From 5c19feb02b091304af9ef28437ca812dbc50753f Mon Sep 17 00:00:00 2001
From: Denis Bakin <denis.bakin5@gmail.com>
Date: Thu, 18 Jul 2024 17:49:07 +0300
Subject: [PATCH] fix: minor linting and codestyle changes

---
 packages/camera/CMakeLists.txt          | 16 +++++++---------
 packages/camera/include/triangulation.h |  5 ++---
 packages/camera/src/params.cpp          | 12 ++++++------
 packages/camera/src/triangulation.cpp   |  8 ++++----
 4 files changed, 19 insertions(+), 22 deletions(-)

diff --git a/packages/camera/CMakeLists.txt b/packages/camera/CMakeLists.txt
index d8973bf..70758b7 100644
--- a/packages/camera/CMakeLists.txt
+++ b/packages/camera/CMakeLists.txt
@@ -4,7 +4,6 @@ project(camera)
 add_compile_options(-Wall -Wextra -Werror=unused-variable -Wpedantic)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
 
-# find_package(cv_bridge REQUIRED)
 find_package(OpenCV REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
 find_package(ament_cmake REQUIRED)
@@ -26,23 +25,22 @@ target_include_directories(
 
 target_include_directories(
   calibration PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-                    "/usr/include"
+                     "/usr/include"
 )
 target_include_directories(
   triangulation PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-                    "/usr/include")
+                       "/usr/include"
+)
 
 ament_target_dependencies(camera yaml_cpp_vendor)
 ament_target_dependencies(calibration yaml_cpp_vendor Boost OpenCV)
-
-ament_target_dependencies(
-  triangulation
-  OpenCV
-  yaml_cpp_vendor)
+ament_target_dependencies(triangulation OpenCV yaml_cpp_vendor)
 
 target_link_libraries(camera mvsdk)
 
-install(TARGETS camera calibration triangulation DESTINATION lib/${PROJECT_NAME})
+install(TARGETS camera calibration triangulation
+        DESTINATION lib/${PROJECT_NAME}
+)
 
 if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/params")
   file(MAKE_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/params")
diff --git a/packages/camera/include/triangulation.h b/packages/camera/include/triangulation.h
index eb410d1..18ca8b9 100644
--- a/packages/camera/include/triangulation.h
+++ b/packages/camera/include/triangulation.h
@@ -15,7 +15,7 @@ struct StereoParameters {
 
 class TriangulationNode {
   public:
-    TriangulationNode(std::string &params_file_path, std::vector<int> camera_ids);
+    TriangulationNode(std::string& params_file_path, std::vector<int> camera_ids);
 
     cv::Point3f triangulatePosition(std::vector<cv::Point2f> image_points);
 
@@ -25,6 +25,5 @@ class TriangulationNode {
         std::vector<StereoParameters> camera_stereo_params = {};
         std::vector<cv::Mat> projection_matrices = {};
     } param_{};
-
 };
-}  // namespace handy
\ No newline at end of file
+}  // namespace handy
diff --git a/packages/camera/src/params.cpp b/packages/camera/src/params.cpp
index ca7754f..6488887 100644
--- a/packages/camera/src/params.cpp
+++ b/packages/camera/src/params.cpp
@@ -11,12 +11,12 @@
 namespace handy {
 
 CameraIntrinsicParameters::CameraIntrinsicParameters(
-    cv::Size size, cv::Mat camera_matr, const cv::Vec<double, 5>& distort_coefs, const int cam_id)
-    : image_size(size)
-    , camera_matrix(std::move(camera_matr))
-    , camera_matrix_inv(camera_matrix.inv())
-    , dist_coefs(distort_coefs)
-    , camera_id(cam_id) {}
+    cv::Size size, cv::Mat camera_matr, const cv::Vec<double, 5>& distort_coefs, const int cam_id) :
+    image_size(size),
+    camera_matrix(std::move(camera_matr)),
+    camera_matrix_inv(camera_matrix.inv()),
+    dist_coefs(distort_coefs),
+    camera_id(cam_id) {}
 
 void CameraIntrinsicParameters::storeYaml(const std::string& yaml_path) const {
     const std::string camera_id_str = std::to_string(camera_id);
diff --git a/packages/camera/src/triangulation.cpp b/packages/camera/src/triangulation.cpp
index 71a1d61..e702463 100644
--- a/packages/camera/src/triangulation.cpp
+++ b/packages/camera/src/triangulation.cpp
@@ -16,7 +16,7 @@ TriangulationNode::TriangulationNode(std::string& params_file_path, std::vector<
         printf("only 2 cameras are supported\n");
         exit(EXIT_FAILURE);
     }
-    for (int i = 0; i < camera_ids.size(); ++i) {
+    for (size_t i = 0; i < camera_ids.size(); ++i) {
         param_.cameras_intrinsics.push_back(
             CameraIntrinsicParameters::loadFromYaml(params_file_path, camera_ids[i]));
         param_.camera_stereo_params.emplace_back();
@@ -85,7 +85,7 @@ int main(int argc, char* argv[]) {
     }
     std::sort(filenames.begin(), filenames.end());
 
-    printf("%d\n", filenames.size());
+    printf("%ld\n", filenames.size());
 
     std::string path_file_param(argv[1]);
     handy::TriangulationNode triangulation_node(path_file_param, {1, 2});
@@ -94,7 +94,7 @@ int main(int argc, char* argv[]) {
     json triangulation_json;
     triangulation_json["triangulated_points"] = {};
 
-    for (int i = 0; i < filenames.size(); ++i) {
+    for (size_t i = 0; i < filenames.size(); ++i) {
         std::string current_filename = filenames[i];
         cv::Point2f first_image_point{
             detections_1_json[current_filename]["centroid"][0],
@@ -155,4 +155,4 @@ int main(int argc, char* argv[]) {
     detections_2_json_file.close();
 
     return 0;
-}
\ No newline at end of file
+}