Make ament_cpplint pass (#298)

Collection of hand-made changes to make ament_cpplint pass consisting of:
- whitespace between comments
- line length
- header ordering
- include guard formats
- remove a couple `using namespace std;`
- using c++ casts instead of c-style casts

Signed-off-by: Sean Kelly <sean@seankelly.dev>

pcl_ros/include/pcl_ros/features/boundary.hpp

@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_ROS_BOUNDARY_H_
+#ifndef PCL_ROS__FEATURES__BOUNDARY_HPP_
-#define PCL_ROS_BOUNDARY_H_
+#define PCL_ROS__FEATURES__BOUNDARY_HPP_
 
 #define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET true
 
@@ -82,6 +82,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_BOUNDARY_H_
+#endif  // PCL_ROS__FEATURES__BOUNDARY_HPP_

pcl_ros/include/pcl_ros/features/feature.hpp

@@ -35,23 +35,24 @@
  *
  */
 
-#ifndef PCL_ROS_FEATURE_H_
+#ifndef PCL_ROS__FEATURES__FEATURE_HPP_
-#define PCL_ROS_FEATURE_H_
+#define PCL_ROS__FEATURES__FEATURE_HPP_
 
 // PCL includes
 #include <pcl/features/feature.h>
 #include <pcl_msgs/PointIndices.h>
 
-#include "pcl_ros/pcl_nodelet.hpp"
 #include <message_filters/pass_through.h>
 
 // Dynamic reconfigure
 #include <dynamic_reconfigure/server.h>
-#include "pcl_ros/FeatureConfig.hpp"
 
 // PCL conversions
 #include <pcl_conversions/pcl_conversions.h>
 
+#include "pcl_ros/pcl_nodelet.hpp"
+#include "pcl_ros/FeatureConfig.hpp"
+
 namespace pcl_ros
 {
 namespace sync_policies = message_filters::sync_policies;
@@ -84,13 +85,15 @@ public:
 
 protected:
   /** \brief The input point cloud dataset. */
-  //PointCloudInConstPtr input_;
+  // PointCloudInConstPtr input_;
 
   /** \brief A pointer to the vector of point indices to use. */
-  //IndicesConstPtr indices_;
+  // IndicesConstPtr indices_;
 
-  /** \brief An input point cloud describing the surface that is to be used for nearest neighbors estimation. */
+  /** \brief An input point cloud describing the surface that is to be used
-  //PointCloudInConstPtr surface_;
+    * for nearest neighbors estimation.
+    */
+  // PointCloudInConstPtr surface_;
 
   /** \brief A pointer to the spatial search object. */
   KdTreePtr tree_;
@@ -108,7 +111,9 @@ protected:
   /** \brief The input PointCloud subscriber. */
   ros::Subscriber sub_input_;
 
-  /** \brief Set to true if the nodelet needs to listen for incoming point clouds representing the search surface. */
+  /** \brief Set to true if the nodelet needs to listen for incoming point
+   * clouds representing the search surface.
+   */
   bool use_surface_;
 
   /** \brief Parameter for the spatial locator tree. By convention, the values represent:
@@ -257,6 +262,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_FEATURE_H_
+#endif  // PCL_ROS__FEATURES__FEATURE_HPP_

pcl_ros/include/pcl_ros/features/fpfh.hpp

@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_ROS_FPFH_H_
+#ifndef PCL_ROS__FEATURES__FPFH_HPP_
-#define PCL_ROS_FPFH_H_
+#define PCL_ROS__FEATURES__FPFH_HPP_
 
 #include <pcl/features/fpfh.h>
 #include "pcl_ros/features/pfh.hpp"
@@ -94,6 +94,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_FPFH_H_
+#endif  // PCL_ROS__FEATURES__FPFH_HPP_

pcl_ros/include/pcl_ros/features/fpfh_omp.hpp

@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_ROS_FPFH_OMP_H_
+#ifndef PCL_ROS__FEATURES__FPFH_OMP_HPP_
-#define PCL_ROS_FPFH_OMP_H_
+#define PCL_ROS__FEATURES__FPFH_OMP_HPP_
 
 #include <pcl/features/fpfh_omp.h>
 #include "pcl_ros/features/fpfh.hpp"
@@ -91,6 +91,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_FPFH_OMP_H_
+#endif  // PCL_ROS__FEATURES__FPFH_OMP_HPP_

pcl_ros/include/pcl_ros/features/moment_invariants.hpp

@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_ROS_MOMENT_INVARIANTS_H_
+#ifndef PCL_ROS__FEATURES__MOMENT_INVARIANTS_HPP_
-#define PCL_ROS_MOMENT_INVARIANTS_H_
+#define PCL_ROS__FEATURES__MOMENT_INVARIANTS_HPP_
 
 #include <pcl/features/moment_invariants.h>
 #include "pcl_ros/features/feature.hpp"
@@ -77,6 +77,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_MOMENT_INVARIANTS_H_
+#endif  // PCL_ROS__FEATURES__MOMENT_INVARIANTS_HPP_

pcl_ros/include/pcl_ros/features/normal_3d.hpp

@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_ROS_NORMAL_3D_H_
+#ifndef PCL_ROS__FEATURES__NORMAL_3D_HPP_
-#define PCL_ROS_NORMAL_3D_H_
+#define PCL_ROS__FEATURES__NORMAL_3D_HPP_
 
 #include <pcl/features/normal_3d.h>
 #include "pcl_ros/features/feature.hpp"
@@ -81,6 +81,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_NORMAL_3D_H_
+#endif  // PCL_ROS__FEATURES__NORMAL_3D_HPP_

pcl_ros/include/pcl_ros/features/normal_3d_omp.hpp

@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_ROS_NORMAL_3D_OMP_H_
+#ifndef PCL_ROS__FEATURES__NORMAL_3D_OMP_HPP_
-#define PCL_ROS_NORMAL_3D_OMP_H_
+#define PCL_ROS__FEATURES__NORMAL_3D_OMP_HPP_
 
 #include <pcl/features/normal_3d_omp.h>
 #include "pcl_ros/features/normal_3d.hpp"
@@ -75,6 +75,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_NORMAL_3D_OMP_H_
+#endif  // PCL_ROS__FEATURES__NORMAL_3D_OMP_HPP_

pcl_ros/include/pcl_ros/features/normal_3d_tbb.hpp

@@ -35,11 +35,11 @@
  *
  */
 
-#ifndef PCL_ROS_NORMAL_3D_TBB_H_
+#ifndef PCL_ROS__FEATURES__NORMAL_3D_TBB_HPP_
-#define PCL_ROS_NORMAL_3D_TBB_H_
+#define PCL_ROS__FEATURES__NORMAL_3D_TBB_HPP_
 
-//#include "pcl_ros/pcl_ros_config.hpp"
+// #include "pcl_ros/pcl_ros_config.hpp"
-//#if defined(HAVE_TBB)
+// #if defined(HAVE_TBB)
 
 #include <pcl/features/normal_3d_tbb.h>
 #include "pcl_ros/features/normal_3d.hpp"
@@ -78,8 +78,8 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-//#endif  // HAVE_TBB
+// #endif  // HAVE_TBB
 
-#endif  //#ifndef PCL_ROS_NORMAL_3D_TBB_H_
+#endif  // PCL_ROS__FEATURES__NORMAL_3D_TBB_HPP_

pcl_ros/include/pcl_ros/features/pfh.hpp

@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_ROS_PFH_H_
+#ifndef PCL_ROS__FEATURES__PFH_HPP_
-#define PCL_ROS_PFH_H_
+#define PCL_ROS__FEATURES__PFH_HPP_
 
 #include <pcl/features/pfh.h>
 #include "pcl_ros/features/feature.hpp"
@@ -94,6 +94,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_PFH_H_
+#endif  // PCL_ROS__FEATURES__PFH_HPP_

pcl_ros/include/pcl_ros/features/principal_curvatures.hpp

@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_ROS_PRINCIPAL_CURVATURES_H_
+#ifndef PCL_ROS__FEATURES__PRINCIPAL_CURVATURES_HPP_
-#define PCL_ROS_PRINCIPAL_CURVATURES_H_
+#define PCL_ROS__FEATURES__PRINCIPAL_CURVATURES_HPP_
 
 #define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET true
 #include <pcl/features/principal_curvatures.h>
@@ -80,6 +80,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_PRINCIPAL_CURVATURES_H_
+#endif  // PCL_ROS__FEATURES__PRINCIPAL_CURVATURES_HPP_

pcl_ros/include/pcl_ros/features/shot.hpp

@@ -34,8 +34,8 @@
  *
  */
 
-#ifndef PCL_ROS_SHOT_H_
+#ifndef PCL_ROS__FEATURES__SHOT_HPP_
-#define PCL_ROS_SHOT_H_
+#define PCL_ROS__FEATURES__SHOT_HPP_
 
 #include <pcl/features/shot.h>
 #include "pcl_ros/features/pfh.hpp"
@@ -74,6 +74,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_SHOT_H_
+#endif  // PCL_ROS__FEATURES__SHOT_HPP_

pcl_ros/include/pcl_ros/features/shot_omp.hpp

@@ -34,8 +34,8 @@
  *
  */
 
-#ifndef PCL_ROS_SHOT_OMP_H_
+#ifndef PCL_ROS__FEATURES__SHOT_OMP_HPP_
-#define PCL_ROS_SHOT_OMP_H_
+#define PCL_ROS__FEATURES__SHOT_OMP_HPP_
 
 #include <pcl/features/shot_omp.h>
 #include "pcl_ros/features/shot.hpp"
@@ -73,6 +73,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_SHOT_OMP_H_
+#endif  // PCL_ROS__FEATURES__SHOT_OMP_HPP_

pcl_ros/include/pcl_ros/features/vfh.hpp

@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_ROS_FEATURES_VFH_H_
+#ifndef PCL_ROS__FEATURES__VFH_HPP_
-#define PCL_ROS_FEATURES_VFH_H_
+#define PCL_ROS__FEATURES__VFH_HPP_
 
 #include <pcl/features/vfh.h>
 #include "pcl_ros/features/fpfh.hpp"
@@ -79,6 +79,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_FEATURES_VFH_H_
+#endif  // PCL_ROS__FEATURES__VFH_HPP_

pcl_ros/include/pcl_ros/filters/crop_box.hpp

@@ -36,8 +36,8 @@
  *
  */
 
-#ifndef PCL_ROS_FILTERS_CROPBOX_H_
+#ifndef PCL_ROS__FILTERS__CROP_BOX_HPP_
-#define PCL_ROS_FILTERS_CROPBOX_H_
+#define PCL_ROS__FILTERS__CROP_BOX_HPP_
 
 // PCL includes
 #include <pcl/filters/crop_box.h>
@@ -58,7 +58,7 @@ class CropBox : public Filter
 {
 protected:
   /** \brief Pointer to a dynamic reconfigure service. */
-  boost::shared_ptr<dynamic_reconfigure::Server<pcl_ros::CropBoxConfig>> srv_;       // TODO
+  boost::shared_ptr<dynamic_reconfigure::Server<pcl_ros::CropBoxConfig>> srv_;  // TODO(xxx)
 
   /** \brief Call the actual filter.
     * \param input the input point cloud dataset
@@ -101,6 +101,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_FILTERS_CROPBOX_H_
+#endif  // PCL_ROS__FILTERS__CROP_BOX_HPP_

pcl_ros/include/pcl_ros/filters/extract_indices.hpp

@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_ROS_FILTERS_EXTRACTINDICES_H_
+#ifndef PCL_ROS__FILTERS__EXTRACT_INDICES_HPP_
-#define PCL_ROS_FILTERS_EXTRACTINDICES_H_
+#define PCL_ROS__FILTERS__EXTRACT_INDICES_HPP_
 
 // PCL includes
 #include <pcl/filters/extract_indices.h>
@@ -94,6 +94,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_FILTERS_EXTRACTINDICES_H_
+#endif  // PCL_ROS__FILTERS__EXTRACT_INDICES_HPP_

pcl_ros/include/pcl_ros/filters/filter.hpp

@@ -35,23 +35,21 @@
  *
  */
 
-#ifndef PCL_ROS_FILTER_H_
+#ifndef PCL_ROS__FILTERS__FILTER_HPP_
-#define PCL_ROS_FILTER_H_
+#define PCL_ROS__FILTERS__FILTER_HPP_
 
-// PCL includes
 #include <pcl/filters/filter.h>
-#include "pcl_ros/pcl_nodelet.hpp"
-
-// Dynamic reconfigure
 #include <dynamic_reconfigure/server.h>
+#include <string>
+#include "pcl_ros/pcl_nodelet.hpp"
 #include "pcl_ros/FilterConfig.hpp"
 
 namespace pcl_ros
 {
 namespace sync_policies = message_filters::sync_policies;
 
-/** \brief @b Filter represents the base filter class. Some generic 3D operations that are applicable to all filters
+/** \brief @b Filter represents the base filter class. Some generic 3D operations that are
-  * are defined here as static methods.
+  * applicable to all filters are defined here as static methods.
   * \author Radu Bogdan Rusu
   */
 class Filter : public PCLNodelet
@@ -79,16 +77,22 @@ protected:
   /** \brief The maximum allowed filter value a point will be considered from. */
   double filter_limit_max_;
 
-  /** \brief Set to true if we want to return the data outside (\a filter_limit_min_;\a filter_limit_max_). Default: false. */
+  /** \brief Set to true if we want to return the data outside
+    * (\a filter_limit_min_;\a filter_limit_max_). Default: false.
+    */
   bool filter_limit_negative_;
 
-  /** \brief The input TF frame the data should be transformed into, if input.header.frame_id is different. */
+  /** \brief The input TF frame the data should be transformed into,
+    * if input.header.frame_id is different.
+    */
   std::string tf_input_frame_;
 
   /** \brief The original data input TF frame. */
   std::string tf_input_orig_frame_;
 
-  /** \brief The output TF frame the data should be transformed into, if input.header.frame_id is different. */
+  /** \brief The output TF frame the data should be transformed into,
+    * if input.header.frame_id is different.
+    */
   std::string tf_output_frame_;
 
   /** \brief Internal mutex. */
@@ -157,6 +161,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_FILTER_H_
+#endif  // PCL_ROS__FILTERS__FILTER_HPP_

pcl_ros/include/pcl_ros/filters/passthrough.hpp

@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_ROS_FILTERS_PASSTHROUGH_H_
+#ifndef PCL_ROS__FILTERS__PASSTHROUGH_HPP_
-#define PCL_ROS_FILTERS_PASSTHROUGH_H_
+#define PCL_ROS__FILTERS__PASSTHROUGH_HPP_
 
 // PCL includes
 #include <pcl/filters/passthrough.h>
@@ -95,6 +95,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_FILTERS_PASSTHROUGH_H_
+#endif  // PCL_ROS__FILTERS__PASSTHROUGH_HPP_

pcl_ros/include/pcl_ros/filters/project_inliers.hpp

@@ -35,14 +35,13 @@
  *
  */
 
-#ifndef PCL_ROS_FILTERS_PROJECT_INLIERS_H_
+#ifndef PCL_ROS__FILTERS__PROJECT_INLIERS_HPP_
-#define PCL_ROS_FILTERS_PROJECT_INLIERS_H_
+#define PCL_ROS__FILTERS__PROJECT_INLIERS_HPP_
 
-// PCL includes
 #include <pcl/filters/project_inliers.h>
+#include <message_filters/subscriber.h>
 #include "pcl_ros/filters/filter.hpp"
 
-#include <message_filters/subscriber.h>
 
 namespace pcl_ros
 {
@@ -115,6 +114,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_FILTERS_PROJECT_INLIERS_H_
+#endif  // PCL_ROS__FILTERS__PROJECT_INLIERS_HPP_

pcl_ros/include/pcl_ros/filters/radius_outlier_removal.hpp

@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_ROS_FILTERS_RADIUSOUTLIERREMOVAL_H_
+#ifndef PCL_ROS__FILTERS__RADIUS_OUTLIER_REMOVAL_HPP_
-#define PCL_ROS_FILTERS_RADIUSOUTLIERREMOVAL_H_
+#define PCL_ROS__FILTERS__RADIUS_OUTLIER_REMOVAL_HPP_
 
 // PCL includes
 #include <pcl/filters/radius_outlier_removal.h>
@@ -96,6 +96,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_FILTERS_RADIUSOUTLIERREMOVAL_H_
+#endif  // PCL_ROS__FILTERS__RADIUS_OUTLIER_REMOVAL_HPP_

pcl_ros/include/pcl_ros/filters/statistical_outlier_removal.hpp

@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_ROS_FILTERS_STATISTICALOUTLIERREMOVAL_H_
+#ifndef PCL_ROS__FILTERS__STATISTICAL_OUTLIER_REMOVAL_HPP_
-#define PCL_ROS_FILTERS_STATISTICALOUTLIERREMOVAL_H_
+#define PCL_ROS__FILTERS__STATISTICAL_OUTLIER_REMOVAL_HPP_
 
 // PCL includes
 #include <pcl/filters/statistical_outlier_removal.h>
@@ -103,6 +103,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_FILTERS_STATISTICALOUTLIERREMOVAL_H_
+#endif  // PCL_ROS__FILTERS__STATISTICAL_OUTLIER_REMOVAL_HPP_

pcl_ros/include/pcl_ros/filters/voxel_grid.hpp

@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_ROS_FILTERS_VOXEL_H_
+#ifndef PCL_ROS__FILTERS__VOXEL_GRID_HPP_
-#define PCL_ROS_FILTERS_VOXEL_H_
+#define PCL_ROS__FILTERS__VOXEL_GRID_HPP_
 
 // PCL includes
 #include <pcl/filters/voxel_grid.h>
@@ -86,6 +86,6 @@ protected:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_FILTERS_VOXEL_H_
+#endif  // PCL_ROS__FILTERS__VOXEL_GRID_HPP_

pcl_ros/include/pcl_ros/impl/transforms.hpp

@@ -34,10 +34,11 @@
  *
  */
 
-#ifndef pcl_ros_IMPL_TRANSFORMS_H_
+#ifndef PCL_ROS__IMPL__TRANSFORMS_HPP_
-#define pcl_ros_IMPL_TRANSFORMS_H_
+#define PCL_ROS__IMPL__TRANSFORMS_HPP_
 
 #include <pcl_conversions/pcl_conversions.h>
+#include <string>
 #include "pcl_ros/transforms.hpp"
 
 using pcl_conversions::fromPCL;
@@ -58,13 +59,13 @@ transformPointCloudWithNormals(
   // Rather that risking a mistake, we copy the quaternion, which is a small cost compared to
   // the conversion of the point cloud anyway. Idem for the origin.
   tf::Quaternion q = transform.getRotation();
-  Eigen::Quaternionf rotation(q.w(), q.x(), q.y(), q.z());            // internally stored as (x,y,z,w)
+  Eigen::Quaternionf rotation(q.w(), q.x(), q.y(), q.z());  // internally stored as (x,y,z,w)
   tf::Vector3 v = transform.getOrigin();
   Eigen::Vector3f origin(v.x(), v.y(), v.z());
   //    Eigen::Translation3f translation(v);
   // Assemble an Eigen Transform
-  //Eigen::Transform3f t;
+  // Eigen::Transform3f t;
-  //t = translation * rotation;
+  // t = translation * rotation;
   transformPointCloudWithNormals(cloud_in, cloud_out, origin, rotation);
 }
 
@@ -81,13 +82,13 @@ transformPointCloud(
   // Rather that risking a mistake, we copy the quaternion, which is a small cost compared to
   // the conversion of the point cloud anyway. Idem for the origin.
   tf::Quaternion q = transform.getRotation();
-  Eigen::Quaternionf rotation(q.w(), q.x(), q.y(), q.z());            // internally stored as (x,y,z,w)
+  Eigen::Quaternionf rotation(q.w(), q.x(), q.y(), q.z());  // internally stored as (x,y,z,w)
   tf::Vector3 v = transform.getOrigin();
   Eigen::Vector3f origin(v.x(), v.y(), v.z());
   //    Eigen::Translation3f translation(v);
   // Assemble an Eigen Transform
-  //Eigen::Transform3f t;
+  // Eigen::Transform3f t;
-  //t = translation * rotation;
+  // t = translation * rotation;
   transformPointCloud(cloud_in, cloud_out, origin, rotation);
 }
 
@@ -217,6 +218,5 @@ transformPointCloudWithNormals(
   cloud_out.header = toPCL(header);
   return true;
 }
-
 }  // namespace pcl_ros
-#endif
+#endif  // PCL_ROS__IMPL__TRANSFORMS_HPP_

pcl_ros/include/pcl_ros/io/bag_io.hpp

@@ -35,13 +35,14 @@
  *
  */
 
-#ifndef PCL_ROS_IO_BAG_IO_H_
+#ifndef PCL_ROS__IO__BAG_IO_HPP_
-#define PCL_ROS_IO_BAG_IO_H_
+#define PCL_ROS__IO__BAG_IO_HPP_
 
 #include <pcl_ros/pcl_nodelet.hpp>
 #include <sensor_msgs/PointCloud2.h>
 #include <rosbag/bag.h>
 #include <rosbag/view.h>
+#include <string>
 
 namespace pcl_ros
 {
@@ -120,12 +121,11 @@ private:
   PointCloudPtr output_;
 
   /** \brief Signals that a new PointCloud2 message has been read from the file. */
-  //bool cloud_received_;
+  // bool cloud_received_;
 
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
+}  // namespace pcl_ros
 
-}
+#endif  // PCL_ROS__IO__BAG_IO_HPP_
-
-#endif  //#ifndef PCL_ROS_IO_BAG_IO_H_

pcl_ros/include/pcl_ros/io/concatenate_data.hpp

@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_IO_CONCATENATE_DATA_H_
+#ifndef PCL_ROS__IO__CONCATENATE_DATA_HPP_
-#define PCL_IO_CONCATENATE_DATA_H_
+#define PCL_ROS__IO__CONCATENATE_DATA_HPP_
 
 // ROS includes
 #include <tf/transform_listener.h>
@@ -46,6 +46,8 @@
 #include <message_filters/pass_through.h>
 #include <message_filters/sync_policies/exact_time.h>
 #include <message_filters/sync_policies/approximate_time.h>
+#include <string>
+#include <vector>
 
 namespace pcl_ros
 {
@@ -71,7 +73,7 @@ public:
   /** \brief Empty constructor.
     * \param queue_size the maximum queue size
     */
-  PointCloudConcatenateDataSynchronizer(int queue_size)
+  explicit PointCloudConcatenateDataSynchronizer(int queue_size)
   : maximum_queue_size_(queue_size), approximate_sync_(false) {}
 
   /** \brief Empty destructor. */
@@ -88,7 +90,9 @@ private:
   /** \brief The maximum number of messages that we can store in the queue. */
   int maximum_queue_size_;
 
-  /** \brief True if we use an approximate time synchronizer versus an exact one (false by default). */
+  /** \brief True if we use an approximate time synchronizer
+    * versus an exact one (false by default).
+    */
   bool approximate_sync_;
 
   /** \brief A vector of message filters. */
@@ -137,6 +141,6 @@ private:
 
   void combineClouds(const PointCloud2 & in1, const PointCloud2 & in2, PointCloud2 & out);
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_IO_CONCATENATE_H_
+#endif  // PCL_ROS__IO__CONCATENATE_DATA_HPP_

pcl_ros/include/pcl_ros/io/concatenate_fields.hpp

@@ -35,8 +35,8 @@
  *
  */
 
-#ifndef PCL_IO_CONCATENATE_FIELDS_H_
+#ifndef PCL_ROS__IO__CONCATENATE_FIELDS_HPP_
-#define PCL_IO_CONCATENATE_FIELDS_H_
+#define PCL_ROS__IO__CONCATENATE_FIELDS_HPP_
 
 // ROS includes
 #include <nodelet_topic_tools/nodelet_lazy.h>
@@ -47,6 +47,9 @@
 
 #include <sensor_msgs/PointCloud2.h>
 
+#include <map>
+#include <vector>
+
 namespace pcl_ros
 {
 /** \brief @b PointCloudConcatenateFieldsSynchronizer is a special form of data synchronizer: it listens for a set of
@@ -68,7 +71,7 @@ public:
   /** \brief Empty constructor.
     * \param queue_size the maximum queue size
     */
-  PointCloudConcatenateFieldsSynchronizer(int queue_size)
+  explicit PointCloudConcatenateFieldsSynchronizer(int queue_size)
   : maximum_queue_size_(queue_size), maximum_seconds_(0) {}
 
   /** \brief Empty destructor. */
@@ -98,6 +101,6 @@ private:
   /** \brief A queue for messages. */
   std::map<ros::Time, std::vector<PointCloudConstPtr>> queue_;
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_IO_CONCATENATE_H_
+#endif  // PCL_ROS__IO__CONCATENATE_FIELDS_HPP_

pcl_ros/include/pcl_ros/io/pcd_io.hpp

@@ -35,10 +35,11 @@
  *
  */
 
-#ifndef PCL_ROS_IO_PCD_IO_H_
+#ifndef PCL_ROS__IO__PCD_IO_HPP_
-#define PCL_ROS_IO_PCD_IO_H_
+#define PCL_ROS__IO__PCD_IO_HPP_
 
 #include <pcl/io/pcd_io.h>
+#include <string>
 #include "pcl_ros/pcl_nodelet.hpp"
 
 namespace pcl_ros
@@ -131,6 +132,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_IO_PCD_IO_H_
+#endif  // PCL_ROS__IO__PCD_IO_HPP_

pcl_ros/include/pcl_ros/pcl_nodelet.hpp

@@ -41,8 +41,8 @@
 
 **/
 
-#ifndef PCL_NODELET_H_
+#ifndef PCL_ROS__PCL_NODELET_HPP_
-#define PCL_NODELET_H_
+#define PCL_ROS__PCL_NODELET_HPP_
 
 #include <sensor_msgs/PointCloud2.h>
 // PCL includes
@@ -51,7 +51,6 @@
 #include <pcl/pcl_base.h>
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
-#include "pcl_ros/point_cloud.hpp"
 // ROS Nodelet includes
 #include <nodelet_topic_tools/nodelet_lazy.h>
 #include <message_filters/subscriber.h>
@@ -62,6 +61,11 @@
 // Include TF
 #include <tf/transform_listener.h>
 
+// STL
+#include <string>
+
+#include "pcl_ros/point_cloud.hpp"
+
 using pcl_conversions::fromPCL;
 
 namespace pcl_ros
@@ -69,7 +73,9 @@ namespace pcl_ros
 ////////////////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////////////////
-/** \brief @b PCLNodelet represents the base PCL Nodelet class. All PCL nodelets should inherit from this class. */
+/** \brief @b PCLNodelet represents the base PCL Nodelet class. All PCL nodelets should
+  * inherit from this class.
+  **/
 class PCLNodelet : public nodelet_topic_tools::NodeletLazy
 {
 public:
@@ -128,7 +134,9 @@ protected:
   /** \brief The maximum queue size (default: 3). */
   int max_queue_size_;
 
-  /** \brief True if we use an approximate time synchronizer versus an exact one (false by default). */
+  /** \brief True if we use an approximate time synchronizer
+    * versus an exact one (false by default).
+    **/
   bool approximate_sync_;
 
   /** \brief TF listener object. */
@@ -143,7 +151,8 @@ protected:
   {
     if (cloud->width * cloud->height * cloud->point_step != cloud->data.size()) {
       NODELET_WARN(
-        "[%s] Invalid PointCloud (data = %zu, width = %d, height = %d, step = %d) with stamp %f, and frame %s on topic %s received!",
+        "[%s] Invalid PointCloud (data = %zu, width = %d, height = %d, step = %d) "
+        "with stamp %f, and frame %s on topic %s received!",
         getName().c_str(),
         cloud->data.size(), cloud->width, cloud->height, cloud->point_step,
         cloud->header.stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
@@ -163,7 +172,8 @@ protected:
   {
     if (cloud->width * cloud->height != cloud->points.size()) {
       NODELET_WARN(
-        "[%s] Invalid PointCloud (points = %zu, width = %d, height = %d) with stamp %f, and frame %s on topic %s received!",
+        "[%s] Invalid PointCloud (points = %zu, width = %d, height = %d) "
+        "with stamp %f, and frame %s on topic %s received!",
         getName().c_str(), cloud->points.size(), cloud->width, cloud->height,
         fromPCL(cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(),
         pnh_->resolveName(topic_name).c_str());
@@ -182,7 +192,10 @@ protected:
   {
     /*if (indices->indices.empty ())
     {
-      NODELET_WARN ("[%s] Empty indices (values = %zu) with stamp %f, and frame %s on topic %s received!", getName ().c_str (), indices->indices.size (), indices->header.stamp.toSec (), indices->header.frame_id.c_str (), pnh_->resolveName (topic_name).c_str ());
+      NODELET_WARN ("[%s] Empty indices (values = %zu) "
+      "with stamp %f, and frame %s on topic %s received!",
+      getName ().c_str (), indices->indices.size (), indices->header.stamp.toSec (),
+      indices->header.frame_id.c_str (), pnh_->resolveName (topic_name).c_str ());
       return (true);
     }*/
     return true;
@@ -197,13 +210,18 @@ protected:
   {
     /*if (model->values.empty ())
     {
-      NODELET_WARN ("[%s] Empty model (values = %zu) with stamp %f, and frame %s on topic %s received!", getName ().c_str (), model->values.size (), model->header.stamp.toSec (), model->header.frame_id.c_str (), pnh_->resolveName (topic_name).c_str ());
+      NODELET_WARN ("[%s] Empty model (values = %zu) with stamp %f, "
+      "and frame %s on topic %s received!",
+      getName ().c_str (), model->values.size (), model->header.stamp.toSec (),
+      model->header.frame_id.c_str (), pnh_->resolveName (topic_name).c_str ());
       return (false);
     }*/
     return true;
   }
 
-  /** \brief Lazy transport subscribe/unsubscribe routine. It is optional for backward compatibility. */
+  /** \brief Lazy transport subscribe/unsubscribe routine.
+    * It is optional for backward compatibility.
+    **/
   virtual void subscribe() {}
   virtual void unsubscribe() {}
 
@@ -237,6 +255,6 @@ protected:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_NODELET_H_
+#endif  // PCL_ROS__PCL_NODELET_HPP_

pcl_ros/include/pcl_ros/point_cloud.hpp

@@ -1,15 +1,71 @@
-#ifndef pcl_ROS_POINT_CLOUD_H_
+/*
-#define pcl_ROS_POINT_CLOUD_H_
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2009, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef PCL_ROS__POINT_CLOUD_HPP__
+#define PCL_ROS__POINT_CLOUD_HPP__
+
+// test if testing machinery can be implemented
+#if defined(__cpp_rvalue_references) && defined(__cpp_constexpr)
+#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 1
+#else
+#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 0
+#endif
 
 #include <ros/ros.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_traits.h>
 #include <pcl/for_each_type.h>
 #include <pcl/conversions.h>
+#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED
+#include <pcl/pcl_config.h>
+#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
+#include <pcl/memory.h>
+#elif PCL_VERSION_COMPARE(>=, 1, 10, 0)
+#include <pcl/make_shared.h>
+#endif
+#endif
 #include <pcl_conversions/pcl_conversions.h>
 #include <sensor_msgs/PointCloud2.h>
 #include <boost/mpl/size.hpp>
 #include <boost/ref.hpp>
+#include <string>
+#include <utility>
+#include <vector>
+#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED
+#include <type_traits>
+#include <memory>
+#endif
 
 namespace pcl
 {
@@ -18,7 +74,7 @@ namespace detail
 template<typename Stream, typename PointT>
 struct FieldStreamer
 {
-  FieldStreamer(Stream & stream)
+  explicit FieldStreamer(Stream & stream)
   : stream_(stream) {}
 
   template<typename U>
@@ -59,8 +115,8 @@ struct FieldsLength
 
   std::uint32_t length;
 };
-}   // namespace pcl::detail
+}  // namespace detail
-} // namespace pcl
+}  // namespace pcl
 
 namespace ros
 {
@@ -161,7 +217,7 @@ struct FrameId<pcl::PointCloud<T>>
   static std::string value(const pcl::PointCloud<T> & m) {return m.header.frame_id;}
 };
 
-}   // namespace ros::message_traits
+}  // namespace message_traits
 
 namespace serialization
 {
@@ -297,30 +353,11 @@ struct Serializer<pcl::PointCloud<T>>
     return length;
   }
 };
-}   // namespace ros::serialization
+}  // namespace serialization
 
 /// @todo Printer specialization in message_operations
 
-} // namespace ros
+}  // namespace ros
-
-// test if testing machinery can be implemented
-#if defined(__cpp_rvalue_references) && defined(__cpp_constexpr)
-#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 1
-#else
-#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 0
-#endif
-
-#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED
-#include <type_traits>  // for std::is_same
-#include <memory>       // for std::shared_ptr
-
-#include <pcl/pcl_config.h>
-#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
-#include <pcl/memory.h>
-#elif PCL_VERSION_COMPARE(>=, 1, 10, 0)
-#include <pcl/make_shared.h>
-#endif
-#endif
 
 namespace pcl
 {
@@ -341,7 +378,7 @@ struct Holder
 {
   SharedPointer p;
 
-  Holder(const SharedPointer & p)
+  explicit Holder(const SharedPointer & p)
   : p(p) {}
   Holder(const Holder & other)
   : p(other.p) {}
@@ -373,7 +410,7 @@ inline boost::shared_ptr<T> to_boost_ptr(const std::shared_ptr<T> & p)
   }
 }
 #endif
-}   // namespace pcl::detail
+}  // namespace detail
 
 // add functions to convert to smart pointer used by ROS
 template<class T>
@@ -420,6 +457,6 @@ inline boost::shared_ptr<T> pcl_ptr(const boost::shared_ptr<T> & p)
   return p;
 }
 #endif
-} // namespace pcl
+}  // namespace pcl
 
-#endif
+#endif  // PCL_ROS__POINT_CLOUD_HPP__

pcl_ros/include/pcl_ros/publisher.hpp

@@ -42,8 +42,8 @@
 
 **/
 
-#ifndef PCL_ROS_PUBLISHER_H_
+#ifndef PCL_ROS__PUBLISHER_HPP_
-#define PCL_ROS_PUBLISHER_H_
+#define PCL_ROS__PUBLISHER_HPP_
 
 #include <ros/ros.h>
 #include <sensor_msgs/PointCloud2.h>
@@ -51,6 +51,8 @@
 
 #include <pcl_conversions/pcl_conversions.h>
 
+#include <string>
+
 namespace pcl_ros
 {
 class BasePublisher
@@ -82,7 +84,7 @@ public:
 
   operator void *() const
   {
-    return (pub_) ? (void *)1 : (void *)0;
+    return (pub_) ? reinterpret_cast<void *>(1) : reinterpret_cast<void *>(0);
   }
 
 protected:
@@ -135,15 +137,15 @@ public:
   publish(const sensor_msgs::PointCloud2Ptr & point_cloud) const
   {
     pub_.publish(point_cloud);
-    //pub_.publish (*point_cloud);
+    // pub_.publish (*point_cloud);
   }
 
   void
   publish(const sensor_msgs::PointCloud2 & point_cloud) const
   {
     pub_.publish(boost::make_shared<const sensor_msgs::PointCloud2>(point_cloud));
-    //pub_.publish (point_cloud);
+    // pub_.publish (point_cloud);
   }
 };
-}
+}  // namespace pcl_ros
-#endif  //#ifndef PCL_ROS_PUBLISHER_H_
+#endif  // PCL_ROS__PUBLISHER_HPP_

pcl_ros/include/pcl_ros/segmentation/extract_clusters.hpp

@@ -35,14 +35,13 @@
  *
  */
 
-#ifndef PCL_ROS_EXTRACT_CLUSTERS_H_
+#ifndef PCL_ROS__SEGMENTATION__EXTRACT_CLUSTERS_HPP_
-#define PCL_ROS_EXTRACT_CLUSTERS_H_
+#define PCL_ROS__SEGMENTATION__EXTRACT_CLUSTERS_HPP_
 
-#include <pcl/segmentation/extract_clusters.h>
-#include "pcl_ros/pcl_nodelet.hpp"
-
-// Dynamic reconfigure
 #include <dynamic_reconfigure/server.h>
+#include <pcl/segmentation/extract_clusters.h>
+#include <limits>
+#include "pcl_ros/pcl_nodelet.hpp"
 #include "pcl_ros/EuclideanClusterExtractionConfig.hpp"
 
 namespace pcl_ros
@@ -109,6 +108,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_EXTRACT_CLUSTERS_H_
+#endif  // PCL_ROS__SEGMENTATION__EXTRACT_CLUSTERS_HPP_

pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.hpp

@@ -35,20 +35,16 @@
  *
  */
 
-#ifndef PCL_ROS_EXTRACT_POLYGONAL_PRISM_DATA_H_
+#ifndef PCL_ROS__SEGMENTATION__EXTRACT_POLYGONAL_PRISM_DATA_HPP_
-#define PCL_ROS_EXTRACT_POLYGONAL_PRISM_DATA_H_
+#define PCL_ROS__SEGMENTATION__EXTRACT_POLYGONAL_PRISM_DATA_HPP_
 
-#include "pcl_ros/pcl_nodelet.hpp"
 #include <message_filters/sync_policies/exact_time.h>
 #include <message_filters/sync_policies/approximate_time.h>
 #include <message_filters/pass_through.h>
-
-// PCL includes
 #include <pcl/segmentation/extract_polygonal_prism_data.h>
-
-// Dynamic reconfigure
 #include <dynamic_reconfigure/server.h>
 #include "pcl_ros/ExtractPolygonalPrismDataConfig.hpp"
+#include "pcl_ros/pcl_nodelet.hpp"
 
 namespace pcl_ros
 {
@@ -129,6 +125,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_EXTRACT_POLYGONAL_PRISM_DATA_H_
+#endif  // PCL_ROS__SEGMENTATION__EXTRACT_POLYGONAL_PRISM_DATA_HPP_

pcl_ros/include/pcl_ros/segmentation/sac_segmentation.hpp

@@ -35,17 +35,14 @@
  *
  */
 
-#ifndef PCL_ROS_SAC_SEGMENTATION_H_
+#ifndef PCL_ROS__SEGMENTATION__SAC_SEGMENTATION_HPP_
-#define PCL_ROS_SAC_SEGMENTATION_H_
+#define PCL_ROS__SEGMENTATION__SAC_SEGMENTATION_HPP_
 
-#include "pcl_ros/pcl_nodelet.hpp"
 #include <message_filters/pass_through.h>
-
-// PCL includes
 #include <pcl/segmentation/sac_segmentation.h>
-
-// Dynamic reconfigure
 #include <dynamic_reconfigure/server.h>
+#include <string>
+#include "pcl_ros/pcl_nodelet.hpp"
 #include "pcl_ros/SACSegmentationConfig.hpp"
 #include "pcl_ros/SACSegmentationFromNormalsConfig.hpp"
 
@@ -54,8 +51,9 @@ namespace pcl_ros
 namespace sync_policies = message_filters::sync_policies;
 
 ////////////////////////////////////////////////////////////////////////////////////////////
-/** \brief @b SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models, in
+/** \brief @b SACSegmentation represents the Nodelet segmentation class for Sample Consensus
-  * the sense that it just creates a Nodelet wrapper for generic-purpose SAC-based segmentation.
+  * methods and models, in the sense that it just creates a Nodelet wrapper for generic-purpose
+  * SAC-based segmentation.
   * \author Radu Bogdan Rusu
   */
 class SACSegmentation : public PCLNodelet
@@ -69,7 +67,8 @@ public:
   SACSegmentation()
   : min_inliers_(0) {}
 
-  /** \brief Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different.
+  /** \brief Set the input TF frame the data should be transformed into before processing,
+    * if input.header.frame_id is different.
     * \param tf_frame the TF frame the input PointCloud should be transformed into before processing
     */
   inline void setInputTFframe(std::string tf_frame) {tf_input_frame_ = tf_frame;}
@@ -102,13 +101,17 @@ protected:
   /** \brief Pointer to a dynamic reconfigure service. */
   boost::shared_ptr<dynamic_reconfigure::Server<SACSegmentationConfig>> srv_;
 
-  /** \brief The input TF frame the data should be transformed into, if input.header.frame_id is different. */
+  /** \brief The input TF frame the data should be transformed into,
+    * if input.header.frame_id is different.
+    */
   std::string tf_input_frame_;
 
   /** \brief The original data input TF frame. */
   std::string tf_input_orig_frame_;
 
-  /** \brief The output TF frame the data should be transformed into, if input.header.frame_id is different. */
+  /** \brief The output TF frame the data should be transformed into,
+    * if input.header.frame_id is different.
+    */
   std::string tf_output_frame_;
 
   /** \brief Null passthrough filter, used for pushing empty elements in the
@@ -180,8 +183,8 @@ public:
 };
 
 ////////////////////////////////////////////////////////////////////////////////////////////
-/** \brief @b SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods and
+/** \brief @b SACSegmentationFromNormals represents the PCL nodelet segmentation class for
-  * models that require the use of surface normals for estimation.
+  * Sample Consensus methods and models that require the use of surface normals for estimation.
   */
 class SACSegmentationFromNormals : public SACSegmentation
 {
@@ -194,7 +197,8 @@ class SACSegmentationFromNormals : public SACSegmentation
   typedef boost::shared_ptr<const PointCloudN> PointCloudNConstPtr;
 
 public:
-  /** \brief Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different.
+  /** \brief Set the input TF frame the data should be transformed into before processing,
+    * if input.header.frame_id is different.
     * \param tf_frame the TF frame the input PointCloud should be transformed into before processing
     */
   inline void setInputTFframe(std::string tf_frame) {tf_input_frame_ = tf_frame;}
@@ -237,11 +241,15 @@ protected:
     * synchronizer */
   message_filters::PassThrough<PointIndices> nf_;
 
-  /** \brief The input TF frame the data should be transformed into, if input.header.frame_id is different. */
+  /** \brief The input TF frame the data should be transformed into,
+   * if input.header.frame_id is different.
+   */
   std::string tf_input_frame_;
   /** \brief The original data input TF frame. */
   std::string tf_input_orig_frame_;
-  /** \brief The output TF frame the data should be transformed into, if input.header.frame_id is different. */
+  /** \brief The output TF frame the data should be transformed into,
+    * if input.header.frame_id is different.
+    */
   std::string tf_output_frame_;
 
   /** \brief Nodelet initialization routine. */
@@ -288,6 +296,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_SAC_SEGMENTATION_H_
+#endif  // PCL_ROS__SEGMENTATION__SAC_SEGMENTATION_HPP_

pcl_ros/include/pcl_ros/segmentation/segment_differences.hpp

@@ -35,15 +35,13 @@
  *
  */
 
-#ifndef PCL_ROS_SEGMENT_DIFFERENCES_H_
+#ifndef PCL_ROS__SEGMENTATION__SEGMENT_DIFFERENCES_HPP_
-#define PCL_ROS_SEGMENT_DIFFERENCES_H_
+#define PCL_ROS__SEGMENTATION__SEGMENT_DIFFERENCES_HPP_
 
 #include <pcl/segmentation/segment_differences.h>
-#include "pcl_ros/pcl_nodelet.hpp"
-
-// Dynamic reconfigure
 #include <dynamic_reconfigure/server.h>
 #include "pcl_ros/SegmentDifferencesConfig.hpp"
+#include "pcl_ros/pcl_nodelet.hpp"
 
 
 namespace pcl_ros
@@ -108,6 +106,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_SEGMENT_DIFFERENCES_H_
+#endif  // PCL_ROS__SEGMENTATION__SEGMENT_DIFFERENCES_HPP_

pcl_ros/include/pcl_ros/surface/convex_hull.hpp

@@ -35,16 +35,12 @@
  *
  */
 
-#ifndef PCL_ROS_CONVEX_HULL_2D_H_
+#ifndef PCL_ROS__SURFACE__CONVEX_HULL_HPP_
-#define PCL_ROS_CONVEX_HULL_2D_H_
+#define PCL_ROS__SURFACE__CONVEX_HULL_HPP_
 
-#include "pcl_ros/pcl_nodelet.hpp"
-
-// PCL includes
 #include <pcl/surface/convex_hull.h>
-
-// Dynamic reconfigure
 #include <dynamic_reconfigure/server.h>
+#include "pcl_ros/pcl_nodelet.hpp"
 
 namespace pcl_ros
 {
@@ -94,6 +90,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_CONVEX_HULL_2D_H_
+#endif  // PCL_ROS__SURFACE__CONVEX_HULL_HPP_

pcl_ros/include/pcl_ros/surface/moving_least_squares.hpp

@@ -35,25 +35,21 @@
  *
  */
 
-#ifndef PCL_ROS_MOVING_LEAST_SQUARES_H_
+#ifndef PCL_ROS__SURFACE__MOVING_LEAST_SQUARES_HPP_
-#define PCL_ROS_MOVING_LEAST_SQUARES_H_
+#define PCL_ROS__SURFACE__MOVING_LEAST_SQUARES_HPP_
 
-#include "pcl_ros/pcl_nodelet.hpp"
-
-// PCL includes
 #include <pcl/surface/mls.h>
-#include <pcl/kdtree/kdtree.h> // for KdTree
-
-// Dynamic reconfigure
 #include <dynamic_reconfigure/server.h>
-#include "pcl_ros/MLSConfig.h"
+#include "pcl_ros/pcl_nodelet.hpp"
+#include "pcl_ros/MLSConfig.hpp"
 
 namespace pcl_ros
 {
 namespace sync_policies = message_filters::sync_policies;
 
 /** \brief @b MovingLeastSquares represents a nodelet using the MovingLeastSquares implementation.
-  * The type of the output is the same as the input, it only smooths the XYZ coordinates according to the parameters.
+  * The type of the output is the same as the input, it only smooths the XYZ coordinates according
+  * to the parameters.
   * Normals are estimated at each point as well and published on a separate topic.
   * \author Radu Bogdan Rusu, Zoltan-Csaba Marton
   */
@@ -71,7 +67,9 @@ class MovingLeastSquares : public PCLNodelet
   typedef pcl::KdTree<PointIn>::Ptr KdTreePtr;
 
 protected:
-  /** \brief An input point cloud describing the surface that is to be used for nearest neighbors estimation. */
+  /** \brief An input point cloud describing the surface that is to be used for
+    * nearest neighbors estimation.
+    */
   PointCloudInConstPtr surface_;
 
   /** \brief A pointer to the spatial search object. */
@@ -81,7 +79,7 @@ protected:
   double search_radius_;
 
   /** \brief The number of K nearest neighbors to use for each point. */
-  //int k_;
+  // int k_;
 
   /** \brief Whether to use a polynomial fit. */
   bool use_polynomial_fit_;
@@ -89,7 +87,9 @@ protected:
   /** \brief The order of the polynomial to be fit. */
   int polynomial_order_;
 
-  /** \brief How 'flat' should the neighbor weighting gaussian be (the smaller, the more local the fit). */
+  /** \brief How 'flat' should the neighbor weighting gaussian be
+    * the smaller, the more local the fit).
+    */
   double gaussian_parameter_;
 
   // ROS nodelet attributes
@@ -147,6 +147,6 @@ private:
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
-}
+}  // namespace pcl_ros
 
-#endif  //#ifndef PCL_ROS_MOVING_LEAST_SQUARES_H_
+#endif  // PCL_ROS__SURFACE__MOVING_LEAST_SQUARES_HPP_

pcl_ros/include/pcl_ros/transforms.hpp

@@ -34,13 +34,14 @@
  *
  */
 
-#ifndef pcl_ROS_TRANSFORMS_H_
+#ifndef PCL_ROS__TRANSFORMS_HPP_
-#define pcl_ROS_TRANSFORMS_H_
+#define PCL_ROS__TRANSFORMS_HPP_
 
 #include <sensor_msgs/PointCloud2.h>
 #include <pcl/common/transforms.h>
 #include <tf/transform_datatypes.h>
 #include <tf/transform_listener.h>
+#include <string>
 
 namespace pcl_ros
 {
@@ -176,6 +177,6 @@ transformPointCloud(
   */
 void
 transformAsMatrix(const tf::Transform & bt, Eigen::Matrix4f & out_mat);
-}
+}  // namespace pcl_ros
 
-#endif // PCL_ROS_TRANSFORMS_H_
+#endif  // PCL_ROS__TRANSFORMS_HPP_

pcl_ros/src/pcl_ros/features/feature.cpp

@@ -35,21 +35,22 @@
  *
  */
 
-//#include <pluginlib/class_list_macros.h>
+// #include <pluginlib/class_list_macros.h>
 // Include the implementations here instead of compiling them separately to speed up compile time
-//#include "normal_3d.cpp"
+// #include "normal_3d.cpp"
-//#include "boundary.cpp"
+// #include "boundary.cpp"
-//#include "fpfh.cpp"
+// #include "fpfh.cpp"
-//#include "fpfh_omp.cpp"
+// #include "fpfh_omp.cpp"
-//#include "moment_invariants.cpp"
+// #include "moment_invariants.cpp"
-//#include "normal_3d_omp.cpp"
+// #include "normal_3d_omp.cpp"
-//#include "normal_3d_tbb.cpp"
+// #include "normal_3d_tbb.cpp"
-//#include "pfh.cpp"
+// #include "pfh.cpp"
-//#include "principal_curvatures.cpp"
+// #include "principal_curvatures.cpp"
-//#include "vfh.cpp"
+// #include "vfh.cpp"
 #include <pcl/io/io.h>
-#include "pcl_ros/features/feature.hpp"
 #include <message_filters/null_types.h>
+#include <vector>
+#include "pcl_ros/features/feature.hpp"
 
 ////////////////////////////////////////////////////////////////////////////////////////////
 void
@@ -62,13 +63,15 @@ pcl_ros::Feature::onInit()
   childInit(*pnh_);
 
   // Allow each individual class that inherits from us to declare their own Publisher
-  // This is useful for Publisher<pcl::PointCloud<T> >, as NormalEstimation can publish PointCloud<Normal>, etc
+  // This is useful for Publisher<pcl::PointCloud<T> >, as NormalEstimation can publish
-  //pub_output_ = pnh_->template advertise<PointCloud2> ("output", max_queue_size_);
+  // PointCloud<Normal>, etc
+  // pub_output_ = pnh_->template advertise<PointCloud2> ("output", max_queue_size_);
 
   // ---[ Mandatory parameters
   if (!pnh_->getParam("k_search", k_) && !pnh_->getParam("radius_search", search_radius_)) {
     NODELET_ERROR(
-      "[%s::onInit] Neither 'k_search' nor 'radius_search' set! Need to set at least one of these parameters before continuing.",
+      "[%s::onInit] Neither 'k_search' nor 'radius_search' set! Need to set at least one of these "
+      "parameters before continuing.",
       getName().c_str());
     return;
   }
@@ -108,11 +111,14 @@ pcl_ros::Feature::subscribe()
   if (use_indices_ || use_surface_) {
     // Create the objects here
     if (approximate_sync_) {
-      sync_input_surface_indices_a_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn,
+      sync_input_surface_indices_a_ =
-          PointCloudIn, PointIndices>>>(max_queue_size_);
+        boost::make_shared<message_filters::Synchronizer<
+            sync_policies::ApproximateTime<
+              PointCloudIn, PointCloudIn, PointIndices>>>(max_queue_size_);
     } else {
-      sync_input_surface_indices_e_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn,
+      sync_input_surface_indices_e_ =
-          PointCloudIn, PointIndices>>>(max_queue_size_);
+        boost::make_shared<message_filters::Synchronizer<
+            sync_policies::ExactTime<PointCloudIn, PointCloudIn, PointIndices>>>(max_queue_size_);
     }
 
     // Subscribe to the input using a filter
@@ -121,7 +127,8 @@ pcl_ros::Feature::subscribe()
       // If indices are enabled, subscribe to the indices
       sub_indices_filter_.subscribe(*pnh_, "indices", max_queue_size_);
       if (use_surface_) {   // Use both indices and surface
-        // If surface is enabled, subscribe to the surface, connect the input-indices-surface trio and register
+        // If surface is enabled, subscribe to the surface,
+        // connect the input-indices-surface trio and register
         sub_surface_filter_.subscribe(*pnh_, "surface", max_queue_size_);
         if (approximate_sync_) {
           sync_input_surface_indices_a_->connectInput(
@@ -251,9 +258,12 @@ pcl_ros::Feature::input_surface_indices_callback(
     if (indices) {
       NODELET_DEBUG(
         "[input_surface_indices_callback]\n"
-        "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+        "                                         - PointCloud with %d data points (%s), stamp %f, "
-        "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+        "and frame %s on topic %s received.\n"
-        "                                         - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
+        "                                         - PointCloud with %d data points (%s), stamp %f, "
+        "and frame %s on topic %s received.\n"
+        "                                         - PointIndices with %zu values, stamp %f, and "
+        "frame %s on topic %s received.",
         cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(), fromPCL(
           cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
           "input").c_str(),
@@ -266,8 +276,10 @@ pcl_ros::Feature::input_surface_indices_callback(
     } else {
       NODELET_DEBUG(
         "[input_surface_indices_callback]\n"
-        "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+        "                                 - PointCloud with %d data points (%s), stamp %f, and "
-        "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
+        "frame %s on topic %s received.\n"
+        "                                 - PointCloud with %d data points (%s), stamp %f, and "
+        "frame %s on topic %s received.",
         cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(), fromPCL(
           cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
           "input").c_str(),
@@ -279,8 +291,10 @@ pcl_ros::Feature::input_surface_indices_callback(
   } else if (indices) {
     NODELET_DEBUG(
       "[input_surface_indices_callback]\n"
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "                                 - PointCloud with %d data points (%s), stamp %f, and frame "
-      "                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
+      "%s on topic %s received.\n"
+      "                                 - PointIndices with %zu values, stamp %f, and frame %s on "
+      "topic %s received.",
       cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(), fromPCL(
         cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
         "input").c_str(),
@@ -288,16 +302,18 @@ pcl_ros::Feature::input_surface_indices_callback(
       indices->header.frame_id.c_str(), pnh_->resolveName("indices").c_str());
   } else {
     NODELET_DEBUG(
-      "[input_surface_indices_callback] PointCloud with %d data points, stamp %f, and frame %s on topic %s received.", cloud->width * cloud->height, fromPCL(
+      "[input_surface_indices_callback] PointCloud with %d data points, stamp %f, and frame %s on "
+      "topic %s received.", cloud->width * cloud->height, fromPCL(
         cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
         "input").c_str());
   }
   ///
 
 
-  if ((int)(cloud->width * cloud->height) < k_) {
+  if (static_cast<int>(cloud->width * cloud->height) < k_) {
     NODELET_ERROR(
-      "[input_surface_indices_callback] Requested number of k-nearest neighbors (%d) is larger than the PointCloud size (%d)!", k_,
+      "[input_surface_indices_callback] Requested number of k-nearest neighbors (%d) is larger "
+      "than the PointCloud size (%d)!", k_,
       (int)(cloud->width * cloud->height));
     emptyPublish(cloud);
     return;
@@ -327,13 +343,15 @@ pcl_ros::FeatureFromNormals::onInit()
   childInit(*pnh_);
 
   // Allow each individual class that inherits from us to declare their own Publisher
-  // This is useful for Publisher<pcl::PointCloud<T> >, as NormalEstimation can publish PointCloud<Normal>, etc
+  // This is useful for Publisher<pcl::PointCloud<T> >, as NormalEstimation can publish
-  //pub_output_ = pnh_->template advertise<PointCloud2> ("output", max_queue_size_);
+  // PointCloud<Normal>, etc
+  // pub_output_ = pnh_->template advertise<PointCloud2> ("output", max_queue_size_);
 
   // ---[ Mandatory parameters
   if (!pnh_->getParam("k_search", k_) && !pnh_->getParam("radius_search", search_radius_)) {
     NODELET_ERROR(
-      "[%s::onInit] Neither 'k_search' nor 'radius_search' set! Need to set at least one of these parameters before continuing.",
+      "[%s::onInit] Neither 'k_search' nor 'radius_search' set! Need to set at least one of these "
+      "parameters before continuing.",
       getName().c_str());
     return;
   }
@@ -373,10 +391,13 @@ pcl_ros::FeatureFromNormals::subscribe()
 
   // Create the objects here
   if (approximate_sync_) {
-    sync_input_normals_surface_indices_a_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn,
+    sync_input_normals_surface_indices_a_ =
-        PointCloudN, PointCloudIn, PointIndices>>>(max_queue_size_);
+      boost::make_shared<message_filters::Synchronizer<
+          sync_policies::ApproximateTime<PointCloudIn, PointCloudN,
+          PointCloudIn, PointIndices>>>(max_queue_size_);
   } else {
-    sync_input_normals_surface_indices_e_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn,
+    sync_input_normals_surface_indices_e_ =
+      boost::make_shared<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn,
         PointCloudN, PointCloudIn, PointIndices>>>(max_queue_size_);
   }
 
@@ -386,7 +407,8 @@ pcl_ros::FeatureFromNormals::subscribe()
       // If indices are enabled, subscribe to the indices
       sub_indices_filter_.subscribe(*pnh_, "indices", max_queue_size_);
       if (use_surface_) {   // Use both indices and surface
-        // If surface is enabled, subscribe to the surface, connect the input-indices-surface trio and register
+        // If surface is enabled, subscribe to the surface, connect the input-indices-surface trio
+        // and register
         sub_surface_filter_.subscribe(*pnh_, "surface", max_queue_size_);
         if (approximate_sync_) {
           sync_input_normals_surface_indices_a_->connectInput(
@@ -490,7 +512,7 @@ pcl_ros::FeatureFromNormals::input_normals_surface_indices_callback(
   }
 
   // If cloud+normals is given, check if it's valid
-  if (!isValid(cloud)) {// || !isValid (cloud_normals, "normals"))
+  if (!isValid(cloud)) {  // || !isValid (cloud_normals, "normals"))
     NODELET_ERROR("[%s::input_normals_surface_indices_callback] Invalid input!", getName().c_str());
     emptyPublish(cloud);
     return;
@@ -519,10 +541,14 @@ pcl_ros::FeatureFromNormals::input_normals_surface_indices_callback(
     if (indices) {
       NODELET_DEBUG(
         "[%s::input_normals_surface_indices_callback]\n"
-        "                                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+        "                                                 - PointCloud with %d data points (%s), "
-        "                                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+        "stamp %f, and frame %s on topic %s received.\n"
-        "                                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+        "                                                 - PointCloud with %d data points (%s), "
-        "                                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
+        "stamp %f, and frame %s on topic %s received.\n"
+        "                                                 - PointCloud with %d data points (%s), "
+        "stamp %f, and frame %s on topic %s received.\n"
+        "                                                 - PointIndices with %zu values, "
+        "stamp %f, and frame %s on topic %s received.",
         getName().c_str(),
         cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(), fromPCL(
           cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
@@ -540,9 +566,12 @@ pcl_ros::FeatureFromNormals::input_normals_surface_indices_callback(
     } else {
       NODELET_DEBUG(
         "[%s::input_normals_surface_indices_callback]\n"
-        "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+        "                                         - PointCloud with %d data points (%s), "
-        "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+        "stamp %f, and frame %s on topic %s received.\n"
-        "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
+        "                                         - PointCloud with %d data points (%s), "
+        "stamp %f, and frame %s on topic %s received.\n"
+        "                                         - PointCloud with %d data points (%s), "
+        "stamp %f, and frame %s on topic %s received.",
         getName().c_str(),
         cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(), fromPCL(
           cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
@@ -559,9 +588,12 @@ pcl_ros::FeatureFromNormals::input_normals_surface_indices_callback(
   } else if (indices) {
     NODELET_DEBUG(
       "[%s::input_normals_surface_indices_callback]\n"
-      "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "                                         - PointCloud with %d data points (%s), "
-      "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "stamp %f, and frame %s on topic %s received.\n"
-      "                                         - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
+      "                                         - PointCloud with %d data points (%s), "
+      "stamp %f, and frame %s on topic %s received.\n"
+      "                                         - PointIndices with %zu values, "
+      "stamp %f, and frame %s on topic %s received.",
       getName().c_str(),
       cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(), fromPCL(
         cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
@@ -575,8 +607,10 @@ pcl_ros::FeatureFromNormals::input_normals_surface_indices_callback(
   } else {
     NODELET_DEBUG(
       "[%s::input_normals_surface_indices_callback]\n"
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
+      "frame %s on topic %s received.\n"
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
+      "frame %s on topic %s received.",
       getName().c_str(),
       cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(), fromPCL(
         cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
@@ -588,9 +622,10 @@ pcl_ros::FeatureFromNormals::input_normals_surface_indices_callback(
   }
   ///
 
-  if ((int)(cloud->width * cloud->height) < k_) {
+  if (static_cast<int>(cloud->width * cloud->height) < k_) {
     NODELET_ERROR(
-      "[%s::input_normals_surface_indices_callback] Requested number of k-nearest neighbors (%d) is larger than the PointCloud size (%d)!",
+      "[%s::input_normals_surface_indices_callback] Requested number of k-nearest neighbors (%d) "
+      "is larger than the PointCloud size (%d)!",
       getName().c_str(), k_, (int)(cloud->width * cloud->height));
     emptyPublish(cloud);
     return;

pcl_ros/src/pcl_ros/features/normal_3d_tbb.cpp

@@ -78,4 +78,4 @@ pcl_ros::NormalEstimationTBB::computePublish(
 typedef pcl_ros::NormalEstimationTBB NormalEstimationTBB;
 PLUGINLIB_EXPORT_CLASS(NormalEstimationTBB, nodelet::Nodelet)
 
-#endif // HAVE_TBB
+#endif  // HAVE_TBB

pcl_ros/src/pcl_ros/filters/crop_box.cpp

@@ -36,8 +36,8 @@
  *
  */
 
-#include <pluginlib/class_list_macros.h>
 #include "pcl_ros/filters/crop_box.hpp"
+#include <pluginlib/class_list_macros.h>
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 bool
@@ -102,7 +102,8 @@ pcl_ros::CropBox::config_callback(pcl_ros::CropBoxConfig & config, uint32_t leve
     impl_.setNegative(config.negative);
   }
 
-  // The following parameters are updated automatically for all PCL_ROS Nodelet Filters as they are inexistent in PCL
+  // The following parameters are updated automatically for all PCL_ROS Nodelet Filters
+  // as they are inexistent in PCL
   if (tf_input_frame_ != config.input_frame) {
     tf_input_frame_ = config.input_frame;
     NODELET_DEBUG(

pcl_ros/src/pcl_ros/filters/features/feature.cpp

@@ -35,21 +35,22 @@
  *
  */
 
-//#include <pluginlib/class_list_macros.h>
+// #include <pluginlib/class_list_macros.h>
 // Include the implementations here instead of compiling them separately to speed up compile time
-//#include "normal_3d.cpp"
+// #include "normal_3d.cpp"
-//#include "boundary.cpp"
+// #include "boundary.cpp"
-//#include "fpfh.cpp"
+// #include "fpfh.cpp"
-//#include "fpfh_omp.cpp"
+// #include "fpfh_omp.cpp"
-//#include "moment_invariants.cpp"
+// #include "moment_invariants.cpp"
-//#include "normal_3d_omp.cpp"
+// #include "normal_3d_omp.cpp"
-//#include "normal_3d_tbb.cpp"
+// #include "normal_3d_tbb.cpp"
-//#include "pfh.cpp"
+// #include "pfh.cpp"
-//#include "principal_curvatures.cpp"
+// #include "principal_curvatures.cpp"
-//#include "vfh.cpp"
+// #include "vfh.cpp"
 #include <pcl/io/io.h>
-#include "pcl_ros/features/feature.hpp"
 #include <message_filters/null_types.h>
+#include <vector>
+#include "pcl_ros/features/feature.hpp"
 
 ////////////////////////////////////////////////////////////////////////////////////////////
 void
@@ -62,13 +63,15 @@ pcl_ros::Feature::onInit()
   childInit(*pnh_);
 
   // Allow each individual class that inherits from us to declare their own Publisher
-  // This is useful for Publisher<pcl::PointCloud<T> >, as NormalEstimation can publish PointCloud<Normal>, etc
+  // This is useful for Publisher<pcl::PointCloud<T> >, as NormalEstimation can publish
-  //pub_output_ = pnh_->template advertise<PointCloud2> ("output", max_queue_size_);
+  // PointCloud<Normal>, etc
+  // pub_output_ = pnh_->template advertise<PointCloud2> ("output", max_queue_size_);
 
   // ---[ Mandatory parameters
   if (!pnh_->getParam("k_search", k_) && !pnh_->getParam("radius_search", search_radius_)) {
     NODELET_ERROR(
-      "[%s::onInit] Neither 'k_search' nor 'radius_search' set! Need to set at least one of these parameters before continuing.",
+      "[%s::onInit] Neither 'k_search' nor 'radius_search' set! Need to set at least one of these "
+      "parameters before continuing.",
       getName().c_str());
     return;
   }
@@ -92,11 +95,15 @@ pcl_ros::Feature::onInit()
   if (use_indices_ || use_surface_) {
     // Create the objects here
     if (approximate_sync_) {
-      sync_input_surface_indices_a_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn,
+      sync_input_surface_indices_a_ =
-          PointCloudIn, PointIndices>>>(max_queue_size_);
+        boost::make_shared<message_filters::Synchronizer<
+            sync_policies::ApproximateTime<
+              PointCloudIn, PointCloudIn, PointIndices>>>(max_queue_size_);
     } else {
-      sync_input_surface_indices_e_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn,
+      sync_input_surface_indices_e_ =
-          PointCloudIn, PointIndices>>>(max_queue_size_);
+        boost::make_shared<message_filters::Synchronizer<
+            sync_policies::ExactTime<
+              PointCloudIn, PointCloudIn, PointIndices>>>(max_queue_size_);
     }
 
     // Subscribe to the input using a filter
@@ -105,7 +112,8 @@ pcl_ros::Feature::onInit()
       // If indices are enabled, subscribe to the indices
       sub_indices_filter_.subscribe(*pnh_, "indices", max_queue_size_);
       if (use_surface_) {   // Use both indices and surface
-        // If surface is enabled, subscribe to the surface, connect the input-indices-surface trio and register
+        // If surface is enabled, subscribe to the surface, connect the input-indices-surface trio
+        // and register
         sub_surface_filter_.subscribe(*pnh_, "surface", max_queue_size_);
         if (approximate_sync_) {
           sync_input_surface_indices_a_->connectInput(
@@ -225,9 +233,12 @@ pcl_ros::Feature::input_surface_indices_callback(
     if (indices) {
       NODELET_DEBUG(
         "[input_surface_indices_callback]\n"
-        "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+        "                                         - PointCloud with %d data points (%s), stamp %f, "
-        "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+        "and frame %s on topic %s received.\n"
-        "                                         - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
+        "                                         - PointCloud with %d data points (%s), stamp %f, "
+        "and frame %s on topic %s received.\n"
+        "                                         - PointIndices with %zu values, stamp %f, "
+        "and frame %s on topic %s received.",
         cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(),
         cloud->header.stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
           "input").c_str(),
@@ -240,8 +251,10 @@ pcl_ros::Feature::input_surface_indices_callback(
     } else {
       NODELET_DEBUG(
         "[input_surface_indices_callback]\n"
-        "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+        "                                 - PointCloud with %d data points (%s), stamp %f, and "
-        "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
+        "frame %s on topic %s received.\n"
+        "                                 - PointCloud with %d data points (%s), stamp %f, and "
+        "frame %s on topic %s received.",
         cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(),
         cloud->header.stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
           "input").c_str(),
@@ -253,8 +266,10 @@ pcl_ros::Feature::input_surface_indices_callback(
   } else if (indices) {
     NODELET_DEBUG(
       "[input_surface_indices_callback]\n"
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
-      "                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
+      "frame %s on topic %s received.\n"
+      "                                 - PointIndices with %zu values, stamp %f, and "
+      "frame %s on topic %s received.",
       cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(),
       cloud->header.stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
         "input").c_str(),
@@ -262,16 +277,18 @@ pcl_ros::Feature::input_surface_indices_callback(
       indices->header.frame_id.c_str(), pnh_->resolveName("indices").c_str());
   } else {
     NODELET_DEBUG(
-      "[input_surface_indices_callback] PointCloud with %d data points, stamp %f, and frame %s on topic %s received.", cloud->width * cloud->height,
+      "[input_surface_indices_callback] PointCloud with %d data points, stamp %f, and "
+      "frame %s on topic %s received.", cloud->width * cloud->height,
       cloud->header.stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
         "input").c_str());
   }
   ///
 
 
-  if ((int)(cloud->width * cloud->height) < k_) {
+  if (static_cast<int>(cloud->width * cloud->height) < k_) {
     NODELET_ERROR(
-      "[input_surface_indices_callback] Requested number of k-nearest neighbors (%d) is larger than the PointCloud size (%d)!", k_,
+      "[input_surface_indices_callback] Requested number of k-nearest neighbors (%d) is larger "
+      "than the PointCloud size (%d)!", k_,
       (int)(cloud->width * cloud->height));
     emptyPublish(cloud);
     return;
@@ -301,13 +318,15 @@ pcl_ros::FeatureFromNormals::onInit()
   childInit(*pnh_);
 
   // Allow each individual class that inherits from us to declare their own Publisher
-  // This is useful for Publisher<pcl::PointCloud<T> >, as NormalEstimation can publish PointCloud<Normal>, etc
+  // This is useful for Publisher<pcl::PointCloud<T> >, as NormalEstimation can publish
-  //pub_output_ = pnh_->template advertise<PointCloud2> ("output", max_queue_size_);
+  // PointCloud<Normal>, etc
+  // pub_output_ = pnh_->template advertise<PointCloud2> ("output", max_queue_size_);
 
   // ---[ Mandatory parameters
   if (!pnh_->getParam("k_search", k_) && !pnh_->getParam("radius_search", search_radius_)) {
     NODELET_ERROR(
-      "[%s::onInit] Neither 'k_search' nor 'radius_search' set! Need to set at least one of these parameters before continuing.",
+      "[%s::onInit] Neither 'k_search' nor 'radius_search' set! Need to set at least one of these "
+      "parameters before continuing.",
       getName().c_str());
     return;
   }
@@ -331,11 +350,15 @@ pcl_ros::FeatureFromNormals::onInit()
 
   // Create the objects here
   if (approximate_sync_) {
-    sync_input_normals_surface_indices_a_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloudIn,
+    sync_input_normals_surface_indices_a_ =
-        PointCloudN, PointCloudIn, PointIndices>>>(max_queue_size_);
+      boost::make_shared<message_filters::Synchronizer<
+          sync_policies::ApproximateTime<
+            PointCloudIn, PointCloudN, PointCloudIn, PointIndices>>>(max_queue_size_);
   } else {
-    sync_input_normals_surface_indices_e_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ExactTime<PointCloudIn,
+    sync_input_normals_surface_indices_e_ =
-        PointCloudN, PointCloudIn, PointIndices>>>(max_queue_size_);
+      boost::make_shared<message_filters::Synchronizer<
+          sync_policies::ExactTime<
+            PointCloudIn, PointCloudN, PointCloudIn, PointIndices>>>(max_queue_size_);
   }
 
   // If we're supposed to look for PointIndices (indices) or PointCloud (surface) messages
@@ -344,7 +367,8 @@ pcl_ros::FeatureFromNormals::onInit()
       // If indices are enabled, subscribe to the indices
       sub_indices_filter_.subscribe(*pnh_, "indices", max_queue_size_);
       if (use_surface_) {   // Use both indices and surface
-        // If surface is enabled, subscribe to the surface, connect the input-indices-surface trio and register
+        // If surface is enabled, subscribe to the surface, connect the input-indices-surface trio
+        // and register
         sub_surface_filter_.subscribe(*pnh_, "surface", max_queue_size_);
         if (approximate_sync_) {
           sync_input_normals_surface_indices_a_->connectInput(
@@ -439,7 +463,7 @@ pcl_ros::FeatureFromNormals::input_normals_surface_indices_callback(
   }
 
   // If cloud+normals is given, check if it's valid
-  if (!isValid(cloud)) {// || !isValid (cloud_normals, "normals"))
+  if (!isValid(cloud)) {  // || !isValid (cloud_normals, "normals"))
     NODELET_ERROR("[%s::input_normals_surface_indices_callback] Invalid input!", getName().c_str());
     emptyPublish(cloud);
     return;
@@ -468,10 +492,14 @@ pcl_ros::FeatureFromNormals::input_normals_surface_indices_callback(
     if (indices) {
       NODELET_DEBUG(
         "[%s::input_normals_surface_indices_callback]\n"
-        "                                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+        "                                                 - PointCloud with %d data points (%s), "
-        "                                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+        "stamp %f, and frame %s on topic %s received.\n"
-        "                                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+        "                                                 - PointCloud with %d data points (%s), "
-        "                                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
+        "stamp %f, and frame %s on topic %s received.\n"
+        "                                                 - PointCloud with %d data points (%s), "
+        "stamp %f, and frame %s on topic %s received.\n"
+        "                                                 - PointIndices with %zu values, "
+        "stamp %f, and frame %s on topic %s received.",
         getName().c_str(),
         cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(),
         cloud->header.stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
@@ -489,9 +517,12 @@ pcl_ros::FeatureFromNormals::input_normals_surface_indices_callback(
     } else {
       NODELET_DEBUG(
         "[%s::input_normals_surface_indices_callback]\n"
-        "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+        "                                         - PointCloud with %d data points (%s), "
-        "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+        "stamp %f, and frame %s on topic %s received.\n"
-        "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
+        "                                         - PointCloud with %d data points (%s), "
+        "stamp %f, and frame %s on topic %s received.\n"
+        "                                         - PointCloud with %d data points (%s), "
+        "stamp %f, and frame %s on topic %s received.",
         getName().c_str(),
         cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(),
         cloud->header.stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
@@ -508,38 +539,44 @@ pcl_ros::FeatureFromNormals::input_normals_surface_indices_callback(
   } else if (indices) {
     NODELET_DEBUG(
       "[%s::input_normals_surface_indices_callback]\n"
-      "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "                                         - PointCloud with %d data points (%s), "
-      "                                         - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "stamp %f, and frame %s on topic %s received.\n"
-      "                                         - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
+      "                                         - PointCloud with %d data points (%s), "
+      "stamp %f, and frame %s on topic %s received.\n"
+      "                                         - PointIndices with %zu values, "
+      "stamp %f, and frame %s on topic %s received.",
       getName().c_str(),
       cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(),
       cloud->header.stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
         "input").c_str(),
       cloud_normals->width * cloud_normals->height, pcl::getFieldsList(
         *cloud_normals).c_str(),
-      cloud_normals->header.stamp.toSec(), cloud_normals->header.frame_id.c_str(), pnh_->resolveName(
+      cloud_normals->header.stamp.toSec(), cloud_normals->header.frame_id.c_str(),
-        "normals").c_str(),
+      pnh_->resolveName("normals").c_str(),
       indices->indices.size(), indices->header.stamp.toSec(),
       indices->header.frame_id.c_str(), pnh_->resolveName("indices").c_str());
   } else {
     NODELET_DEBUG(
       "[%s::input_normals_surface_indices_callback]\n"
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
+      "frame %s on topic %s received.\n"
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
+      "frame %s on topic %s received.",
       getName().c_str(),
       cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(),
       cloud->header.stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
         "input").c_str(),
       cloud_normals->width * cloud_normals->height, pcl::getFieldsList(
         *cloud_normals).c_str(),
-      cloud_normals->header.stamp.toSec(), cloud_normals->header.frame_id.c_str(), pnh_->resolveName(
+      cloud_normals->header.stamp.toSec(), cloud_normals->header.frame_id.c_str(),
-        "normals").c_str());
+      pnh_->resolveName("normals").c_str());
   }
   ///
 
-  if ((int)(cloud->width * cloud->height) < k_) {
+  if (static_cast<int>(cloud->width * cloud->height) < k_) {
     NODELET_ERROR(
-      "[%s::input_normals_surface_indices_callback] Requested number of k-nearest neighbors (%d) is larger than the PointCloud size (%d)!",
+      "[%s::input_normals_surface_indices_callback] Requested number of k-nearest neighbors (%d) "
+      "is larger than the PointCloud size (%d)!",
       getName().c_str(), k_, (int)(cloud->width * cloud->height));
     emptyPublish(cloud);
     return;

pcl_ros/src/pcl_ros/filters/features/normal_3d_tbb.cpp

@@ -78,4 +78,4 @@ pcl_ros::NormalEstimationTBB::computePublish(
 typedef pcl_ros::NormalEstimationTBB NormalEstimationTBB;
 PLUGINLIB_EXPORT_CLASS(NormalEstimationTBB, nodelet::Nodelet);
 
-#endif // HAVE_TBB
+#endif  // HAVE_TBB

pcl_ros/src/pcl_ros/filters/filter.cpp

@@ -35,9 +35,10 @@
  *
  */
 
-#include <pcl/io/io.h>
-#include "pcl_ros/transforms.hpp"
 #include "pcl_ros/filters/filter.hpp"
+#include <pcl/io/io.h>
+#include <vector>
+#include "pcl_ros/transforms.hpp"
 
 /*//#include <pcl/filters/pixel_grid.h>
 //#include <pcl/filters/filter_dimension.h>
@@ -48,18 +49,18 @@
 */
 
 // Include the implementations instead of compiling them separately to speed up compile time
-//#include "extract_indices.cpp"
+// #include "extract_indices.cpp"
-//#include "passthrough.cpp"
+// #include "passthrough.cpp"
-//#include "project_inliers.cpp"
+// #include "project_inliers.cpp"
-//#include "radius_outlier_removal.cpp"
+// #include "radius_outlier_removal.cpp"
-//#include "statistical_outlier_removal.cpp"
+// #include "statistical_outlier_removal.cpp"
-//#include "voxel_grid.cpp"
+// #include "voxel_grid.cpp"
 
 /*//PLUGINLIB_EXPORT_CLASS(PixelGrid,nodelet::Nodelet);
 //PLUGINLIB_EXPORT_CLASS(FilterDimension,nodelet::Nodelet);
 */
 
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////////
 void
 pcl_ros::Filter::computePublish(const PointCloud2::ConstPtr & input, const IndicesPtr & indices)
 {
@@ -120,12 +121,14 @@ pcl_ros::Filter::subscribe()
     sub_indices_filter_.subscribe(*pnh_, "indices", max_queue_size_);
 
     if (approximate_sync_) {
-      sync_input_indices_a_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2,
+      sync_input_indices_a_ =
+        boost::make_shared<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud2,
           pcl_msgs::PointIndices>>>(max_queue_size_);
       sync_input_indices_a_->connectInput(sub_input_filter_, sub_indices_filter_);
       sync_input_indices_a_->registerCallback(bind(&Filter::input_indices_callback, this, _1, _2));
     } else {
-      sync_input_indices_e_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2,
+      sync_input_indices_e_ =
+        boost::make_shared<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud2,
           pcl_msgs::PointIndices>>>(max_queue_size_);
       sync_input_indices_e_->connectInput(sub_input_filter_, sub_indices_filter_);
       sync_input_indices_e_->registerCallback(bind(&Filter::input_indices_callback, this, _1, _2));
@@ -182,7 +185,8 @@ pcl_ros::Filter::onInit()
 void
 pcl_ros::Filter::config_callback(pcl_ros::FilterConfig & config, uint32_t level)
 {
-  // The following parameters are updated automatically for all PCL_ROS Nodelet Filters as they are inexistent in PCL
+  // The following parameters are updated automatically for all PCL_ROS Nodelet Filters as they are
+  // inexistent in PCL
   if (tf_input_frame_ != config.input_frame) {
     tf_input_frame_ = config.input_frame;
     NODELET_DEBUG(
@@ -218,8 +222,10 @@ pcl_ros::Filter::input_indices_callback(
   if (indices) {
     NODELET_DEBUG(
       "[%s::input_indices_callback]\n"
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
-      "                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
+      "frame %s on topic %s received.\n"
+      "                                 - PointIndices with %zu values, stamp %f, and "
+      "frame %s on topic %s received.",
       getName().c_str(),
       cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(),
       cloud->header.stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
@@ -228,7 +234,8 @@ pcl_ros::Filter::input_indices_callback(
       indices->header.frame_id.c_str(), pnh_->resolveName("indices").c_str());
   } else {
     NODELET_DEBUG(
-      "[%s::input_indices_callback] PointCloud with %d data points and frame %s on topic %s received.",
+      "[%s::input_indices_callback] PointCloud with %d data points and frame %s on "
+      "topic %s received.",
       getName().c_str(), cloud->width * cloud->height,
       cloud->header.frame_id.c_str(), pnh_->resolveName("input").c_str());
   }

pcl_ros/src/pcl_ros/filters/passthrough.cpp

@@ -35,8 +35,8 @@
  *
  */
 
-#include <pluginlib/class_list_macros.h>
 #include "pcl_ros/filters/passthrough.hpp"
+#include <pluginlib/class_list_macros.h>
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 bool
@@ -65,7 +65,8 @@ pcl_ros::PassThrough::config_callback(pcl_ros::FilterConfig & config, uint32_t l
   if (filter_min != config.filter_limit_min) {
     filter_min = config.filter_limit_min;
     NODELET_DEBUG(
-      "[%s::config_callback] Setting the minimum filtering value a point will be considered from to: %f.",
+      "[%s::config_callback] Setting the minimum filtering value a point will be "
+      "considered from to: %f.",
       getName().c_str(), filter_min);
     // Set the filter min-max if different
     impl_.setFilterLimits(filter_min, filter_max);
@@ -74,14 +75,15 @@ pcl_ros::PassThrough::config_callback(pcl_ros::FilterConfig & config, uint32_t l
   if (filter_max != config.filter_limit_max) {
     filter_max = config.filter_limit_max;
     NODELET_DEBUG(
-      "[%s::config_callback] Setting the maximum filtering value a point will be considered from to: %f.",
+      "[%s::config_callback] Setting the maximum filtering value a point will be "
+      "considered from to: %f.",
       getName().c_str(), filter_max);
     // Set the filter min-max if different
     impl_.setFilterLimits(filter_min, filter_max);
   }
 
   // Check the current value for the filter field
-  //std::string filter_field = impl_.getFilterFieldName ();
+  // std::string filter_field = impl_.getFilterFieldName ();
   if (impl_.getFilterFieldName() != config.filter_field_name) {
     // Set the filter field if different
     impl_.setFilterFieldName(config.filter_field_name);
@@ -108,7 +110,8 @@ pcl_ros::PassThrough::config_callback(pcl_ros::FilterConfig & config, uint32_t l
     impl_.setFilterLimitsNegative(config.filter_limit_negative);
   }
 
-  // The following parameters are updated automatically for all PCL_ROS Nodelet Filters as they are inexistent in PCL
+  // The following parameters are updated automatically for all PCL_ROS Nodelet Filters
+  // as they are inexistent in PCL
   if (tf_input_frame_ != config.input_frame) {
     tf_input_frame_ = config.input_frame;
     NODELET_DEBUG(

pcl_ros/src/pcl_ros/filters/project_inliers.cpp

@@ -35,9 +35,10 @@
  *
  */
 
-#include <pluginlib/class_list_macros.h>
 #include "pcl_ros/filters/project_inliers.hpp"
+#include <pluginlib/class_list_macros.h>
 #include <pcl/io/io.h>
+#include <vector>
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 void
@@ -99,16 +100,20 @@ pcl_ros::ProjectInliers::subscribe()
   sub_model_.subscribe(*pnh_, "model", max_queue_size_);
 
   if (approximate_sync_) {
-    sync_input_indices_model_a_ = boost::make_shared<message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<PointCloud2,
+    sync_input_indices_model_a_ =
-        PointIndices, ModelCoefficients>>>(max_queue_size_);
+      boost::make_shared<message_filters::Synchronizer<
+          message_filters::sync_policies::ApproximateTime<
+            PointCloud2, PointIndices, ModelCoefficients>>>(max_queue_size_);
     sync_input_indices_model_a_->connectInput(sub_input_filter_, sub_indices_filter_, sub_model_);
     sync_input_indices_model_a_->registerCallback(
       bind(
         &ProjectInliers::input_indices_model_callback,
         this, _1, _2, _3));
   } else {
-    sync_input_indices_model_e_ = boost::make_shared<message_filters::Synchronizer<message_filters::sync_policies::ExactTime<PointCloud2,
+    sync_input_indices_model_e_ =
-        PointIndices, ModelCoefficients>>>(max_queue_size_);
+      boost::make_shared<message_filters::Synchronizer<
+          message_filters::sync_policies::ExactTime<
+            PointCloud2, PointIndices, ModelCoefficients>>>(max_queue_size_);
     sync_input_indices_model_e_->connectInput(sub_input_filter_, sub_indices_filter_, sub_model_);
     sync_input_indices_model_e_->registerCallback(
       bind(
@@ -148,9 +153,12 @@ pcl_ros::ProjectInliers::input_indices_model_callback(
 
   NODELET_DEBUG(
     "[%s::input_indices_model_callback]\n"
-    "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+    "                                 - PointCloud with %d data points (%s), stamp %f, and "
-    "                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.\n"
+    "frame %s on topic %s received.\n"
-    "                                 - ModelCoefficients with %zu values, stamp %f, and frame %s on topic %s received.",
+    "                                 - PointIndices with %zu values, stamp %f, and "
+    "frame %s on topic %s received.\n"
+    "                                 - ModelCoefficients with %zu values, stamp %f, and "
+    "frame %s on topic %s received.",
     getName().c_str(),
     cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(),
     cloud->header.stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName("input").c_str(),

pcl_ros/src/pcl_ros/filters/radius_outlier_removal.cpp

@@ -73,7 +73,6 @@ pcl_ros::RadiusOutlierRemoval::config_callback(
       "[%s::config_callback] Setting the radius to search neighbors: %f.",
       getName().c_str(), config.radius_search);
   }
-
 }
 
 

pcl_ros/src/pcl_ros/filters/statistical_outlier_removal.cpp

@@ -63,7 +63,8 @@ pcl_ros::StatisticalOutlierRemoval::config_callback(
   if (impl_.getMeanK() != config.mean_k) {
     impl_.setMeanK(config.mean_k);
     NODELET_DEBUG(
-      "[%s::config_callback] Setting the number of points (k) to use for mean distance estimation to: %d.",
+      "[%s::config_callback] Setting the number of points (k) to use for mean "
+      "distance estimation to: %d.",
       getName().c_str(), config.mean_k);
   }
 

pcl_ros/src/pcl_ros/filters/voxel_grid.cpp

@@ -88,13 +88,15 @@ pcl_ros::VoxelGrid::config_callback(pcl_ros::VoxelGridConfig & config, uint32_t
   if (filter_min != config.filter_limit_min) {
     filter_min = config.filter_limit_min;
     NODELET_DEBUG(
-      "[config_callback] Setting the minimum filtering value a point will be considered from to: %f.",
+      "[config_callback] Setting the minimum filtering value a point will be considered "
+      "from to: %f.",
       filter_min);
   }
   if (filter_max != config.filter_limit_max) {
     filter_max = config.filter_limit_max;
     NODELET_DEBUG(
-      "[config_callback] Setting the maximum filtering value a point will be considered from to: %f.",
+      "[config_callback] Setting the maximum filtering value a point will be considered "
+      "from to: %f.",
       filter_max);
   }
   impl_.setFilterLimits(filter_min, filter_max);
@@ -113,7 +115,8 @@ pcl_ros::VoxelGrid::config_callback(pcl_ros::VoxelGridConfig & config, uint32_t
       config.filter_field_name.c_str());
   }
 
-  // ---[ These really shouldn't be here, and as soon as dynamic_reconfigure improves, we'll remove them and inherit from Filter
+  // ---[ These really shouldn't be here, and as soon as dynamic_reconfigure improves,
+  // we'll remove them and inherit from Filter
   if (tf_input_frame_ != config.input_frame) {
     tf_input_frame_ = config.input_frame;
     NODELET_DEBUG("[config_callback] Setting the input TF frame to: %s.", tf_input_frame_.c_str());

pcl_ros/src/pcl_ros/io/bag_io.cpp

@@ -36,6 +36,7 @@
  */
 
 #include <pluginlib/class_list_macros.h>
+#include <string>
 #include "pcl_ros/io/bag_io.hpp"
 
 //////////////////////////////////////////////////////////////////////////////////////////////

pcl_ros/src/pcl_ros/io/concatenate_data.cpp

@@ -37,10 +37,11 @@
 
 #include <pluginlib/class_list_macros.h>
 #include <pcl/io/io.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include <string>
 #include "pcl_ros/transforms.hpp"
 #include "pcl_ros/io/concatenate_data.hpp"
 
-#include <pcl_conversions/pcl_conversions.h>
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 void
@@ -244,7 +245,7 @@ pcl_ros::PointCloudConcatenateDataSynchronizer::combineClouds(
   const PointCloud2 & in2,
   PointCloud2 & out)
 {
-  //ROS_INFO ("Two pointclouds received: %zu and %zu.", in1.data.size (), in2.data.size ());
+  // ROS_INFO ("Two pointclouds received: %zu and %zu.", in1.data.size (), in2.data.size ());
   PointCloud2::Ptr in1_t(new PointCloud2());
   PointCloud2::Ptr in2_t(new PointCloud2());
 

pcl_ros/src/pcl_ros/io/concatenate_fields.cpp

@@ -39,11 +39,12 @@
 
 #include <pluginlib/class_list_macros.h>
 #include <pcl/io/io.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include <vector>
 #include "pcl_ros/io/concatenate_fields.hpp"
 
-#include <pcl_conversions/pcl_conversions.h>
 
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////////
 void
 pcl_ros::PointCloudConcatenateFieldsSynchronizer::onInit()
 {
@@ -66,7 +67,7 @@ pcl_ros::PointCloudConcatenateFieldsSynchronizer::onInit()
   onInitPostProcess();
 }
 
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////////
 void
 pcl_ros::PointCloudConcatenateFieldsSynchronizer::subscribe()
 {
@@ -75,19 +76,20 @@ pcl_ros::PointCloudConcatenateFieldsSynchronizer::subscribe()
     &PointCloudConcatenateFieldsSynchronizer::input_callback, this);
 }
 
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////////
 void
 pcl_ros::PointCloudConcatenateFieldsSynchronizer::unsubscribe()
 {
   sub_input_.shutdown();
 }
 
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////////
 void
 pcl_ros::PointCloudConcatenateFieldsSynchronizer::input_callback(const PointCloudConstPtr & cloud)
 {
   NODELET_DEBUG(
-    "[input_callback] PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
+    "[input_callback] PointCloud with %d data points (%s), stamp %f, and frame %s on "
+    "topic %s received.",
     cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(),
     cloud->header.stamp.toSec(), cloud->header.frame_id.c_str(),
     pnh_->resolveName("input").c_str());
@@ -98,7 +100,8 @@ pcl_ros::PointCloudConcatenateFieldsSynchronizer::input_callback(const PointClou
       queue_.size() > 0)
     {
       NODELET_WARN(
-        "[input_callback] Maximum seconds limit (%f) reached. Difference is %f, erasing message in queue with stamp %f.", maximum_seconds_,
+        "[input_callback] Maximum seconds limit (%f) reached. Difference is %f, erasing message "
+        "in queue with stamp %f.", maximum_seconds_,
         (*queue_.begin()).first.toSec(),
         fabs( ( (*queue_.begin()).first - cloud->header.stamp).toSec() ));
       queue_.erase(queue_.begin());
@@ -107,7 +110,7 @@ pcl_ros::PointCloudConcatenateFieldsSynchronizer::input_callback(const PointClou
 
   // Push back new data
   queue_[cloud->header.stamp].push_back(cloud);
-  if ((int)queue_[cloud->header.stamp].size() >= input_messages_) {
+  if (static_cast<int>(queue_[cloud->header.stamp].size()) >= input_messages_) {
     // Concatenate together and publish
     std::vector<PointCloudConstPtr> & clouds = queue_[cloud->header.stamp];
     PointCloud cloud_out = *clouds[0];
@@ -122,7 +125,8 @@ pcl_ros::PointCloudConcatenateFieldsSynchronizer::input_callback(const PointClou
 
       if (clouds[i]->width != cloud_out.width || clouds[i]->height != cloud_out.height) {
         NODELET_ERROR(
-          "[input_callback] Width/height of pointcloud %zu (%dx%d) differs from the others (%dx%d)!",
+          "[input_callback] Width/height of pointcloud %zu (%dx%d) differs "
+          "from the others (%dx%d)!",
           i, clouds[i]->width, clouds[i]->height, cloud_out.width, cloud_out.height);
         break;
       }
@@ -162,11 +166,10 @@ pcl_ros::PointCloudConcatenateFieldsSynchronizer::input_callback(const PointClou
 
   // Clean the queue to avoid overflowing
   if (maximum_queue_size_ > 0) {
-    while ((int)queue_.size() > maximum_queue_size_) {
+    while (static_cast<int>(queue_.size()) > maximum_queue_size_) {
       queue_.erase(queue_.begin());
     }
   }
-
 }
 
 typedef pcl_ros::PointCloudConcatenateFieldsSynchronizer PointCloudConcatenateFieldsSynchronizer;

pcl_ros/src/pcl_ros/io/io.cpp

@@ -38,20 +38,21 @@
 #include <pluginlib/class_list_macros.h>
 #include <sensor_msgs/PointCloud2.h>
 #include <message_filters/subscriber.h>
-//#include <pcl_ros/subscriber.hpp>
+// #include <pcl_ros/subscriber.hpp>
 #include <nodelet_topic_tools/nodelet_mux.h>
 #include <nodelet_topic_tools/nodelet_demux.h>
 
 typedef nodelet::NodeletMUX<sensor_msgs::PointCloud2,
     message_filters::Subscriber<sensor_msgs::PointCloud2>> NodeletMUX;
-//typedef nodelet::NodeletDEMUX<sensor_msgs::PointCloud2, pcl_ros::Subscriber<sensor_msgs::PointCloud2> > NodeletDEMUX;
+// typedef nodelet::NodeletDEMUX<sensor_msgs::PointCloud2,
+//    pcl_ros::Subscriber<sensor_msgs::PointCloud2> > NodeletDEMUX;
 typedef nodelet::NodeletDEMUX<sensor_msgs::PointCloud2> NodeletDEMUX;
 
-//#include "pcd_io.cpp"
+// #include "pcd_io.cpp"
-//#include "bag_io.cpp"
+// #include "bag_io.cpp"
-//#include "concatenate_fields.cpp"
+// #include "concatenate_fields.cpp"
-//#include "concatenate_data.cpp"
+// #include "concatenate_data.cpp"
 
 PLUGINLIB_EXPORT_CLASS(NodeletMUX, nodelet::Nodelet);
 PLUGINLIB_EXPORT_CLASS(NodeletDEMUX, nodelet::Nodelet);
-//PLUGINLIB_EXPORT_CLASS(NodeletDEMUX_ROS,nodelet::Nodelet);
+// PLUGINLIB_EXPORT_CLASS(NodeletDEMUX_ROS,nodelet::Nodelet);

pcl_ros/src/pcl_ros/io/pcd_io.cpp

@@ -37,6 +37,7 @@
 
 #include <pluginlib/class_list_macros.h>
 #include <pcl_ros/io/pcd_io.hpp>
+#include <string>
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 void

pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp

@@ -38,9 +38,10 @@
 #include <pluginlib/class_list_macros.h>
 #include <pcl/io/io.h>
 #include <pcl/PointIndices.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include <vector>
 #include "pcl_ros/segmentation/extract_clusters.hpp"
 
-#include <pcl_conversions/pcl_conversions.h>
 
 using pcl_conversions::fromPCL;
 using pcl_conversions::moveFromPCL;
@@ -69,7 +70,7 @@ pcl_ros::EuclideanClusterExtraction::onInit()
     return;
   }
 
-  //private_nh.getParam ("use_indices", use_indices_);
+  // private_nh.getParam ("use_indices", use_indices_);
   pnh_->getParam("publish_indices", publish_indices_);
 
   if (publish_indices_) {
@@ -110,16 +111,19 @@ pcl_ros::EuclideanClusterExtraction::subscribe()
     sub_indices_filter_.subscribe(*pnh_, "indices", max_queue_size_);
 
     if (approximate_sync_) {
-      sync_input_indices_a_ = boost::make_shared<message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<PointCloud,
+      sync_input_indices_a_ =
-          PointIndices>>>(max_queue_size_);
+        boost::make_shared<message_filters::Synchronizer<
+            message_filters::sync_policies::ApproximateTime<
+              PointCloud, PointIndices>>>(max_queue_size_);
       sync_input_indices_a_->connectInput(sub_input_filter_, sub_indices_filter_);
       sync_input_indices_a_->registerCallback(
         bind(
           &EuclideanClusterExtraction::
           input_indices_callback, this, _1, _2));
     } else {
-      sync_input_indices_e_ = boost::make_shared<message_filters::Synchronizer<message_filters::sync_policies::ExactTime<PointCloud,
+      sync_input_indices_e_ =
-          PointIndices>>>(max_queue_size_);
+        boost::make_shared<message_filters::Synchronizer<
+            message_filters::sync_policies::ExactTime<PointCloud, PointIndices>>>(max_queue_size_);
       sync_input_indices_e_->connectInput(sub_input_filter_, sub_indices_filter_);
       sync_input_indices_e_->registerCallback(
         bind(
@@ -206,8 +210,10 @@ pcl_ros::EuclideanClusterExtraction::input_indices_callback(
     std_msgs::Header indices_header = indices->header;
     NODELET_DEBUG(
       "[%s::input_indices_callback]\n"
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
-      "                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
+      "frame %s on topic %s received.\n"
+      "                                 - PointIndices with %zu values, stamp %f, and "
+      "frame %s on topic %s received.",
       getName().c_str(),
       cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(),
       cloud_header.stamp.toSec(), cloud_header.frame_id.c_str(), pnh_->resolveName("input").c_str(),
@@ -215,7 +221,8 @@ pcl_ros::EuclideanClusterExtraction::input_indices_callback(
       indices_header.frame_id.c_str(), pnh_->resolveName("indices").c_str());
   } else {
     NODELET_DEBUG(
-      "[%s::input_callback] PointCloud with %d data points, stamp %f, and frame %s on topic %s received.",
+      "[%s::input_callback] PointCloud with %d data points, stamp %f, and frame %s on "
+      "topic %s received.",
       getName().c_str(), cloud->width * cloud->height, fromPCL(
         cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
         "input").c_str());
@@ -235,10 +242,11 @@ pcl_ros::EuclideanClusterExtraction::input_indices_callback(
 
   if (publish_indices_) {
     for (size_t i = 0; i < clusters.size(); ++i) {
-      if ((int)i >= max_clusters_) {
+      if (static_cast<int>(i) >= max_clusters_) {
         break;
       }
-      // TODO: HACK!!! We need to change the PointCloud2 message to add for an incremental sequence ID number.
+      // TODO(xxx): HACK!!! We need to change the PointCloud2 message to add for an incremental
+      // sequence ID number.
       pcl_msgs::PointIndices ros_pi;
       moveFromPCL(clusters[i], ros_pi);
       ros_pi.header.stamp += ros::Duration(i * 0.001);
@@ -250,15 +258,16 @@ pcl_ros::EuclideanClusterExtraction::input_indices_callback(
       clusters.size(), pnh_->resolveName("output").c_str());
   } else {
     for (size_t i = 0; i < clusters.size(); ++i) {
-      if ((int)i >= max_clusters_) {
+      if (static_cast<int>(i) >= max_clusters_) {
         break;
       }
       PointCloud output;
       copyPointCloud(*cloud, clusters[i].indices, output);
 
-      //PointCloud output_blob;     // Convert from the templated output to the PointCloud blob
+      // PointCloud output_blob;     // Convert from the templated output to the PointCloud blob
-      //pcl::toROSMsg (output, output_blob);
+      // pcl::toROSMsg (output, output_blob);
-      // TODO: HACK!!! We need to change the PointCloud2 message to add for an incremental sequence ID number.
+      // TODO(xxx): HACK!!! We need to change the PointCloud2 message to add for an incremental
+      // sequence ID number.
       std_msgs::Header header = fromPCL(output.header);
       header.stamp += ros::Duration(i * 0.001);
       toPCL(header, output.header);

pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp

@@ -36,11 +36,11 @@
  */
 
 #include <pluginlib/class_list_macros.h>
+#include <pcl/io/io.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include <vector>
 #include "pcl_ros/transforms.hpp"
 #include "pcl_ros/segmentation/extract_polygonal_prism_data.hpp"
-#include <pcl/io/io.h>
-
-#include <pcl_conversions/pcl_conversions.h>
 
 using pcl_conversions::moveFromPCL;
 using pcl_conversions::moveToPCL;
@@ -73,11 +73,13 @@ pcl_ros::ExtractPolygonalPrismData::subscribe()
 
   // Create the objects here
   if (approximate_sync_) {
-    sync_input_hull_indices_a_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud,
+    sync_input_hull_indices_a_ =
-        PointCloud, PointIndices>>>(max_queue_size_);
+      boost::make_shared<message_filters::Synchronizer<
+          sync_policies::ApproximateTime<PointCloud, PointCloud, PointIndices>>>(max_queue_size_);
   } else {
-    sync_input_hull_indices_e_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud,
+    sync_input_hull_indices_e_ =
-        PointCloud, PointIndices>>>(max_queue_size_);
+      boost::make_shared<message_filters::Synchronizer<
+          sync_policies::ExactTime<PointCloud, PointCloud, PointIndices>>>(max_queue_size_);
   }
 
   if (use_indices_) {
@@ -183,9 +185,12 @@ pcl_ros::ExtractPolygonalPrismData::input_hull_indices_callback(
   if (indices) {
     NODELET_DEBUG(
       "[%s::input_indices_hull_callback]\n"
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "frame %s on topic %s received.\n"
-      "                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
+      "frame %s on topic %s received.\n"
+      "                                 - PointIndices with %zu values, stamp %f, and "
+      "frame %s on topic %s received.",
       getName().c_str(),
       cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(), fromPCL(
         cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
@@ -198,8 +203,10 @@ pcl_ros::ExtractPolygonalPrismData::input_hull_indices_callback(
   } else {
     NODELET_DEBUG(
       "[%s::input_indices_hull_callback]\n"
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
+      "frame %s on topic %s received.\n"
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
+      "frame %s on topic %s received.",
       getName().c_str(),
       cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(), fromPCL(
         cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
@@ -212,7 +219,8 @@ pcl_ros::ExtractPolygonalPrismData::input_hull_indices_callback(
 
   if (cloud->header.frame_id != hull->header.frame_id) {
     NODELET_DEBUG(
-      "[%s::input_hull_callback] Planar hull has a different TF frame (%s) than the input point cloud (%s)! Using TF to transform.",
+      "[%s::input_hull_callback] Planar hull has a different TF frame (%s) than the input "
+      "point cloud (%s)! Using TF to transform.",
       getName().c_str(), hull->header.frame_id.c_str(), cloud->header.frame_id.c_str());
     PointCloud planar_hull;
     if (!pcl_ros::transformPointCloud(cloud->header.frame_id, *hull, planar_hull, tf_listener_)) {
@@ -233,7 +241,8 @@ pcl_ros::ExtractPolygonalPrismData::input_hull_indices_callback(
   impl_.setInputCloud(pcl_ptr(cloud));
   impl_.setIndices(indices_ptr);
 
-  // Final check if the data is empty (remember that indices are set to the size of the data -- if indices* = NULL)
+  // Final check if the data is empty
+  // (remember that indices are set to the size of the data -- if indices* = NULL)
   if (!cloud->points.empty()) {
     pcl::PointIndices pcl_inliers;
     moveToPCL(inliers, pcl_inliers);

pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp

@@ -36,10 +36,10 @@
  */
 
 #include <pluginlib/class_list_macros.h>
-#include "pcl_ros/segmentation/sac_segmentation.hpp"
 #include <pcl/io/io.h>
-
 #include <pcl_conversions/pcl_conversions.h>
+#include <vector>
+#include "pcl_ros/segmentation/sac_segmentation.hpp"
 
 using pcl_conversions::fromPCL;
 
@@ -61,7 +61,7 @@ pcl_ros::SACSegmentation::onInit()
     NODELET_ERROR("[onInit] Need a 'model_type' parameter to be set before continuing!");
     return;
   }
-  double threshold; // unused - set via dynamic reconfigure in the callback
+  double threshold;  // unused - set via dynamic reconfigure in the callback
   if (!pnh_->getParam("distance_threshold", threshold)) {
     NODELET_ERROR("[onInit] Need a 'distance_threshold' parameter to be set before continuing!");
     return;
@@ -80,7 +80,8 @@ pcl_ros::SACSegmentation::onInit()
       {
         if (axis_param.size() != 3) {
           NODELET_ERROR(
-            "[%s::onInit] Parameter 'axis' given but with a different number of values (%d) than required (3)!",
+            "[%s::onInit] Parameter 'axis' given but with a different number of values (%d) "
+            "than required (3)!",
             getName().c_str(), axis_param.size());
           return;
         }
@@ -149,27 +150,28 @@ pcl_ros::SACSegmentation::subscribe()
 
       // Synchronize the two topics. No need for an approximate synchronizer here, as we'll
       // match the timestamps exactly
-      sync_input_indices_e_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud,
+      sync_input_indices_e_ =
-          PointIndices>>>(max_queue_size_);
+        boost::make_shared<message_filters::Synchronizer<
+            sync_policies::ExactTime<PointCloud, PointIndices>>>(max_queue_size_);
       sync_input_indices_e_->connectInput(sub_input_filter_, nf_pi_);
       sync_input_indices_e_->registerCallback(
         bind(
           &SACSegmentation::input_indices_callback, this,
           _1, _2));
-    }
+    } else {  // "latched_indices" not set, proceed with regular <input,indices> pairs
-    // "latched_indices" not set, proceed with regular <input,indices> pairs
-    else {
       if (approximate_sync_) {
-        sync_input_indices_a_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud,
+        sync_input_indices_a_ =
-            PointIndices>>>(max_queue_size_);
+          boost::make_shared<message_filters::Synchronizer<
+              sync_policies::ApproximateTime<PointCloud, PointIndices>>>(max_queue_size_);
         sync_input_indices_a_->connectInput(sub_input_filter_, sub_indices_filter_);
         sync_input_indices_a_->registerCallback(
           bind(
             &SACSegmentation::input_indices_callback, this,
             _1, _2));
       } else {
-        sync_input_indices_e_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud,
+        sync_input_indices_e_ =
-            PointIndices>>>(max_queue_size_);
+          boost::make_shared<message_filters::Synchronizer<
+              sync_policies::ExactTime<PointCloud, PointIndices>>>(max_queue_size_);
         sync_input_indices_e_->connectInput(sub_input_filter_, sub_indices_filter_);
         sync_input_indices_e_->registerCallback(
           bind(
@@ -205,7 +207,7 @@ pcl_ros::SACSegmentation::config_callback(SACSegmentationConfig & config, uint32
   boost::mutex::scoped_lock lock(mutex_);
 
   if (impl_.getDistanceThreshold() != config.distance_threshold) {
-    //sac_->setDistanceThreshold (threshold_); - done in initSAC
+    // sac_->setDistanceThreshold (threshold_); - done in initSAC
     impl_.setDistanceThreshold(config.distance_threshold);
     NODELET_DEBUG(
       "[%s::config_callback] Setting new distance to model threshold to: %f.",
@@ -228,14 +230,14 @@ pcl_ros::SACSegmentation::config_callback(SACSegmentationConfig & config, uint32
   }
 
   if (impl_.getMaxIterations() != config.max_iterations) {
-    //sac_->setMaxIterations (max_iterations_); - done in initSAC
+    // sac_->setMaxIterations (max_iterations_); - done in initSAC
     impl_.setMaxIterations(config.max_iterations);
     NODELET_DEBUG(
       "[%s::config_callback] Setting new maximum number of iterations to: %d.",
       getName().c_str(), config.max_iterations);
   }
   if (impl_.getProbability() != config.probability) {
-    //sac_->setProbability (probability_); - done in initSAC
+    // sac_->setProbability (probability_); - done in initSAC
     impl_.setProbability(config.probability);
     NODELET_DEBUG(
       "[%s::config_callback] Setting new probability to: %f.",
@@ -307,8 +309,10 @@ pcl_ros::SACSegmentation::input_indices_callback(
   if (indices && !indices->header.frame_id.empty()) {
     NODELET_DEBUG(
       "[%s::input_indices_callback]\n"
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
-      "                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
+      "frame %s on topic %s received.\n"
+      "                                 - PointIndices with %zu values, stamp %f, and "
+      "frame %s on topic %s received.",
       getName().c_str(),
       cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(), fromPCL(
         cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
@@ -317,7 +321,8 @@ pcl_ros::SACSegmentation::input_indices_callback(
       indices->header.frame_id.c_str(), pnh_->resolveName("indices").c_str());
   } else {
     NODELET_DEBUG(
-      "[%s::input_indices_callback] PointCloud with %d data points, stamp %f, and frame %s on topic %s received.",
+      "[%s::input_indices_callback] PointCloud with %d data points, stamp %f, and "
+      "frame %s on topic %s received.",
       getName().c_str(), cloud->width * cloud->height, fromPCL(
         cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
         "input").c_str());
@@ -329,11 +334,13 @@ pcl_ros::SACSegmentation::input_indices_callback(
   PointCloudConstPtr cloud_tf;
 /*  if (!tf_input_frame_.empty () && cloud->header.frame_id != tf_input_frame_)
   {
-    NODELET_DEBUG ("[input_callback] Transforming input dataset from %s to %s.", cloud->header.frame_id.c_str (), tf_input_frame_.c_str ());
+    NODELET_DEBUG ("[input_callback] Transforming input dataset from %s to %s.",
+    // cloud->header.frame_id.c_str (), tf_input_frame_.c_str ());
     // Save the original frame ID
     // Convert the cloud into the different frame
     PointCloud cloud_transformed;
-    if (!pcl::transformPointCloud (tf_input_frame_, cloud->header.stamp, *cloud, cloud_transformed, tf_listener_))
+    if (!pcl::transformPointCloud (tf_input_frame_, cloud->header.stamp, *cloud,
+      cloud_transformed, tf_listener_))
       return;
     cloud_tf.reset (new PointCloud (cloud_transformed));
   }
@@ -348,7 +355,8 @@ pcl_ros::SACSegmentation::input_indices_callback(
   impl_.setInputCloud(pcl_ptr(cloud_tf));
   impl_.setIndices(indices_ptr);
 
-  // Final check if the data is empty (remember that indices are set to the size of the data -- if indices* = NULL)
+  // Final check if the data is empty
+  // (remember that indices are set to the size of the data -- if indices* = NULL)
   if (!cloud->points.empty()) {
     pcl::PointIndices pcl_inliers;
     pcl::ModelCoefficients pcl_model;
@@ -362,7 +370,7 @@ pcl_ros::SACSegmentation::input_indices_callback(
   // Probably need to transform the model of the plane here
 
   // Check if we have enough inliers, clear inliers + model if not
-  if ((int)inliers.indices.size() <= min_inliers_) {
+  if (static_cast<int>(inliers.indices.size()) <= min_inliers_) {
     inliers.indices.clear();
     model.values.clear();
   }
@@ -371,7 +379,8 @@ pcl_ros::SACSegmentation::input_indices_callback(
   pub_indices_.publish(boost::make_shared<const PointIndices>(inliers));
   pub_model_.publish(boost::make_shared<const ModelCoefficients>(model));
   NODELET_DEBUG(
-    "[%s::input_indices_callback] Published PointIndices with %zu values on topic %s, and ModelCoefficients with %zu values on topic %s",
+    "[%s::input_indices_callback] Published PointIndices with %zu values on topic %s, "
+    "and ModelCoefficients with %zu values on topic %s",
     getName().c_str(), inliers.indices.size(), pnh_->resolveName("inliers").c_str(),
     model.values.size(), pnh_->resolveName("model").c_str());
 
@@ -405,7 +414,7 @@ pcl_ros::SACSegmentationFromNormals::onInit()
       getName().c_str());
     return;
   }
-  double threshold; // unused - set via dynamic reconfigure in the callback
+  double threshold;  // unused - set via dynamic reconfigure in the callback
   if (!pnh_->getParam("distance_threshold", threshold)) {
     NODELET_ERROR(
       "[%s::onInit] Need a 'distance_threshold' parameter to be set before continuing!",
@@ -426,7 +435,8 @@ pcl_ros::SACSegmentationFromNormals::onInit()
       {
         if (axis_param.size() != 3) {
           NODELET_ERROR(
-            "[%s::onInit] Parameter 'axis' given but with a different number of values (%d) than required (3)!",
+            "[%s::onInit] Parameter 'axis' given but with a different number of values (%d) than "
+            "required (3)!",
             getName().c_str(), axis_param.size());
           return;
         }
@@ -475,15 +485,18 @@ pcl_ros::SACSegmentationFromNormals::subscribe()
   sub_input_filter_.subscribe(*pnh_, "input", max_queue_size_);
   sub_normals_filter_.subscribe(*pnh_, "normals", max_queue_size_);
 
-  // Subscribe to an axis direction along which the model search is to be constrained (the first 3 model coefficients will be checked)
+  // Subscribe to an axis direction along which the model search is to be constrained (the first
+  // 3 model coefficients will be checked)
   sub_axis_ = pnh_->subscribe("axis", 1, &SACSegmentationFromNormals::axis_callback, this);
 
   if (approximate_sync_) {
-    sync_input_normals_indices_a_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud,
+    sync_input_normals_indices_a_ =
-        PointCloudN, PointIndices>>>(max_queue_size_);
+      boost::make_shared<message_filters::Synchronizer<
+          sync_policies::ApproximateTime<PointCloud, PointCloudN, PointIndices>>>(max_queue_size_);
   } else {
-    sync_input_normals_indices_e_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud,
+    sync_input_normals_indices_e_ =
-        PointCloudN, PointIndices>>>(max_queue_size_);
+      boost::make_shared<message_filters::Synchronizer<
+          sync_policies::ExactTime<PointCloud, PointCloudN, PointIndices>>>(max_queue_size_);
   }
 
   // If we're supposed to look for PointIndices (indices)
@@ -658,7 +671,7 @@ pcl_ros::SACSegmentationFromNormals::input_normals_indices_callback(
     return;
   }
 
-  if (!isValid(cloud)) {// || !isValid (cloud_normals, "normals"))
+  if (!isValid(cloud)) {  // || !isValid (cloud_normals, "normals"))
     NODELET_ERROR("[%s::input_normals_indices_callback] Invalid input!", getName().c_str());
     pub_indices_.publish(boost::make_shared<const PointIndices>(inliers));
     pub_model_.publish(boost::make_shared<const ModelCoefficients>(model));
@@ -676,9 +689,12 @@ pcl_ros::SACSegmentationFromNormals::input_normals_indices_callback(
   if (indices && !indices->header.frame_id.empty()) {
     NODELET_DEBUG(
       "[%s::input_normals_indices_callback]\n"
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "frame %s on topic %s received.\n"
-      "                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
+      "frame %s on topic %s received.\n"
+      "                                 - PointIndices with %zu values, stamp %f, and "
+      "frame %s on topic %s received.",
       getName().c_str(),
       cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(), fromPCL(
         cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
@@ -692,8 +708,10 @@ pcl_ros::SACSegmentationFromNormals::input_normals_indices_callback(
   } else {
     NODELET_DEBUG(
       "[%s::input_normals_indices_callback]\n"
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
+      "frame %s on topic %s received.\n"
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
+      "frame %s on topic %s received.",
       getName().c_str(),
       cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(), fromPCL(
         cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(
@@ -711,7 +729,8 @@ pcl_ros::SACSegmentationFromNormals::input_normals_indices_callback(
   int cloud_normals_nr_points = cloud_normals->width * cloud_normals->height;
   if (cloud_nr_points != cloud_normals_nr_points) {
     NODELET_ERROR(
-      "[%s::input_normals_indices_callback] Number of points in the input dataset (%d) differs from the number of points in the normals (%d)!",
+      "[%s::input_normals_indices_callback] Number of points in the input dataset (%d) differs "
+      "from the number of points in the normals (%d)!",
       getName().c_str(), cloud_nr_points, cloud_normals_nr_points);
     pub_indices_.publish(boost::make_shared<const PointIndices>(inliers));
     pub_model_.publish(boost::make_shared<const ModelCoefficients>(model));
@@ -728,7 +747,8 @@ pcl_ros::SACSegmentationFromNormals::input_normals_indices_callback(
 
   impl_.setIndices(indices_ptr);
 
-  // Final check if the data is empty (remember that indices are set to the size of the data -- if indices* = NULL)
+  // Final check if the data is empty
+  // (remember that indices are set to the size of the data -- if indices* = NULL)
   if (!cloud->points.empty()) {
     pcl::PointIndices pcl_inliers;
     pcl::ModelCoefficients pcl_model;
@@ -740,7 +760,7 @@ pcl_ros::SACSegmentationFromNormals::input_normals_indices_callback(
   }
 
   // Check if we have enough inliers, clear inliers + model if not
-  if ((int)inliers.indices.size() <= min_inliers_) {
+  if (static_cast<int>(inliers.indices.size()) <= min_inliers_) {
     inliers.indices.clear();
     model.values.clear();
   }
@@ -749,7 +769,8 @@ pcl_ros::SACSegmentationFromNormals::input_normals_indices_callback(
   pub_indices_.publish(boost::make_shared<const PointIndices>(inliers));
   pub_model_.publish(boost::make_shared<const ModelCoefficients>(model));
   NODELET_DEBUG(
-    "[%s::input_normals_callback] Published PointIndices with %zu values on topic %s, and ModelCoefficients with %zu values on topic %s",
+    "[%s::input_normals_callback] Published PointIndices with %zu values on topic %s, and "
+    "ModelCoefficients with %zu values on topic %s",
     getName().c_str(), inliers.indices.size(), pnh_->resolveName("inliers").c_str(),
     model.values.size(), pnh_->resolveName("model").c_str());
   if (inliers.indices.empty()) {

pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp

@@ -36,10 +36,10 @@
  */
 
 #include <pluginlib/class_list_macros.h>
-#include "pcl_ros/segmentation/segment_differences.hpp"
 #include <pcl/io/io.h>
+#include "pcl_ros/segmentation/segment_differences.hpp"
 
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////////
 void
 pcl_ros::SegmentDifferences::onInit()
 {
@@ -57,7 +57,7 @@ pcl_ros::SegmentDifferences::onInit()
   onInitPostProcess();
 }
 
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////////
 void
 pcl_ros::SegmentDifferences::subscribe()
 {
@@ -72,16 +72,18 @@ pcl_ros::SegmentDifferences::subscribe()
   srv_->setCallback(f);
 
   if (approximate_sync_) {
-    sync_input_target_a_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud,
+    sync_input_target_a_ =
-        PointCloud>>>(max_queue_size_);
+      boost::make_shared<message_filters::Synchronizer<
+          sync_policies::ApproximateTime<PointCloud, PointCloud>>>(max_queue_size_);
     sync_input_target_a_->connectInput(sub_input_filter_, sub_target_filter_);
     sync_input_target_a_->registerCallback(
       bind(
         &SegmentDifferences::input_target_callback, this,
         _1, _2));
   } else {
-    sync_input_target_e_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud,
+    sync_input_target_e_ =
-        PointCloud>>>(max_queue_size_);
+      boost::make_shared<message_filters::Synchronizer<
+          sync_policies::ExactTime<PointCloud, PointCloud>>>(max_queue_size_);
     sync_input_target_e_->connectInput(sub_input_filter_, sub_target_filter_);
     sync_input_target_e_->registerCallback(
       bind(
@@ -90,7 +92,7 @@ pcl_ros::SegmentDifferences::subscribe()
   }
 }
 
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////////
 void
 pcl_ros::SegmentDifferences::unsubscribe()
 {
@@ -98,7 +100,7 @@ pcl_ros::SegmentDifferences::unsubscribe()
   sub_target_filter_.unsubscribe();
 }
 
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////////
 void
 pcl_ros::SegmentDifferences::config_callback(SegmentDifferencesConfig & config, uint32_t level)
 {
@@ -131,8 +133,10 @@ pcl_ros::SegmentDifferences::input_target_callback(
 
   NODELET_DEBUG(
     "[%s::input_indices_callback]\n"
-    "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+    "                                 - PointCloud with %d data points (%s), stamp %f, and "
-    "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.",
+    "frame %s on topic %s received.\n"
+    "                                 - PointCloud with %d data points (%s), stamp %f, and "
+    "frame %s on topic %s received.",
     getName().c_str(),
     cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(), fromPCL(
       cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(), pnh_->resolveName(

pcl_ros/src/pcl_ros/segmentation/segmentation.cpp

@@ -36,7 +36,7 @@
  */
 
 // Include the implementations here instead of compiling them separately to speed up compile time
-//#include "extract_clusters.cpp"
+// #include "extract_clusters.cpp"
-//#include "extract_polygonal_prism_data.cpp"
+// #include "extract_polygonal_prism_data.cpp"
-//#include "sac_segmentation.cpp"
+// #include "sac_segmentation.cpp"
-//#include "segment_differences.cpp"
+// #include "segment_differences.cpp"

pcl_ros/src/pcl_ros/surface/convex_hull.cpp

@@ -37,8 +37,9 @@
 
 #include <pluginlib/class_list_macros.h>
 #include <pcl/common/io.h>
-#include "pcl_ros/surface/convex_hull.hpp"
 #include <geometry_msgs/PolygonStamped.h>
+#include <vector>
+#include "pcl_ros/surface/convex_hull.hpp"
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 void
@@ -73,8 +74,9 @@ pcl_ros::ConvexHull2D::subscribe()
     sub_indices_filter_.subscribe(*pnh_, "indices", 1);
 
     if (approximate_sync_) {
-      sync_input_indices_a_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ApproximateTime<PointCloud,
+      sync_input_indices_a_ =
-          PointIndices>>>(max_queue_size_);
+        boost::make_shared<message_filters::Synchronizer<
+            sync_policies::ApproximateTime<PointCloud, PointIndices>>>(max_queue_size_);
       // surface not enabled, connect the input-indices duo and register
       sync_input_indices_a_->connectInput(sub_input_filter_, sub_indices_filter_);
       sync_input_indices_a_->registerCallback(
@@ -82,8 +84,9 @@ pcl_ros::ConvexHull2D::subscribe()
           &ConvexHull2D::input_indices_callback, this, _1,
           _2));
     } else {
-      sync_input_indices_e_ = boost::make_shared<message_filters::Synchronizer<sync_policies::ExactTime<PointCloud,
+      sync_input_indices_e_ =
-          PointIndices>>>(max_queue_size_);
+        boost::make_shared<message_filters::Synchronizer<
+            sync_policies::ExactTime<PointCloud, PointIndices>>>(max_queue_size_);
       // surface not enabled, connect the input-indices duo and register
       sync_input_indices_e_->connectInput(sub_input_filter_, sub_indices_filter_);
       sync_input_indices_e_->registerCallback(
@@ -146,8 +149,10 @@ pcl_ros::ConvexHull2D::input_indices_callback(
   if (indices) {
     NODELET_DEBUG(
       "[%s::input_indices_model_callback]\n"
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
-      "                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
+      "frame %s on topic %s received.\n"
+      "                                 - PointIndices with %zu values, stamp %f, and "
+      "frame %s on topic %s received.",
       getName().c_str(),
       cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(), fromPCL(
         cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(),
@@ -156,7 +161,8 @@ pcl_ros::ConvexHull2D::input_indices_callback(
       indices->header.frame_id.c_str(), getMTPrivateNodeHandle().resolveName("indices").c_str());
   } else {
     NODELET_DEBUG(
-      "[%s::input_indices_callback] PointCloud with %d data points, stamp %f, and frame %s on topic %s received.",
+      "[%s::input_indices_callback] PointCloud with %d data points, stamp %f, and "
+      "frame %s on topic %s received.",
       getName().c_str(), cloud->width * cloud->height, fromPCL(
         cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(),
       getMTPrivateNodeHandle().resolveName("input").c_str());

pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp

@@ -36,21 +36,24 @@
  */
 
 #include <pluginlib/class_list_macros.h>
-#include "pcl_ros/surface/moving_least_squares.hpp"
 #include <pcl/io/io.h>
+#include <vector>
+#include "pcl_ros/surface/moving_least_squares.hpp"
+
 //////////////////////////////////////////////////////////////////////////////////////////////
 void
 pcl_ros::MovingLeastSquares::onInit()
 {
   PCLNodelet::onInit();
 
-  //ros::NodeHandle private_nh = getMTPrivateNodeHandle ();
+  // ros::NodeHandle private_nh = getMTPrivateNodeHandle ();
   pub_output_ = advertise<PointCloudIn>(*pnh_, "output", max_queue_size_);
   pub_normals_ = advertise<NormalCloudOut>(*pnh_, "normals", max_queue_size_);
 
-  //if (!pnh_->getParam ("k_search", k_) && !pnh_->getParam ("search_radius", search_radius_))
+  // if (!pnh_->getParam ("k_search", k_) && !pnh_->getParam ("search_radius", search_radius_))
   if (!pnh_->getParam("search_radius", search_radius_)) {
-    //NODELET_ERROR ("[%s::onInit] Neither 'k_search' nor 'search_radius' set! Need to set at least one of these parameters before continuing.", getName ().c_str ());
+    // NODELET_ERROR ("[%s::onInit] Neither 'k_search' nor 'search_radius' set! Need to set "
+    // "at least one of these parameters before continuing.", getName ().c_str ());
     NODELET_ERROR(
       "[%s::onInit] Need a 'search_radius' parameter to be set before continuing!",
       getName().c_str());
@@ -93,8 +96,10 @@ pcl_ros::MovingLeastSquares::subscribe()
     sub_indices_filter_.subscribe(*pnh_, "indices", 1);
 
     if (approximate_sync_) {
-      sync_input_indices_a_ = boost::make_shared<message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<PointCloudIn,
+      sync_input_indices_a_ =
-          PointIndices>>>(max_queue_size_);
+        boost::make_shared<message_filters::Synchronizer<
+            message_filters::sync_policies::ApproximateTime<
+              PointCloudIn, PointIndices>>>(max_queue_size_);
       // surface not enabled, connect the input-indices duo and register
       sync_input_indices_a_->connectInput(sub_input_filter_, sub_indices_filter_);
       sync_input_indices_a_->registerCallback(
@@ -102,8 +107,10 @@ pcl_ros::MovingLeastSquares::subscribe()
           &MovingLeastSquares::input_indices_callback,
           this, _1, _2));
     } else {
-      sync_input_indices_e_ = boost::make_shared<message_filters::Synchronizer<message_filters::sync_policies::ExactTime<PointCloudIn,
+      sync_input_indices_e_ =
-          PointIndices>>>(max_queue_size_);
+        boost::make_shared<message_filters::Synchronizer<
+            message_filters::sync_policies::ExactTime<PointCloudIn,
+            PointIndices>>>(max_queue_size_);
       // surface not enabled, connect the input-indices duo and register
       sync_input_indices_e_->connectInput(sub_input_filter_, sub_indices_filter_);
       sync_input_indices_e_->registerCallback(
@@ -168,8 +175,10 @@ pcl_ros::MovingLeastSquares::input_indices_callback(
   if (indices) {
     NODELET_DEBUG(
       "[%s::input_indices_model_callback]\n"
-      "                                 - PointCloud with %d data points (%s), stamp %f, and frame %s on topic %s received.\n"
+      "                                 - PointCloud with %d data points (%s), stamp %f, and "
-      "                                 - PointIndices with %zu values, stamp %f, and frame %s on topic %s received.",
+      "frame %s on topic %s received.\n"
+      "                                 - PointIndices with %zu values, stamp %f, and "
+      "frame %s on topic %s received.",
       getName().c_str(),
       cloud->width * cloud->height, pcl::getFieldsList(*cloud).c_str(), fromPCL(
         cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(),
@@ -178,7 +187,8 @@ pcl_ros::MovingLeastSquares::input_indices_callback(
       indices->header.frame_id.c_str(), getMTPrivateNodeHandle().resolveName("indices").c_str());
   } else {
     NODELET_DEBUG(
-      "[%s::input_callback] PointCloud with %d data points, stamp %f, and frame %s on topic %s received.",
+      "[%s::input_callback] PointCloud with %d data points, stamp %f, and frame %s on "
+      "topic %s received.",
       getName().c_str(), cloud->width * cloud->height, fromPCL(
         cloud->header).stamp.toSec(), cloud->header.frame_id.c_str(),
       getMTPrivateNodeHandle().resolveName("input").c_str());
@@ -198,7 +208,7 @@ pcl_ros::MovingLeastSquares::input_indices_callback(
   // Initialize the spatial locator
 
   // Do the reconstructon
-  //impl_.process (output);
+  // impl_.process (output);
 
   // Publish a Boost shared ptr const data
   // Enforce that the TF frame and the timestamp are copied

pcl_ros/src/pcl_ros/surface/surface.cpp

@@ -42,5 +42,5 @@
 **/
 
 // Include the implementations here instead of compiling them separately to speed up compile time
-//#include "convex_hull.cpp"
+// #include "convex_hull.cpp"
-//#include "moving_least_squares.cpp"
+// #include "moving_least_squares.cpp"

pcl_ros/src/test/test_tf_message_filter_pcl.cpp

@@ -48,7 +48,9 @@
 
 #include <gtest/gtest.h>
 
-using namespace tf;
+#include <algorithm>
+#include <string>
+#include <vector>
 
 // using a random point type, as we want to make sure that it does work with
 // other points than just XYZ
@@ -78,7 +80,7 @@ void setStamp(ros::Time & stamp, std::uint64_t & pcl_stamp)
 class Notification
 {
 public:
-  Notification(int expected_count)
+  explicit Notification(int expected_count)
   : count_(0),
     expected_count_(expected_count),
     failure_count_(0)
@@ -90,7 +92,7 @@ public:
     ++count_;
   }
 
-  void failure(const PCDType::ConstPtr & message, FilterFailureReason reason)
+  void failure(const PCDType::ConstPtr & message, tf::FilterFailureReason reason)
   {
     ++failure_count_;
   }
@@ -104,7 +106,7 @@ TEST(MessageFilter, noTransforms)
 {
   tf::TransformListener tf_client;
   Notification n(1);
-  MessageFilter<PCDType> filter(tf_client, "frame1", 1);
+  tf::MessageFilter<PCDType> filter(tf_client, "frame1", 1);
   filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
 
   PCDType::Ptr msg(new PCDType);
@@ -120,7 +122,7 @@ TEST(MessageFilter, noTransformsSameFrame)
 {
   tf::TransformListener tf_client;
   Notification n(1);
-  MessageFilter<PCDType> filter(tf_client, "frame1", 1);
+  tf::MessageFilter<PCDType> filter(tf_client, "frame1", 1);
   filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
 
   PCDType::Ptr msg(new PCDType);
@@ -136,7 +138,7 @@ TEST(MessageFilter, preexistingTransforms)
 {
   tf::TransformListener tf_client;
   Notification n(1);
-  MessageFilter<PCDType> filter(tf_client, "frame1", 1);
+  tf::MessageFilter<PCDType> filter(tf_client, "frame1", 1);
   filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
 
   PCDType::Ptr msg(new PCDType);
@@ -161,7 +163,7 @@ TEST(MessageFilter, postTransforms)
 {
   tf::TransformListener tf_client;
   Notification n(1);
-  MessageFilter<PCDType> filter(tf_client, "frame1", 1);
+  tf::MessageFilter<PCDType> filter(tf_client, "frame1", 1);
   filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
 
   ros::Time stamp = ros::Time::now();
@@ -190,7 +192,7 @@ TEST(MessageFilter, queueSize)
 {
   tf::TransformListener tf_client;
   Notification n(10);
-  MessageFilter<PCDType> filter(tf_client, "frame1", 10);
+  tf::MessageFilter<PCDType> filter(tf_client, "frame1", 10);
   filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
   filter.registerFailureCallback(boost::bind(&Notification::failure, &n, _1, _2));
 
@@ -226,7 +228,7 @@ TEST(MessageFilter, setTargetFrame)
 {
   tf::TransformListener tf_client;
   Notification n(1);
-  MessageFilter<PCDType> filter(tf_client, "frame1", 1);
+  tf::MessageFilter<PCDType> filter(tf_client, "frame1", 1);
   filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
   filter.setTargetFrame("frame1000");
 
@@ -252,7 +254,7 @@ TEST(MessageFilter, multipleTargetFrames)
 {
   tf::TransformListener tf_client;
   Notification n(1);
-  MessageFilter<PCDType> filter(tf_client, "", 1);
+  tf::MessageFilter<PCDType> filter(tf_client, "", 1);
   filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
 
   std::vector<std::string> target_frames;
@@ -277,9 +279,9 @@ TEST(MessageFilter, multipleTargetFrames)
   ros::WallDuration(0.1).sleep();
   ros::spinOnce();
 
-  EXPECT_EQ(0, n.count_); // frame1->frame3 exists, frame2->frame3 does not (yet)
+  EXPECT_EQ(0, n.count_);  // frame1->frame3 exists, frame2->frame3 does not (yet)
 
-  //ros::Time::setNow(ros::Time::now() + ros::Duration(1.0));
+  // ros::Time::setNow(ros::Time::now() + ros::Duration(1.0));
 
   transform.child_frame_id_ = "frame2";
   tf_client.setTransform(transform);
@@ -295,7 +297,7 @@ TEST(MessageFilter, tolerance)
   ros::Duration offset(0.2);
   tf::TransformListener tf_client;
   Notification n(1);
-  MessageFilter<PCDType> filter(tf_client, "frame1", 1);
+  tf::MessageFilter<PCDType> filter(tf_client, "frame1", 1);
   filter.registerCallback(boost::bind(&Notification::notify, &n, _1));
   filter.setTolerance(offset);
 
@@ -314,9 +316,9 @@ TEST(MessageFilter, tolerance)
   msg->header.stamp = pcl_stamp;
   filter.add(msg);
 
-  EXPECT_EQ(0, n.count_); //No return due to lack of space for offset
+  EXPECT_EQ(0, n.count_);  // No return due to lack of space for offset
 
-  //ros::Time::setNow(ros::Time::now() + ros::Duration(0.1));
+  // ros::Time::setNow(ros::Time::now() + ros::Duration(0.1));
 
   transform.stamp_ += offset * 1.1;
   tf_client.setTransform(transform);
@@ -324,7 +326,7 @@ TEST(MessageFilter, tolerance)
   ros::WallDuration(0.1).sleep();
   ros::spinOnce();
 
-  EXPECT_EQ(1, n.count_); // Now have data for the message published earlier
+  EXPECT_EQ(1, n.count_);  // Now have data for the message published earlier
 
   stamp += offset;
   setStamp(stamp, pcl_stamp);
@@ -332,14 +334,14 @@ TEST(MessageFilter, tolerance)
 
   filter.add(msg);
 
-  EXPECT_EQ(1, n.count_); // Latest message is off the end of the offset
+  EXPECT_EQ(1, n.count_);  // Latest message is off the end of the offset
 }
 
 TEST(MessageFilter, outTheBackFailure)
 {
   tf::TransformListener tf_client;
   Notification n(1);
-  MessageFilter<PCDType> filter(tf_client, "frame1", 1);
+  tf::MessageFilter<PCDType> filter(tf_client, "frame1", 1);
   filter.registerFailureCallback(boost::bind(&Notification::failure, &n, _1, _2));
 
   ros::Time stamp = ros::Time::now();
@@ -366,7 +368,7 @@ TEST(MessageFilter, emptyFrameIDFailure)
 {
   tf::TransformListener tf_client;
   Notification n(1);
-  MessageFilter<PCDType> filter(tf_client, "frame1", 1);
+  tf::MessageFilter<PCDType> filter(tf_client, "frame1", 1);
   filter.registerFailureCallback(boost::bind(&Notification::failure, &n, _1, _2));
 
   PCDType::Ptr msg(new PCDType);

pcl_ros/src/transforms.cpp

@@ -38,6 +38,8 @@
 #include <pcl/common/io.h>
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
+#include <limits>
+#include <string>
 #include "pcl_ros/transforms.hpp"
 #include "pcl_ros/impl/transforms.hpp"
 
@@ -142,21 +144,24 @@ transformPointCloud(
     in.fields[z_idx].offset, 0);
 
   for (size_t i = 0; i < in.width * in.height; ++i) {
-    Eigen::Vector4f pt(*(float *)&in.data[xyz_offset[0]], *(float *)&in.data[xyz_offset[1]],
+    Eigen::Vector4f pt(*reinterpret_cast<float *>(&in.data[xyz_offset[0]]),
-      *(float *)&in.data[xyz_offset[2]], 1);
+      *reinterpret_cast<float *>(&in.data[xyz_offset[1]]),
+      *reinterpret_cast<float *>(&in.data[xyz_offset[2]], 1));
     Eigen::Vector4f pt_out;
 
     bool max_range_point = false;
     int distance_ptr_offset = i * in.point_step + in.fields[dist_idx].offset;
-    float * distance_ptr = (dist_idx < 0 ? NULL : (float *)(&in.data[distance_ptr_offset]));
+    float * distance_ptr =
+      (dist_idx < 0 ? NULL : reinterpret_cast<float *>(&in.data[distance_ptr_offset]));
     if (!std::isfinite(pt[0]) || !std::isfinite(pt[1]) || !std::isfinite(pt[2])) {
-      if (distance_ptr == NULL || !std::isfinite(*distance_ptr)) { // Invalid point
+      if (distance_ptr == NULL || !std::isfinite(*distance_ptr)) {  // Invalid point
         pt_out = pt;
-      } else { // max range point
+      } else {  // max range point
         pt[0] = *distance_ptr;  // Replace x with the x value saved in distance
         pt_out = transform * pt;
         max_range_point = true;
-        //std::cout << pt[0]<<","<<pt[1]<<","<<pt[2]<<" => "<<pt_out[0]<<","<<pt_out[1]<<","<<pt_out[2]<<"\n";
+        // std::cout << pt[0]<<","<<pt[1]<<","<<pt[2]<<" => "<<pt_out[0]<<",
+        // "<<pt_out[1]<<","<<pt_out[2]<<"\n";
       }
     } else {
       pt_out = transform * pt;
@@ -164,7 +169,7 @@ transformPointCloud(
 
     if (max_range_point) {
       // Save x value in distance again
-      *(float *)(&out.data[distance_ptr_offset]) = pt_out[0];
+      *reinterpret_cast<float *>(&out.data[distance_ptr_offset]) = pt_out[0];
       pt_out[0] = std::numeric_limits<float>::quiet_NaN();
     }
 
@@ -181,7 +186,8 @@ transformPointCloud(
   if (vp_idx != -1) {
     // Transform the viewpoint info too
     for (size_t i = 0; i < out.width * out.height; ++i) {
-      float * pstep = (float *)&out.data[i * out.point_step + out.fields[vp_idx].offset];
+      float * pstep =
+        reinterpret_cast<float *>(&out.data[i * out.point_step + out.fields[vp_idx].offset]);
       // Assume vp_x, vp_y, vp_z are consecutive
       Eigen::Vector4f vp_in(pstep[0], pstep[1], pstep[2], 1);
       Eigen::Vector4f vp_out = transform * vp_in;
@@ -212,7 +218,7 @@ transformAsMatrix(const tf::Transform & bt, Eigen::Matrix4f & out_mat)
   out_mat(2, 3) = origin.z();
 }
 
-} // namespace pcl_ros
+}  // namespace pcl_ros
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template void pcl_ros::transformPointCloudWithNormals<pcl::PointNormal>(

pcl_ros/tools/bag_to_pcd.cpp

@@ -44,16 +44,17 @@ Cloud Data) format.
 
  **/
 
-#include <sstream>
-#include <boost/filesystem.hpp>
 #include <rosbag/bag.h>
 #include <rosbag/view.h>
 #include <pcl/io/io.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl_conversions/pcl_conversions.h>
-#include "pcl_ros/transforms.hpp"
 #include <tf/transform_listener.h>
 #include <tf/transform_broadcaster.h>
+#include <boost/filesystem.hpp>
+#include <sstream>
+#include <string>
+#include "pcl_ros/transforms.hpp"
 
 typedef sensor_msgs::PointCloud2 PointCloud;
 typedef PointCloud::Ptr PointCloudPtr;

pcl_ros/tools/convert_pcd_to_image.cpp

@@ -53,6 +53,7 @@
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
+#include <string>
 
 /* ---[ */
 int
@@ -72,12 +73,12 @@ main(int argc, char ** argv)
   pcl::io::loadPCDFile(std::string(argv[1]), cloud);
 
   try {
-    pcl::toROSMsg(cloud, image);  //convert the cloud
+    pcl::toROSMsg(cloud, image);  // convert the cloud
   } catch (std::runtime_error & e) {
     ROS_ERROR_STREAM(
       "Error in converting cloud to image message: " <<
         e.what());
-    return 1; //fail!
+    return 1;  // fail!
   }
   ros::Rate loop_rate(5);
   while (nh.ok()) {

pcl_ros/tools/convert_pointcloud_to_image.cpp

@@ -40,14 +40,14 @@
  **/
 // ROS core
 #include <ros/ros.h>
-//Image message
+// Image message
 #include <sensor_msgs/Image.h>
 #include <sensor_msgs/PointCloud2.h>
-//pcl::toROSMsg
+// pcl::toROSMsg
 #include <pcl/io/pcd_io.h>
-//conversions from PCL custom types
+// conversions from PCL custom types
 #include <pcl_conversions/pcl_conversions.h>
-//stl stuff
+// stl stuff
 #include <string>
 
 class PointCloudToImage
@@ -61,9 +61,9 @@ public:
       return;
     }
     try {
-      pcl::toROSMsg(*cloud, image_);  //convert the cloud
+      pcl::toROSMsg(*cloud, image_);  // convert the cloud
       image_.header = cloud->header;
-      image_pub_.publish(image_);  //publish our cloud image
+      image_pub_.publish(image_);  // publish our cloud image
     } catch (std::runtime_error & e) {
       ROS_ERROR_STREAM(
         "Error in converting cloud to image message: " <<
@@ -78,7 +78,7 @@ public:
       &PointCloudToImage::cloud_cb, this);
     image_pub_ = nh_.advertise<sensor_msgs::Image>(image_topic_, 30);
 
-    //print some info about the node
+    // print some info about the node
     std::string r_ct = nh_.resolveName(cloud_topic_);
     std::string r_it = nh_.resolveName(image_topic_);
     ROS_INFO_STREAM("Listening for incoming data on topic " << r_ct);
@@ -87,18 +87,18 @@ public:
 
 private:
   ros::NodeHandle nh_;
-  sensor_msgs::Image image_; //cache the image message
+  sensor_msgs::Image image_;  // cache the image message
-  std::string cloud_topic_; //default input
+  std::string cloud_topic_;  // default input
-  std::string image_topic_; //default output
+  std::string image_topic_;  // default output
-  ros::Subscriber sub_; //cloud subscriber
+  ros::Subscriber sub_;  // cloud subscriber
-  ros::Publisher image_pub_; //image message publisher
+  ros::Publisher image_pub_;  // image message publisher
 };
 
 int
 main(int argc, char ** argv)
 {
   ros::init(argc, argv, "convert_pointcloud_to_image");
-  PointCloudToImage pci; //this loads up the node
+  PointCloudToImage pci;  // this loads up the node
-  ros::spin();  //where she stops nobody knows
+  ros::spin();  // where she stops nobody knows
   return 0;
 }

pcl_ros/tools/pcd_to_pointcloud.cpp

@@ -43,10 +43,6 @@
 
  **/
 
-// STL
-#include <chrono>
-#include <thread>
-
 // ROS core
 #include <ros/ros.h>
 #include <pcl/io/io.h>
@@ -54,14 +50,17 @@
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
 
-#include "pcl_ros/publisher.hpp"
+// STL
+#include <chrono>
+#include <string>
+#include <thread>
 
-using namespace std;
+#include "pcl_ros/publisher.hpp"
 
 class PCDGenerator
 {
 protected:
-  string tf_frame_;
+  std::string tf_frame_;
   ros::NodeHandle nh_;
   ros::NodeHandle private_nh_;
 
@@ -69,7 +68,7 @@ public:
   // ROS messages
   sensor_msgs::PointCloud2 cloud_;
 
-  string file_name_, cloud_topic_;
+  std::string file_name_, cloud_topic_;
   double wait_;
 
   pcl_ros::Publisher<sensor_msgs::PointCloud2> pub_;
@@ -105,7 +104,7 @@ public:
   bool spin()
   {
     int nr_points = cloud_.width * cloud_.height;
-    string fields_list = pcl::getFieldsList(cloud_);
+    std::string fields_list = pcl::getFieldsList(cloud_);
     double interval = wait_ * 1e+6;
     while (nh_.ok()) {
       ROS_DEBUG_ONCE(
@@ -132,8 +131,6 @@ public:
     }
     return true;
   }
-
-
 };
 
 /* ---[ */
@@ -149,7 +146,7 @@ main(int argc, char ** argv)
   ros::init(argc, argv, "pcd_to_pointcloud");
 
   PCDGenerator c;
-  c.file_name_ = string(argv[1]);
+  c.file_name_ = std::string(argv[1]);
   // check if publishing interval is given
   if (argc == 2) {
     c.wait_ = 0;

pcl_ros/tools/pointcloud_to_pcd.cpp

@@ -53,7 +53,8 @@
 
 #include <Eigen/Geometry>
 
-using namespace std;
+// STL
+#include <string>
 
 /**
 \author Radu Bogdan Rusu
@@ -76,7 +77,7 @@ private:
   tf2_ros::TransformListener tf_listener_;
 
 public:
-  string cloud_topic_;
+  std::string cloud_topic_;
 
   ros::Subscriber sub_;
 
@@ -131,7 +132,6 @@ public:
     } else {
       writer.writeASCII(ss.str(), *cloud, v, q, 8);
     }
-
   }
 
   ////////////////////////////////////////////////////////////////////////////////