format

Author: Serafadam

depthai_filters/src/detection2d_overlay.cpp

@@ -13,8 +13,8 @@ Detection2DOverlay::Detection2DOverlay(const rclcpp::NodeOptions& options) : rcl
 void Detection2DOverlay::onInit() {
     previewSub.subscribe(this, "rgb/preview/image_raw");
     detSub.subscribe(this, "nn/detections");
-    sync = std::make_unique<message_filters::Synchronizer<syncPolicy>>(syncPolicy(10), previewSub,  detSub);
-    sync->registerCallback(std::bind(&Detection2DOverlay::overlayCB, this, std::placeholders::_1, std::placeholders::_2 ));
+    sync = std::make_unique<message_filters::Synchronizer<syncPolicy>>(syncPolicy(10), previewSub, detSub);
+    sync->registerCallback(std::bind(&Detection2DOverlay::overlayCB, this, std::placeholders::_1, std::placeholders::_2));
     overlayPub = this->create_publisher<sensor_msgs::msg::Image>("overlay", 10);
     labelMap = this->declare_parameter<std::vector<std::string>>("label_map", labelMap);
 }

depthai_ros_driver/include/depthai_ros_driver/dai_nodes/nn/spatial_detection.hpp

@@ -77,7 +77,7 @@ class SpatialDetection : public BaseNode {
             pubConf.height = height;
             pubConf.daiNodeName = getName();
             pubConf.topicName = "~/" + getName() + "/passthrough";
-			pubConf.infoSuffix = "/passthrough";
+            pubConf.infoSuffix = "/passthrough";
             pubConf.socket = static_cast<dai::CameraBoardSocket>(ph->getParam<int>("i_board_socket_id"));
 
             ptPub->setup(device, convConf, pubConf);
@@ -98,7 +98,7 @@ class SpatialDetection : public BaseNode {
             pubConf.height = ph->getOtherNodeParam<int>(sensor_helpers::getNodeName(getROSNode(), sensor_helpers::NodeNameEnum::Stereo), "i_height");
             pubConf.daiNodeName = getName();
             pubConf.topicName = "~/" + getName() + "/passthrough_depth";
-			pubConf.infoSuffix = "/passthrough_depth";
+            pubConf.infoSuffix = "/passthrough_depth";
             pubConf.socket = socket;
 
             ptDepthPub->setup(device, convConf, pubConf);

depthai_ros_driver/include/depthai_ros_driver/param_handlers/nn_param_handler.hpp

@@ -40,7 +40,7 @@ class NNParamHandler : public BaseParamHandler {
     template <typename T>
     void declareParams(std::shared_ptr<T> nn, std::shared_ptr<dai::node::ImageManip> imageManip) {
         declareAndLogParam<bool>("i_disable_resize", false);
-		declareAndLogParam<bool>("i_desqueeze_output", false);
+        declareAndLogParam<bool>("i_desqueeze_output", false);
         declareAndLogParam<bool>("i_enable_passthrough", false);
         declareAndLogParam<bool>("i_enable_passthrough_depth", false);
         declareAndLogParam<bool>("i_get_base_device_timestamp", false);

depthai_ros_driver/include/depthai_ros_driver/utils.hpp

@@ -67,7 +67,7 @@ struct ImgPublisherConfig {
     dai::CameraBoardSocket rightSocket = dai::CameraBoardSocket::CAM_C;
     std::string calibrationFile = "";
     std::string topicSuffix = "/image_raw";
-	std::string infoSuffix = "";
+    std::string infoSuffix = "";
     std::string compressedTopicSuffix = "/image_raw/compressed";
     std::string infoMgrSuffix = "";
     bool rectified = false;

depthai_ros_driver/src/dai_nodes/sensors/stereo.cpp

@@ -199,7 +199,7 @@ void Stereo::setupStereoQueue(std::shared_ptr<dai::Device> device) {
     utils::ImgPublisherConfig pubConf;
     pubConf.daiNodeName = getName();
     pubConf.topicName = "~/" + getName();
-	pubConf.topicSuffix = rsCompabilityMode() ? "/image_rect_raw" : "/image_raw";
+    pubConf.topicSuffix = rsCompabilityMode() ? "/image_rect_raw" : "/image_raw";
     pubConf.rectified = !convConfig.alphaScalingEnabled;
     pubConf.width = ph->getParam<int>("i_width");
     pubConf.height = ph->getParam<int>("i_height");

depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp

@@ -79,19 +79,19 @@ void SensorParamHandler::declareParams(std::shared_ptr<dai::node::MonoCamera> mo
     }
     monoCam->setImageOrientation(
         utils::getValFromMap(declareAndLogParam<std::string>("i_sensor_img_orientation", "AUTO"), dai_nodes::sensor_helpers::cameraImageOrientationMap));
-	int expLimit = declareAndLogParam<int>("r_auto_exposure_limit", 1000);
+    int expLimit = declareAndLogParam<int>("r_auto_exposure_limit", 1000);
     if(declareAndLogParam<bool>("r_set_auto_exposure_limit", false)) {
         monoCam->initialControl.setAutoExposureLimit(expLimit);
     }
-	int sharpness = declareAndLogParam<int>("r_sharpness", 1);
+    int sharpness = declareAndLogParam<int>("r_sharpness", 1);
     if(declareAndLogParam("r_set_sharpness", false)) {
         monoCam->initialControl.setSharpness(sharpness);
     }
-	int chromaDenoise = declareAndLogParam<int>("r_chroma_denoise", 1);
+    int chromaDenoise = declareAndLogParam<int>("r_chroma_denoise", 1);
     if(declareAndLogParam("r_set_chroma_denoise", false)) {
         monoCam->initialControl.setChromaDenoise(chromaDenoise);
     }
-	int lumaDenoise = declareAndLogParam<int>("r_luma_denoise", 1);
+    int lumaDenoise = declareAndLogParam<int>("r_luma_denoise", 1);
     if(declareAndLogParam("r_set_luma_denoise", false)) {
         monoCam->initialControl.setLumaDenoise(lumaDenoise);
     }
@@ -194,19 +194,19 @@ void SensorParamHandler::declareParams(std::shared_ptr<dai::node::ColorCamera> c
     }
     colorCam->setImageOrientation(
         utils::getValFromMap(declareAndLogParam<std::string>("i_sensor_img_orientation", "AUTO"), dai_nodes::sensor_helpers::cameraImageOrientationMap));
-	int expLimit = declareAndLogParam<int>("r_auto_exposure_limit", 1000);
+    int expLimit = declareAndLogParam<int>("r_auto_exposure_limit", 1000);
     if(declareAndLogParam<bool>("r_set_auto_exposure_limit", false)) {
         colorCam->initialControl.setAutoExposureLimit(expLimit);
     }
-	int sharpness = declareAndLogParam<int>("r_sharpness", 1);
+    int sharpness = declareAndLogParam<int>("r_sharpness", 1);
     if(declareAndLogParam("r_set_sharpness", false)) {
         colorCam->initialControl.setSharpness(sharpness);
     }
-	int chromaDenoise = declareAndLogParam<int>("r_chroma_denoise", 1);
+    int chromaDenoise = declareAndLogParam<int>("r_chroma_denoise", 1);
     if(declareAndLogParam("r_set_chroma_denoise", false)) {
         colorCam->initialControl.setChromaDenoise(chromaDenoise);
     }
-	int lumaDenoise = declareAndLogParam<int>("r_luma_denoise", 1);
+    int lumaDenoise = declareAndLogParam<int>("r_luma_denoise", 1);
     if(declareAndLogParam("r_set_luma_denoise", false)) {
         colorCam->initialControl.setLumaDenoise(lumaDenoise);
     }