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Review casts in PCL, Part B #5508

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merged 12 commits into from
Jan 17, 2023
Merged

Review casts in PCL, Part B #5508

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de9781d
Initial application of google-readability-casting
gnawme Nov 8, 2022
346b72b
Addressed google-readability-casting escapes
gnawme Nov 8, 2022
e7d62f4
Addressed clang-format violations flagged by CI
gnawme Nov 8, 2022
8d94b0b
More clang-format escapes
gnawme Nov 8, 2022
e6cb961
Addressed clang-tidy escapes
gnawme Nov 9, 2022
e3996f6
Fixed compile issue not seen on desktop
gnawme Nov 9, 2022
59fd213
Addressed review comments
gnawme Nov 14, 2022
79fe03e
Fixed clang-tidy complaint
gnawme Nov 14, 2022
f257e3b
Clarified PCLPointCloud2::concatenate logic
gnawme Nov 16, 2022
06f029b
Addressed latest review comments
gnawme Dec 24, 2022
5107383
Addressed latest review comments
gnawme Jan 4, 2023
258e1a1
Eliminated double casts per review
gnawme Jan 16, 2023
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Clarified PCLPointCloud2::concatenate logic
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@gnawme
gnawme committed Jan 12, 2023
commit f257e3b0f849bf90c33eade479771bcdc14b66b8
10 changes: 4 additions & 6 deletions common/src/PCLPointCloud2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,15 +58,13 @@ pcl::PCLPointCloud2::concatenate (pcl::PCLPointCloud2 &cloud1, const pcl::PCLPoi
const auto size1 = cloud1.width * cloud1.height;
const auto size2 = cloud2.width * cloud2.height;
//if one input cloud has no points, but the other input does, just select the cloud with points
auto chooser = (static_cast<bool>(size1) << 1) + static_cast<bool>(size2);
if (chooser == 1) {
if ((size1 == 0) && (size2 != 0)) {
cloud1 = cloud2;
}

if ((chooser == 0) || (chooser == 2))
{
cloud1.header.stamp = std::max(cloud1.header.stamp, cloud2.header.stamp);
return (true);
if (size2 == 0) {
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cloud1.header.stamp = std::max (cloud1.header.stamp, cloud2.header.stamp);
return true;
}

// Ideally this should be in PCLPointField class since this is global behavior
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