refactor(yabloc_particle_filter): apply static analysis #7519

a-maumau · 2024-06-17T09:34:01Z

Description

This PR applies some suggestions from the linter to localization/yabloc/yabloc_particle_filter.
Checked with clang-tidy and cppcheck.

Fixed:

use explicit cast
change variable names
- camelCase to snake_case for method/variable
- snake_case to CamelCase for class name
- add _ to private variable
- align variable name in header's definition and the implementation
- LOCAL_VAR to local_var
- rename some variables to avoid shadowed declaration
add or removed keyword from function/method which linter suggested
use std::accumulate instead of a raw loop
remove unused methods/functions and files

not Fixed:

safe access to members of unions by boost::variant
- speed concern

pointer arithmetic (cppcoreguidelines-pro-bounds-pointer-arithmetic)

autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp

Lines 28 to 31 in 9047cdd

    
           const uchar * intensity_ptr = intensity.ptr<uchar>(i); 
        
           for (int j = 0; j < cost_map.cols; j++) { 
        
             if (intensity_ptr[j] == 0) distances.at(i).at(j) = 0; 
        
           }

, etc.

readability-function-cognitive-complexity for direct_cost_map
notes for nesting level

Tests performed

Checked with clang-tidy and cppcheck (v2.14.1)

check_linter.sh

#!/bin/bash
set -eux

TARGET_DIR=$1

current_dir=$(basename $(pwd))
if [[ ! $current_dir =~ ^(autoware|pilot-auto) ]]; then
    echo "This script must be run in a directory with a prefix of autoware or pilot-auto."
    exit 1
fi

set +eux
export CPLUS_INCLUDE_PATH=/usr/include/c++/11:/usr/include/x86_64-linux-gnu/c++/11:$CPLUS_INCLUDE_PATH
set -eux

fdfind -e cpp -e hpp --full-path ${TARGET_DIR} | xargs -P $(nproc) -I{} cpplint {}
fdfind -e cpp -e hpp --full-path ${TARGET_DIR} | xargs -P $(nproc) -I{} clang-tidy -p build/ {}

Before fixing the code:

Check with check_linter.sh

$ ./check_linter.sh yabloc_particle_filter
...
2016 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/prediction/resampling_history.hpp:38:3: warning: function 'check_history_validity' should be marked [[nodiscard]] [modernize-use-nodiscard]
  bool check_history_validity() const
  ^
  [[nodiscard]] 
Suppressed 2015 warnings (2015 in non-user code).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
2387 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/camera_corrector/logit.cpp:27:3: warning: constructor does not initialize these fields: table_ [cppcoreguidelines-pro-type-member-init]
  ProbToLogitTable()
  ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/camera_corrector/logit.cpp:30:17: warning: narrowing conversion from 'int' to 'float' [cppcoreguidelines-narrowing-conversions]
      float p = i / 100.0f;
                ^
Suppressed 2385 warnings (2385 in non-user code).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
5487 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/prediction/resampler.hpp:25:7: warning: invalid case style for class 'resampling_skip_exception' [readability-identifier-naming]
class resampling_skip_exception : public std::runtime_error
      ^~~~~~~~~~~~~~~~~~~~~~~~~
      ResamplingSkipException
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/prediction/resampler.hpp:59:3: warning: function 'random_from_01_uniformly' should be marked [[nodiscard]] [modernize-use-nodiscard]
  double random_from_01_uniformly() const;
  ^
  [[nodiscard]] 
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/prediction/resampler.hpp:61:3: warning: function 'check_weighted_particles_validity' should be marked [[nodiscard]] [modernize-use-nodiscard]
  bool check_weighted_particles_validity(const ParticleArray & weighted_particles) const;
  ^
  [[nodiscard]] 
Suppressed 5484 warnings (5484 in non-user code).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
7987 warnings generated.
Suppressed 7987 warnings (7987 in non-user code).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
10483 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/mean.hpp:23:1: warning: nested namespaces can be concatenated [modernize-concat-nested-namespaces]
namespace yabloc
^~~~~~~~~~~~~~~~
namespace yabloc::modularized_particle_filter
Suppressed 10484 warnings (10482 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
14026 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/prediction_util.hpp:25:1: warning: nested namespaces can be concatenated [modernize-concat-nested-namespaces]
namespace yabloc
^~~~~~~~~~~~~~~~
namespace yabloc::modularized_particle_filter::util
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/prediction_util.hpp:29:20: warning: variable 'seed_gen' defined in a header file; variable definitions in header files can lead to ODR violations [misc-definitions-in-headers]
std::random_device seed_gen;
                   ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/prediction_util.hpp:30:28: warning: variable 'engine' defined in a header file; variable definitions in header files can lead to ODR violations [misc-definitions-in-headers]
std::default_random_engine engine(seed_gen());
                           ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/prediction_util.hpp:32:17: warning: function 'nrand_2d' defined in a header file; function definitions in header files can lead to ODR violations [misc-definitions-in-headers]
Eigen::Vector2d nrand_2d(const Eigen::Matrix2d cov)
                ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/prediction_util.hpp:32:17: note: make as 'inline'
Eigen::Vector2d nrand_2d(const Eigen::Matrix2d cov)
                ^
inline 
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/prediction_util.hpp:32:48: warning: the const qualified parameter 'cov' is copied for each invocation; consider making it a reference [performance-unnecessary-value-param]
Eigen::Vector2d nrand_2d(const Eigen::Matrix2d cov)
                                               ^
                                              &
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/prediction_util.hpp:53:8: warning: function 'normalize_radian' defined in a header file; function definitions in header files can lead to ODR violations [misc-definitions-in-headers]
double normalize_radian(const double rad, const double min_rad = -M_PI)
       ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/common/prediction_util.hpp:53:8: note: make as 'inline'
double normalize_radian(const double rad, const double min_rad = -M_PI)
       ^
inline 
Suppressed 14022 warnings (14020 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
8066 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:19:9: warning: function 'direct_cost_map' has cognitive complexity of 36 (threshold 25) [readability-function-cognitive-complexity]
cv::Mat direct_cost_map(const cv::Mat & cost_map, const cv::Mat & intensity)
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:25:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  for (int i = 0; i < cost_map.rows; i++) {
  ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:29:5: note: +2, including nesting penalty of 1, nesting level increased to 2
    for (int j = 0; j < cost_map.cols; j++) {
    ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:30:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (intensity_ptr[j] == 0) distances.at(i).at(j) = 0;
      ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:37:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  for (int r = 1; r < cost_map.rows; r++) {
  ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:41:5: note: +2, including nesting penalty of 1, nesting level increased to 2
    for (int c = 1; c < cost_map.cols; c++) {
    ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:44:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (up < left) {
      ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:45:9: note: +4, including nesting penalty of 3, nesting level increased to 4
        if (distances.at(r).at(c) < up + 1) continue;
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:48:9: note: +1, nesting level increased to 3
      } else {
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:49:9: note: +4, including nesting penalty of 3, nesting level increased to 4
        if (distances.at(r).at(c) < left + 1) continue;
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:57:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  for (int r = cost_map.rows - 2; r >= 0; r--) {
  ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:61:5: note: +2, including nesting penalty of 1, nesting level increased to 2
    for (int c = cost_map.cols - 2; c >= 0; c--) {
    ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:64:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (down < right) {
      ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:65:9: note: +4, including nesting penalty of 3, nesting level increased to 4
        if (distances.at(r).at(c) < down + 1) continue;
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:68:9: note: +1, nesting level increased to 3
      } else {
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:69:9: note: +4, including nesting penalty of 3, nesting level increased to 4
        if (distances.at(r).at(c) < right + 1) continue;
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:21:17: warning: invalid case style for constexpr variable 'MAX_INT' [readability-identifier-naming]
  constexpr int MAX_INT = std::numeric_limits<int>::max();
                ^~~~~~~
                max_int
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:28:11: warning: use auto when initializing with a template cast to avoid duplicating the type name [modernize-use-auto]
    const uchar * intensity_ptr = intensity.ptr<uchar>(i);
          ^~~~~
          auto
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:30:11: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
      if (intensity_ptr[j] == 0) distances.at(i).at(j) = 0;
          ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:39:5: warning: use auto when initializing with a template cast to avoid duplicating the type name [modernize-use-auto]
    uchar * current_ptr = dst.ptr<uchar>(r);
    ^~~~~
    auto
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:47:9: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
        current_ptr[c] = upper_ptr[c];
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:47:26: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
        current_ptr[c] = upper_ptr[c];
                         ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:51:9: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
        current_ptr[c] = current_ptr[c - 1];
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:51:26: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
        current_ptr[c] = current_ptr[c - 1];
                         ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:59:5: warning: use auto when initializing with a template cast to avoid duplicating the type name [modernize-use-auto]
    uchar * current_ptr = dst.ptr<uchar>(r);
    ^~~~~
    auto
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:67:9: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
        current_ptr[c] = downer_ptr[c];
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:67:26: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
        current_ptr[c] = downer_ptr[c];
                         ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:71:9: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
        current_ptr[c] = current_ptr[c + 1];
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:71:26: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
        current_ptr[c] = current_ptr[c + 1];
                         ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:83:3: warning: multiple declarations in a single statement reduces readability [readability-isolate-declaration]
  cv::Mat hsv, rgb;
  ^~~~~~~~~~~~~~~~~
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:88:11: warning: use auto when initializing with a template cast to avoid duplicating the type name [modernize-use-auto]
    const uchar * src_ptr = cost_map.ptr<uchar>(r);
          ^~~~~
          auto
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:89:5: warning: use auto when initializing with a template cast to avoid duplicating the type name [modernize-use-auto]
    cv::Vec3b * dst_ptr = rgb.ptr<cv::Vec3b>(r);
    ^~~~~~~~~
    auto
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:91:11: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
      if (src_ptr[c] == 0) dst_ptr[c] = cv::Vec3b(0, 0, 0);
          ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:91:28: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
      if (src_ptr[c] == 0) dst_ptr[c] = cv::Vec3b(0, 0, 0);
                           ^
Suppressed 8047 warnings (8047 in non-user code).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
7658 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/test/src/test_resampler.cpp:25:15: warning: invalid case style for constexpr variable 'PARTICLE_COUNT' [readability-identifier-naming]
constexpr int PARTICLE_COUNT = 10;
              ^~~~~~~~~~~~~~
              particle_count
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/test/src/test_resampler.cpp:26:15: warning: invalid case style for constexpr variable 'HISTORY_SIZE' [readability-identifier-naming]
constexpr int HISTORY_SIZE = 10;
              ^~~~~~~~~~~~
              history_size
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/test/src/test_resampler.cpp:150:60: warning: narrowing conversion from 'geometry_msgs::msg::Point_::_x_type' (aka 'double') to 'int' [cppcoreguidelines-narrowing-conversions]
    for (const auto & p : predicted.particles) centroid += p.pose.position.x;
                                                           ^
Suppressed 7673 warnings (7655 in non-user code, 18 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13153 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/gnss_corrector/weight_manager.hpp:41:3: warning: constructor does not initialize these fields: for_fixed_, for_not_fixed_ [cppcoreguidelines-pro-type-member-init]
  explicit WeightManager(rclcpp::Node * node)
  ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/gnss_corrector/weight_manager.hpp:43:31: warning: narrowing conversion from 'double' to 'float' [cppcoreguidelines-narrowing-conversions]
    for_fixed_.flat_radius_ = node->declare_parameter<float>("for_fixed/flat_radius");
                              ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/gnss_corrector/weight_manager.hpp:44:30: warning: narrowing conversion from 'double' to 'float' [cppcoreguidelines-narrowing-conversions]
    for_fixed_.max_radius_ = node->declare_parameter<float>("for_fixed/max_radius");
                             ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/gnss_corrector/weight_manager.hpp:45:30: warning: narrowing conversion from 'double' to 'float' [cppcoreguidelines-narrowing-conversions]
    for_fixed_.min_weight_ = node->declare_parameter<float>("for_fixed/min_weight");
                             ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/gnss_corrector/weight_manager.hpp:46:30: warning: narrowing conversion from 'double' to 'float' [cppcoreguidelines-narrowing-conversions]
    for_fixed_.max_weight_ = node->declare_parameter<float>("for_fixed/max_weight");
                             ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/gnss_corrector/weight_manager.hpp:49:35: warning: narrowing conversion from 'double' to 'float' [cppcoreguidelines-narrowing-conversions]
    for_not_fixed_.flat_radius_ = node->declare_parameter<float>("for_not_fixed/flat_radius");
                                  ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/gnss_corrector/weight_manager.hpp:50:34: warning: narrowing conversion from 'double' to 'float' [cppcoreguidelines-narrowing-conversions]
    for_not_fixed_.max_radius_ = node->declare_parameter<float>("for_not_fixed/max_radius");
                                 ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/gnss_corrector/weight_manager.hpp:51:34: warning: narrowing conversion from 'double' to 'float' [cppcoreguidelines-narrowing-conversions]
    for_not_fixed_.min_weight_ = node->declare_parameter<float>("for_not_fixed/min_weight");
                                 ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/gnss_corrector/weight_manager.hpp:52:34: warning: narrowing conversion from 'double' to 'float' [cppcoreguidelines-narrowing-conversions]
    for_not_fixed_.max_weight_ = node->declare_parameter<float>("for_not_fixed/max_weight");
                                 ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/gnss_corrector/weight_manager.hpp:56:3: warning: function 'normal_pdf' should be marked [[nodiscard]] [modernize-use-nodiscard]
  float normal_pdf(float distance, const Parameter & param) const
  ^
  [[nodiscard]] 
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/gnss_corrector/weight_manager.hpp:56:9: warning: method 'normal_pdf' can be made static [readability-convert-member-functions-to-static]
  float normal_pdf(float distance, const Parameter & param) const
        ^                                                   ~~~~~
  static 
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/include/yabloc_particle_filter/gnss_corrector/weight_manager.hpp:63:3: warning: function 'normal_pdf' should be marked [[nodiscard]] [modernize-use-nodiscard]
  float normal_pdf(float distance, bool is_rtk_fixed) const
  ^
  ... (omitted)

Check with cppcheck

(in localization/yabloc)
$ cppcheck --enable=warning --enable=style --enable=performance --enable=portability --enable=unusedFunction --inconclusive --check-level=exhaustive .

Checking yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp ...
yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp:310:13: style: The scope of the variable 'gain' can be reduced. [variableScope]
      float gain = std::exp(-far_weight_gain_ * squared_norm);
            ^
yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp:190:10: style: Local variable 'mean_pose' shadows outer variable [shadowVariable]
    Pose mean_pose = get_mean_pose(weighted_particles);
         ^
yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp:150:14: note: Shadowed declaration
  const Pose mean_pose = get_mean_pose(weighted_particles);
             ^
yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp:190:10: note: Shadow variable
    Pose mean_pose = get_mean_pose(weighted_particles);
         ^
yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp:114:47: style: Parameter 'cloud' can be declared as reference to const [constParameterReference]
    auto draw = [&debug_image](LineSegments & cloud, cv::Scalar color) -> void {
                                              ^
yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp:204:17: style: Consider using std::accumulate algorithm instead of a raw loop. [useStlAlgorithm]
      max_score = std::max(max_score, std::abs(p.intensity));
                ^
22/41 files checked 52% done
Checking yabloc_particle_filter/src/camera_corrector/filter_line_segments.cpp ...
23/41 files checked 53% done
Checking yabloc_particle_filter/src/camera_corrector/logit.cpp ...
24/41 files checked 54% done
Checking yabloc_particle_filter/src/common/mean.cpp ...
yabloc_particle_filter/src/common/mean.cpp:123:10: style: Consider using std::accumulate algorithm instead of a raw loop. [useStlAlgorithm]
    mean += p.weight;
         ^
yabloc_particle_filter/src/common/mean.cpp:129:11: style: Consider using std::accumulate algorithm instead of a raw loop. [useStlAlgorithm]
    sigma += (p.weight - mean) * (p.weight - mean);
          ^
25/41 files checked 57% done
Checking yabloc_particle_filter/src/common/particle_visualize_node.cpp ...
26/41 files checked 59% done
Checking yabloc_particle_filter/src/common/visualize.cpp ...
27/41 files checked 60% done
Checking yabloc_particle_filter/src/correction/abstract_corrector.cpp ...
28/41 files checked 61% done
Checking yabloc_particle_filter/src/correction/correction_util.cpp ...
29/41 files checked 62% done
Checking yabloc_particle_filter/src/gnss_corrector/gnss_corrector_core.cpp ...
yabloc_particle_filter/src/gnss_corrector/gnss_corrector_core.cpp:99:21: style: Local variable 'mean_position' shadows outer variable [shadowVariable]
    Eigen::Vector3f mean_position = common::pose_to_affine(mean_pose).translation();
                    ^
yabloc_particle_filter/src/gnss_corrector/gnss_corrector_core.cpp:86:25: note: Shadowed declaration
  const Eigen::Vector3f mean_position = common::pose_to_affine(mean_pose).translation();
                        ^
yabloc_particle_filter/src/gnss_corrector/gnss_corrector_core.cpp:99:21: note: Shadow variable
    Eigen::Vector3f mean_position = common::pose_to_affine(mean_pose).translation();
                    ^
30/41 files checked 66% done
Checking yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp ...
31/41 files checked 68% done
Checking yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp ...
yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp:205:12: style: Local variable 'w' shadows outer variable [shadowVariable]
  for (int w = 0; w < image_size_; w++) {
           ^
yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp:193:9: note: Shadowed declaration
  float w = pose.orientation.w;
        ^
yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp:205:12: note: Shadow variable
  for (int w = 0; w < image_size_; w++) {
           ^
32/41 files checked 72% done
Checking yabloc_particle_filter/src/prediction/predictor.cpp ...
33/41 files checked 81% done
Checking yabloc_particle_filter/src/prediction/resampler.cpp ...
34/41 files checked 84% done
Checking yabloc_particle_filter/test/src/test_resampler.cpp ...
yabloc_particle_filter/test/src/test_resampler.cpp:150:57: style: Consider using std::accumulate algorithm instead of a raw loop. [useStlAlgorithm]
    for (const auto & p : predicted.particles) centroid += p.pose.position.x;
                                                        ^
yabloc_particle_filter/test/src/test_resampler.cpp:184:23: style: Consider using std::accumulate algorithm instead of a raw loop. [useStlAlgorithm]
      before_centroid += p.pose.position.x * p.weight;
                      ^
yabloc_particle_filter/test/src/test_resampler.cpp:204:22: style: Consider using std::accumulate algorithm instead of a raw loop. [useStlAlgorithm]
      after_centroid += p.pose.position.x * p.weight;
                     ^
...
yabloc_particle_filter/src/camera_corrector/logit.cpp:50:0: style: The function 'prob_to_logit' is never used. [unusedFunction]
float prob_to_logit(float prob)
^
yabloc_particle_filter/src/common/mean.cpp:116:0: style: The function 'std_of_weight' is never used. [unusedFunction]
float std_of_weight(const yabloc_particle_filter::msg::ParticleArray & particle_array)
^
yabloc_particle_filter/src/common/particle_visualize_node.cpp:49:0: style: The function 'compute_color' is never used. [unusedFunction]
  std_msgs::msg::ColorRGBA compute_color(float value) const
^
yabloc_particle_filter/src/correction/correction_util.cpp:19:0: style: The function 'find_synced_particles' is never used. [unusedFunction]
std::optional<yabloc_particle_filter::msg::ParticleArray> find_synced_particles(
^
yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:79:0: style: The function 'visualize_direction_map' is never used. [unusedFunction]
cv::Mat visualize_direction_map(const cv::Mat & cost_map)

After this PR:

Check with check_linter.sh

$ ./check_linter.sh yabloc_particle_filter
...
2015 warnings generated.
Suppressed 2015 warnings (2015 in non-user code).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
2385 warnings generated.
Suppressed 2385 warnings (2385 in non-user code).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
5483 warnings generated.
Suppressed 5483 warnings (5483 in non-user code).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
7987 warnings generated.
Suppressed 7987 warnings (7987 in non-user code).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
10482 warnings generated.
Suppressed 10484 warnings (10482 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
8059 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:19:9: warning: function 'direct_cost_map' has cognitive complexity of 36 (threshold 25) [readability-function-cognitive-complexity]
cv::Mat direct_cost_map(const cv::Mat & cost_map, const cv::Mat & intensity)
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:25:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  for (int i = 0; i < cost_map.rows; i++) {
  ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:29:5: note: +2, including nesting penalty of 1, nesting level increased to 2
    for (int j = 0; j < cost_map.cols; j++) {
    ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:30:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (intensity_ptr[j] == 0) distances.at(i).at(j) = 0;
      ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:37:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  for (int r = 1; r < cost_map.rows; r++) {
  ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:41:5: note: +2, including nesting penalty of 1, nesting level increased to 2
    for (int c = 1; c < cost_map.cols; c++) {
    ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:44:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (up < left) {
      ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:45:9: note: +4, including nesting penalty of 3, nesting level increased to 4
        if (distances.at(r).at(c) < up + 1) continue;
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:48:9: note: +1, nesting level increased to 3
      } else {
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:49:9: note: +4, including nesting penalty of 3, nesting level increased to 4
        if (distances.at(r).at(c) < left + 1) continue;
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:57:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  for (int r = cost_map.rows - 2; r >= 0; r--) {
  ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:61:5: note: +2, including nesting penalty of 1, nesting level increased to 2
    for (int c = cost_map.cols - 2; c >= 0; c--) {
    ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:64:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (down < right) {
      ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:65:9: note: +4, including nesting penalty of 3, nesting level increased to 4
        if (distances.at(r).at(c) < down + 1) continue;
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:68:9: note: +1, nesting level increased to 3
      } else {
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:69:9: note: +4, including nesting penalty of 3, nesting level increased to 4
        if (distances.at(r).at(c) < right + 1) continue;
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:30:11: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
      if (intensity_ptr[j] == 0) distances.at(i).at(j) = 0;
          ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:47:9: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
        current_ptr[c] = upper_ptr[c];
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:47:26: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
        current_ptr[c] = upper_ptr[c];
                         ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:51:9: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
        current_ptr[c] = current_ptr[c - 1];
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:51:26: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
        current_ptr[c] = current_ptr[c - 1];
                         ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:67:9: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
        current_ptr[c] = downer_ptr[c];
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:67:26: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
        current_ptr[c] = downer_ptr[c];
                         ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:71:9: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
        current_ptr[c] = current_ptr[c + 1];
        ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:71:26: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
        current_ptr[c] = current_ptr[c + 1];
                         ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:92:11: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
      if (src_ptr[c] == 0) dst_ptr[c] = cv::Vec3b(0, 0, 0);
          ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp:92:28: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
      if (src_ptr[c] == 0) dst_ptr[c] = cv::Vec3b(0, 0, 0);
                           ^
Suppressed 8047 warnings (8047 in non-user code).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
14020 warnings generated.
Suppressed 14022 warnings (14020 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
7651 warnings generated.
Suppressed 7669 warnings (7651 in non-user code, 18 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13136 warnings generated.
Suppressed 13147 warnings (13136 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13404 warnings generated.
Suppressed 13415 warnings (13404 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
17201 warnings generated.
Suppressed 17212 warnings (17201 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
17237 warnings generated.
Suppressed 17248 warnings (17237 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
35558 warnings generated.
Suppressed 35571 warnings (35558 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
18310 warnings generated.
Suppressed 18323 warnings (18310 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
16612 warnings generated.
18804 warnings generated.
Suppressed 18817 warnings (18804 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
20951 warnings generated.
Suppressed 20964 warnings (20951 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
21497 warnings generated.
Suppressed 21508 warnings (21497 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
19212 warnings generated.
Suppressed 19223 warnings (19212 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
24576 warnings generated.
21011 warnings generated.
Suppressed 21024 warnings (21011 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
39274 warnings generated.
Suppressed 39287 warnings (39274 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
42446 warnings generated.
Suppressed 42459 warnings (42446 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
33224 warnings generated.
Suppressed 33246 warnings (33224 in non-user code, 22 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
57356 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp:61:37: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
  cv::Vec3b b3 = cost_maps_.at(key).ptr<cv::Vec3b>(tmp.y)[tmp.x];
                                    ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp:91:38: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
    poly.outer().push_back(BgPoint(p.x, p.y));
                                     ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp:91:43: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
    poly.outer().push_back(BgPoint(p.x, p.y));
                                          ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp:118:23: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      if (std::abs(pn.z - *height_) > 4) continue;
                      ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp:119:23: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      if (std::abs(pn.normal_z - *height_) > 4) continue;
                      ^
Suppressed 57364 warnings (57351 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
49152 warnings generated.
Suppressed 49178 warnings (49152 in non-user code, 26 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
52236 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp:106:13: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      if (p.label == 0)
            ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp:205:82: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      [](float max_score, const auto& p) { return std::max(max_score, std::abs(p.intensity)); }
                                                                                 ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp:210:11: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      rgb.rgba = common::color_scale::blue_red(p.intensity / max_score);
          ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp:210:50: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      rgb.rgba = common::color_scale::blue_red(p.intensity / max_score);
                                                 ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp:216:11: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      rgb.rgba = common::color_scale::blue_red(p.intensity / max_score);
          ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp:216:50: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      rgb.rgba = common::color_scale::blue_red(p.intensity / max_score);
                                                 ^
/home/masakibaba/autoware/src/universe/autoware.universe/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp:288:14: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      if (pn.label == 0) {  // posteriori
             ^
Suppressed 52242 warnings (52229 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
60287 warnings generated.
Suppressed 60300 warnings (60287 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
40327 warnings generated.
Suppressed 40340 warnings (40327 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.

Check with cppcheck

(in localization/yabloc)
$ cppcheck --enable=warning --enable=style --enable=performance --enable=portability --enable=unusedFunction --inconclusive --check-level=exhaustive .

...
Checking yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp ...
22/41 files checked 51% done
Checking yabloc_particle_filter/src/camera_corrector/filter_line_segments.cpp ...
23/41 files checked 53% done
Checking yabloc_particle_filter/src/camera_corrector/logit.cpp ...
24/41 files checked 54% done
Checking yabloc_particle_filter/src/common/mean.cpp ...
25/41 files checked 56% done
Checking yabloc_particle_filter/src/common/particle_visualize_node.cpp ...
26/41 files checked 58% done
Checking yabloc_particle_filter/src/common/visualize.cpp ...
27/41 files checked 60% done
Checking yabloc_particle_filter/src/correction/abstract_corrector.cpp ...
28/41 files checked 61% done
Checking yabloc_particle_filter/src/correction/correction_util.cpp ...
29/41 files checked 62% done
Checking yabloc_particle_filter/src/gnss_corrector/gnss_corrector_core.cpp ...
30/41 files checked 65% done
Checking yabloc_particle_filter/src/ll2_cost_map/direct_cost_map.cpp ...
31/41 files checked 68% done
Checking yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp ...
32/41 files checked 72% done
Checking yabloc_particle_filter/src/prediction/predictor.cpp ...
33/41 files checked 81% done
Checking yabloc_particle_filter/src/prediction/resampler.cpp ...
34/41 files checked 84% done
Checking yabloc_particle_filter/test/src/test_resampler.cpp ...
35/41 files checked 88% done
...

Effects on system behavior

Not applicable.

Interface changes

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Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

a-maumau · 2024-06-18T01:04:47Z

I removed the unused methods/functions and files also.

KYabuuchi · 2024-06-18T01:06:44Z

Thanks for the comprehensive fix! 🙏 I will review it soon.

...zation/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp

localization/yabloc/yabloc_particle_filter/src/gnss_corrector/gnss_corrector_core.cpp

…r/camera_particle_corrector_core.cpp change to use get_mean_pose directly Co-authored-by: Kento Yabuuchi <moc.liamg.8y8@gmail.com> Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

codecov · 2024-06-18T07:38:55Z

Codecov Report

Attention: Patch coverage is 16.25000% with 134 lines in your changes missing coverage. Please review.

Project coverage is 14.70%. Comparing base (7bc9ae0) to head (31e2994).
Report is 52 commits behind head on main.

Files	Patch %	Lines
..._filter/src/ll2_cost_map/hierarchical_cost_map.cpp	0.00%	32 Missing ⚠️
..._particle_filter/gnss_corrector/weight_manager.hpp	0.00%	22 Missing ⚠️
...abloc_particle_filter/src/prediction/predictor.cpp	0.00%	22 Missing ⚠️
...amera_corrector/camera_particle_corrector_core.cpp	0.00%	14 Missing ⚠️
...lter/src/camera_corrector/filter_line_segments.cpp	0.00%	10 Missing ⚠️
..._filter/src/gnss_corrector/gnss_corrector_core.cpp	0.00%	10 Missing ⚠️
.../yabloc/yabloc_particle_filter/src/common/mean.cpp	0.00%	7 Missing ⚠️
...icle_filter/ll2_cost_map/hierarchical_cost_map.hpp	0.00%	5 Missing ⚠️
...yabloc_particle_filter/test/src/test_resampler.cpp	81.48%	0 Missing and 5 partials ⚠️
.../yabloc_particle_filter/common/prediction_util.hpp	0.00%	2 Missing ⚠️
... and 4 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #7519      +/-   ##
==========================================
+ Coverage   14.61%   14.70%   +0.08%     
==========================================
  Files        1995     2001       +6     
  Lines      139077   139166      +89     
  Branches    43429    43539     +110     
==========================================
+ Hits        20333    20463     +130     
- Misses      96134    96223      +89     
+ Partials    22610    22480     -130

Flag	Coverage Δ		*Carryforward flag
differential	`8.47% <16.25%> (?)`
total	`14.62% <ø> (+<0.01%)`	⬆️	Carriedforward from 7bc9ae0

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

KYabuuchi

LGTM 👍

I have confirmed that YabLoc works as before in logging_simualtor

…dation#7519) * removed unused Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * style(pre-commit): autofix * removed unused Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * Update localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp change to use get_mean_pose directly Co-authored-by: Kento Yabuuchi <moc.liamg.8y8@gmail.com> Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * apply suggestion Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> --------- Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kento Yabuuchi <moc.liamg.8y8@gmail.com> Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>

* removed unused Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * style(pre-commit): autofix * removed unused Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * Update localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp change to use get_mean_pose directly Co-authored-by: Kento Yabuuchi <moc.liamg.8y8@gmail.com> Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * apply suggestion Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> --------- Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kento Yabuuchi <moc.liamg.8y8@gmail.com>

a-maumau requested review from anhnv3991, KYabuuchi, Motsu-san, RyuYamamoto, SakodaShintaro, TaikiYamada4 and YamatoAndo as code owners June 17, 2024 09:34

github-actions bot added the component:localization Vehicle's position determination in its environment. (auto-assigned) label Jun 17, 2024

KYabuuchi added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jun 17, 2024

removed unused

bb74bf4

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

a-maumau force-pushed the mau/refactor/localization/yabloc_particle_filter branch from 1a210ff to bb74bf4 Compare June 17, 2024 10:02

a-maumau marked this pull request as draft June 17, 2024 10:04

pre-commit-ci bot and others added 2 commits June 17, 2024 10:06

style(pre-commit): autofix

61b5931

removed unused

fb6b042

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

a-maumau marked this pull request as ready for review June 18, 2024 01:04

a-maumau commented Jun 18, 2024

View reviewed changes

...zation/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp Outdated Show resolved Hide resolved

a-maumau commented Jun 18, 2024

View reviewed changes

localization/yabloc/yabloc_particle_filter/src/gnss_corrector/gnss_corrector_core.cpp Outdated Show resolved Hide resolved

a-maumau and others added 2 commits June 18, 2024 15:12

Update localization/yabloc/yabloc_particle_filter/src/camera_correcto…

42ab2f7

…r/camera_particle_corrector_core.cpp change to use get_mean_pose directly Co-authored-by: Kento Yabuuchi <moc.liamg.8y8@gmail.com> Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

apply suggestion

31e2994

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

a-maumau force-pushed the mau/refactor/localization/yabloc_particle_filter branch from 2685165 to 31e2994 Compare June 18, 2024 06:13

KYabuuchi approved these changes Jun 18, 2024

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KYabuuchi merged commit f90f216 into autowarefoundation:main Jun 19, 2024
29 of 30 checks passed

a-maumau deleted the mau/refactor/localization/yabloc_particle_filter branch August 1, 2024 01:18

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refactor(yabloc_particle_filter): apply static analysis #7519

refactor(yabloc_particle_filter): apply static analysis #7519

a-maumau commented Jun 17, 2024 •

edited

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a-maumau commented Jun 18, 2024 •

edited

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KYabuuchi commented Jun 18, 2024

codecov bot commented Jun 18, 2024

KYabuuchi left a comment

	const uchar * intensity_ptr = intensity.ptr<uchar>(i);
	for (int j = 0; j < cost_map.cols; j++) {
	if (intensity_ptr[j] == 0) distances.at(i).at(j) = 0;
	}

refactor(yabloc_particle_filter): apply static analysis #7519

refactor(yabloc_particle_filter): apply static analysis #7519

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a-maumau commented Jun 17, 2024 • edited Loading

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a-maumau commented Jun 17, 2024 •

edited

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a-maumau commented Jun 18, 2024 •

edited

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