refactor(ground_segmentation): refactor based on cppcheck (#7060)

* remove unread variabls Signed-off-by: Ryuta Kambe <[email protected]> * remove unread variabls Signed-off-by: Ryuta Kambe <[email protected]> * remove duplicateBranch Signed-off-by: Ryuta Kambe <[email protected]> * style(pre-commit): autofix * fix Signed-off-by: veqcc <[email protected]> --------- Signed-off-by: Ryuta Kambe <[email protected]> Signed-off-by: veqcc <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · May 21, 2024 · 1f6a6c5 · 1f6a6c5
1 parent 2f2925d
commit 1f6a6c5
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Showing 2 changed files with 4 additions and 10 deletions.
diff --git a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp
@@ -102,9 +102,7 @@ RANSACGroundFilterComponent::RANSACGroundFilterComponent(const rclcpp::NodeOptio
     unit_vec_ = Eigen::Vector3d::UnitX();
   } else if (unit_axis_ == "y") {
     unit_vec_ = Eigen::Vector3d::UnitY();
-  } else if (unit_axis_ == "z") {
-    unit_vec_ = Eigen::Vector3d::UnitZ();
-  } else {
+  } else {  // including (unit_axis_ == "z")
     unit_vec_ = Eigen::Vector3d::UnitZ();
   }
 
@@ -384,9 +382,7 @@ rcl_interfaces::msg::SetParametersResult RANSACGroundFilterComponent::paramCallb
       unit_vec_ = Eigen::Vector3d::UnitX();
     } else if (unit_axis_ == "y") {
       unit_vec_ = Eigen::Vector3d::UnitY();
-    } else if (unit_axis_ == "z") {
-      unit_vec_ = Eigen::Vector3d::UnitZ();
-    } else {
+    } else {  // including (unit_axis_ == "z")
       unit_vec_ = Eigen::Vector3d::UnitZ();
     }
     RCLCPP_DEBUG(get_logger(), "Setting unit_axis to: %s.", unit_axis_.c_str());

diff --git a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp
@@ -349,13 +349,12 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan(
 
     // check the first point in ray
     auto * p = &in_radial_ordered_clouds[i][0];
-    auto * prev_p = &in_radial_ordered_clouds[i][0];  // for checking the distance to prev point
 
     bool initialized_first_gnd_grid = false;
     bool prev_list_init = false;
     pcl::PointXYZ p_orig_point, prev_p_orig_point;
     for (auto & point : in_radial_ordered_clouds[i]) {
-      prev_p = p;
+      auto * prev_p = p;  // for checking the distance to prev point
       prev_p_orig_point = p_orig_point;
       p = &point;
       get_point_from_global_offset(in_cloud, p_orig_point, in_cloud->point_step * p->orig_index);
@@ -469,7 +468,6 @@ void ScanGroundFilterComponent::classifyPointCloud(
     float prev_gnd_slope = 0.0f;
     float points_distance = 0.0f;
     PointsCentroid ground_cluster, non_ground_cluster;
-    float local_slope = 0.0f;
     PointLabel prev_point_label = PointLabel::INIT;
     pcl::PointXYZ prev_gnd_point(0, 0, 0), p_orig_point, prev_p_orig_point;
     // loop through each point in the radial div
@@ -524,7 +522,7 @@ void ScanGroundFilterComponent::classifyPointCloud(
       }
       if (calculate_slope) {
         // far from the previous point
-        local_slope = std::atan2(height_from_gnd, radius_distance_from_gnd);
+        auto local_slope = std::atan2(height_from_gnd, radius_distance_from_gnd);
         if (local_slope - prev_gnd_slope > local_slope_max_angle) {
           // the point is outside of the local slope threshold
           p->point_state = PointLabel::NON_GROUND;