCloudPtr = typename FilteredPointCloud::Ptr;
+  using FilteredPointCloudConstPtr = typename FilteredPointCloud::ConstPtr;
 
 public:
   using pcl::VoxelGrid<PointT>::leaf_layout_;
@@ -93,8 +93,8 @@ class VoxelGridMapLoader
 
 public:
   using VoxelGridPointXYZ = VoxelGridEx<pcl::PointXYZ>;
-  using PointCloud = typename pcl::Filter<pcl::PointXYZ>::PointCloud;
-  using PointCloudPtr = typename PointCloud::Ptr;
+  using FilteredPointCloud = typename pcl::Filter<pcl::PointXYZ>::PointCloud;
+  using FilteredPointCloudPtr = typename FilteredPointCloud::Ptr;
   explicit VoxelGridMapLoader(
     rclcpp::Node * node, double leaf_size, double downsize_ratio_z_axis,
     std::string * tf_map_input_frame);
@@ -106,11 +106,12 @@ class VoxelGridMapLoader
     const pcl::PointXYZ & point, const double distance_threshold, VoxelGridPointXYZ & voxel,
     pcl::search::Search<pcl::PointXYZ>::Ptr tree);
   bool is_close_to_neighbor_voxels(
-    const pcl::PointXYZ & point, const double distance_threshold, const PointCloudPtr & map,
+    const pcl::PointXYZ & point, const double distance_threshold, const FilteredPointCloudPtr & map,
     VoxelGridPointXYZ & voxel) const;
   bool is_in_voxel(
     const pcl::PointXYZ & src_point, const pcl::PointXYZ & target_point,
-    const double distance_threshold, const PointCloudPtr & map, VoxelGridPointXYZ & voxel) const;
+    const double distance_threshold, const FilteredPointCloudPtr & map,
+    VoxelGridPointXYZ & voxel) const;
 
   void publish_downsampled_map(const pcl::PointCloud<pcl::PointXYZ> & downsampled_pc);
   std::string * tf_map_input_frame_;
@@ -121,7 +122,7 @@ class VoxelGridStaticMapLoader : public VoxelGridMapLoader
 protected:
   rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_map_;
   VoxelGridPointXYZ voxel_grid_;
-  PointCloudPtr voxel_map_ptr_;
+  FilteredPointCloudPtr voxel_map_ptr_;
   std::atomic_bool is_initialized_{false};
 
 public:
@@ -138,7 +139,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader
   struct MapGridVoxelInfo
   {
     VoxelGridPointXYZ map_cell_voxel_grid;
-    PointCloudPtr map_cell_pc_ptr;
+    FilteredPointCloudPtr map_cell_pc_ptr;
     float min_b_x, min_b_y, max_b_x, max_b_y;
     pcl::search::Search<pcl::PointXYZ>::Ptr map_cell_kdtree;
   };
@@ -291,7 +292,7 @@ class VoxelGridDynamicMapLoader : public VoxelGridMapLoader
     pcl::fromROSMsg(map_cell_to_add.pointcloud, map_cell_pc_tmp);
 
     VoxelGridPointXYZ map_cell_voxel_grid_tmp;
-    PointCloudPtr map_cell_downsampled_pc_ptr_tmp;
+    FilteredPointCloudPtr map_cell_downsampled_pc_ptr_tmp;
 
     auto map_cell_voxel_input_tmp_ptr =
       std::make_shared<pcl::PointCloud<pcl::PointXYZ>>(map_cell_pc_tmp);