From a06f1cd0c037c17a84652fad2078b6283a101dfe Mon Sep 17 00:00:00 2001
From: Robot <zhangwanjie@126.com>
Date: Tue, 31 Oct 2023 10:23:49 +0800
Subject: [PATCH] update 10_pc_objects

---
 demo_cpp/10_pc_objects.cpp       | 23 +++++++++++------------
 demo_cpp/10_pc_objects_class.cpp | 19 ++++++++++---------
 2 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/demo_cpp/10_pc_objects.cpp b/demo_cpp/10_pc_objects.cpp
index 5b6b9de..179b28e 100644
--- a/demo_cpp/10_pc_objects.cpp
+++ b/demo_cpp/10_pc_objects.cpp
@@ -1,14 +1,13 @@
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tf2_ros/transform_listener.h>
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
+#include <tf2_ros/transform_listener.h>
 #include <pcl_ros/transforms.hpp>
 #include <pcl/filters/passthrough.h>
-#include <pcl/filters/extract_indices.h>
+#include <pcl/search/kdtree.h>
 #include <pcl/segmentation/sac_segmentation.h>
 #include <pcl/segmentation/extract_clusters.h>
-#include <pcl/search/kdtree.h>
 
 std::shared_ptr<rclcpp::Node> node;
 tf2_ros::Buffer::SharedPtr tf_buffer_;
@@ -20,7 +19,7 @@ void PointcloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg)
     "base_footprint", 
     msg->header.frame_id, 
     msg->header.stamp
-    );
+  );
   if (!result)
   {
     return;
@@ -31,7 +30,7 @@ void PointcloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg)
     *msg, 
     pc_footprint, 
     *tf_buffer_
-    );
+  );
 
   pcl::PointCloud<pcl::PointXYZ> cloud_src;
   pcl::fromROSMsg(pc_footprint, cloud_src);
@@ -106,13 +105,13 @@ void PointcloudCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg)
       float object_y = points_y_sum/point_num;
       float object_z = points_z_sum/point_num;
       RCLCPP_INFO(
-          node->get_logger(), 
-          "object-%d pos=( %.2f , %.2f , %.2f)" ,
-          i, 
-          object_x,
-          object_y,
-          object_z
-        );
+        node->get_logger(), 
+        "object %d pos=(%.2f , %.2f , %.2f)",
+        i, 
+        object_x,
+        object_y,
+        object_z
+      );
   }
   RCLCPP_INFO(node->get_logger(), "---------------------" );
 }
diff --git a/demo_cpp/10_pc_objects_class.cpp b/demo_cpp/10_pc_objects_class.cpp
index 8c49c18..78a0a4a 100644
--- a/demo_cpp/10_pc_objects_class.cpp
+++ b/demo_cpp/10_pc_objects_class.cpp
@@ -1,28 +1,28 @@
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tf2_ros/transform_listener.h>
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
+#include <tf2_ros/transform_listener.h>
 #include <pcl_ros/transforms.hpp>
 #include <pcl/filters/passthrough.h>
-#include <pcl/filters/extract_indices.h>
+#include <pcl/search/kdtree.h>
 #include <pcl/segmentation/sac_segmentation.h>
 #include <pcl/segmentation/extract_clusters.h>
-#include <pcl/search/kdtree.h>
 
 class PointcloudObjects : public rclcpp::Node
 {
 public:
   PointcloudObjects()
-  : Node("pointcloud_cluster")
+  : Node("pointcloud_objects_node")
   {
     tf_buffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());
     tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
 
     pc_sub_ = this->create_subscription<sensor_msgs::msg::PointCloud2>(
-        "/kinect2/sd/points", 
-        1,
-        std::bind(&PointcloudObjects::pointcloudCallback, this, std::placeholders::_1));
+      "/kinect2/sd/points", 
+      1,
+      std::bind(&PointcloudObjects::pointcloudCallback, this, std::placeholders::_1)
+    );
   }
 
 private:
@@ -127,11 +127,12 @@ private:
         float object_z = points_z_sum/point_num;
         RCLCPP_INFO(
           this->get_logger(), 
-          "object %d pos = ( %.2f , %.2f , %.2f)" ,
+          "object %d pos=(%.2f , %.2f , %.2f)",
           i, 
           object_x,
           object_y,
-          object_z);
+          object_z
+        );
     }
     RCLCPP_INFO(this->get_logger(), "---------------------" );
   }