Initialize pre-commit

Author: LimHyungTae

.clang-format

@@ -0,0 +1,112 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: true
+AlignConsecutiveDeclarations: false
+AlignOperands: true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: true
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: false
+BinPackParameters: false
+BraceWrapping:
+  AfterClass: false
+  AfterControlStatement: false
+  AfterEnum: false
+  AfterFunction: false
+  AfterNamespace: false
+  AfterObjCDeclaration: false
+  AfterStruct: false
+  AfterUnion: false
+  BeforeCatch: false
+  BeforeElse: false
+  IndentBraces: false
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+CommentPragmas: "^ IWYU pragma:"
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: true
+DisableFormat: false
+ExperimentalAutoDetectBinPacking: false
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeCategories:
+  # Spacers
+  - Regex: "^<clang-format-priority-15>$"
+    Priority: 15
+  - Regex: "^<clang-format-priority-25>$"
+    Priority: 25
+  - Regex: "^<clang-format-priority-35>$"
+    Priority: 35
+  - Regex: "^<clang-format-priority-45>$"
+    Priority: 45
+  # C system headers
+  - Regex: '^[<"](aio|arpa/inet|assert|complex|cpio|ctype|curses|dirent|dlfcn|errno|fcntl|fenv|float|fmtmsg|fnmatch|ftw|glob|grp|iconv|inttypes|iso646|langinfo|libgen|limits|locale|math|monetary|mqueue|ndbm|netdb|net/if|netinet/in|netinet/tcp|nl_types|poll|pthread|pwd|regex|sched|search|semaphore|setjmp|signal|spawn|stdalign|stdarg|stdatomic|stdbool|stddef|stdint|stdio|stdlib|stdnoreturn|string|strings|stropts|sys/ipc|syslog|sys/mman|sys/msg|sys/resource|sys/select|sys/sem|sys/shm|sys/socket|sys/stat|sys/statvfs|sys/time|sys/times|sys/types|sys/uio|sys/un|sys/utsname|sys/wait|tar|term|termios|tgmath|threads|time|trace|uchar|ulimit|uncntrl|unistd|utime|utmpx|wchar|wctype|wordexp)\.h[">]$'
+    Priority: 10
+  # C++ system headers
+  - Regex: '^[<"](algorithm|any|array|atomic|bitset|cassert|ccomplex|cctype|cerrno|cfenv|cfloat|charconv|chrono|cinttypes|ciso646|climits|clocale|cmath|codecvt|complex|condition_variable|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype|deque|exception|execution|filesystem|forward_list|fstream|functional|future|initializer_list|iomanip|ios|iosfwd|iostream|istream|iterator|limits|list|locale|map|memory|memory_resource|mutex|new|numeric|optional|ostream|queue|random|ratio|regex|scoped_allocator|set|shared_mutex|sstream|stack|stdexcept|streambuf|string|string_view|strstream|system_error|thread|tuple|type_traits|typeindex|typeinfo|unordered_map|unordered_set|utility|valarray|variant|vector)[">]$'
+    Priority: 20
+  # Other library h files (with angles)
+  - Regex: "^<"
+    Priority: 30
+  # Your project's h files (with angles)
+  - Regex: "^<patchwork"
+    Priority: 40
+  # Your project's h files
+  - Regex: '^"patchworkpp'
+    Priority: 50
+IndentCaseLabels: true
+IndentWidth: 2
+IndentWrappedFunctionNames: false
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ""
+MacroBlockEnd: ""
+ColumnLimit: 100
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: false
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+ReflowComments: true
+SortIncludes: true
+SpaceAfterCStyleCast: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: Auto
+TabWidth: 4
+UseTab: Never
+---
+# For addressing 'Configuration file(s) do(es) not support Json' error
+Language: Json
+BasedOnStyle: llvm

.pre-commit-config.yaml

@@ -0,0 +1,66 @@
+ci:
+  autofix: true
+
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: check-yaml
+        exclude: \.clang-format$
+      - id: check-json
+      - id: check-xml
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
+      - id: check-added-large-files
+      - id: check-merge-conflict
+
+  ######################################################################
+  # Python Formatting
+  ######################################################################
+  # For Python import sorting
+  - repo: https://github.com/pycqa/isort
+    rev: "5.12.0"
+    hooks:
+      - id: isort
+        # TODO(hlim): Why launch.py files lead to error?
+        exclude: \.launch\.py$
+
+  # Yet Another Python Formatter
+  # NOTE(hlim): Python 3.12 (Ubuntu 24.04) is now not supported by yapf
+  # - repo: https://github.com/pre-commit/mirrors-yapf
+  #   rev: v0.32.0
+  #   hooks:
+  #     - id: yapf
+  #       additional_dependencies: [toml]
+
+  - repo: https://github.com/psf/black
+    rev: 23.12.1
+    hooks:
+      - id: black
+        # TODO(hlim): Why launch.py files lead to error?
+        exclude: \.launch\.py$
+
+  - repo: https://github.com/PyCQA/flake8
+    rev: 5.0.4
+    hooks:
+      - id: flake8
+        exclude: 'python/utils/download_datasets'
+        # To avoid conflict between flake and black
+        args: ["--ignore=E501"]
+
+  ######################################################################
+  # Markdown Formatting
+  ######################################################################
+  - repo: https://github.com/executablebooks/mdformat
+    rev: 0.7.9
+    hooks:
+      - id: mdformat
+        exclude: 'github/'
+
+  ######################################################################
+  # C++ Formatting
+  ######################################################################
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: "v16.0.6"
+    hooks:
+      - id: clang-format

Makefile

@@ -12,4 +12,4 @@ cppinstall:
 
 cppinstall_with_demo:
 	@cmake -Bcpp/build cpp/ -DINCLUDE_CPP_EXAMPLES=ON
-	@cmake --build cpp/build -j$(nproc --all)
+	@cmake --build cpp/build -j$(nproc --all)

README.md

@@ -20,34 +20,20 @@
   <br />
   <p align="center"><img src=pictures/patchwork++.gif alt="animated" /></p>
 
-  [Patchwork++][arXivlink], an extension of [Patchwork][patchworklink], is **a fast, robust, and self-adaptive ground segmentation algorithm** on 3D point cloud.
-</div>
+[Patchwork++][arxivlink], an extension of [Patchwork][patchworklink], is **a fast, robust, and self-adaptive ground segmentation algorithm** on 3D point cloud.
 
-[YouTubeLInk]: https://www.youtube.com/watch?v=fogCM159GRk
-[arXivlink]: https://arxiv.org/abs/2207.11919
-[patchworklink]: https://github.com/LimHyungTae/patchwork
-[SemanticKITTIlink]: http://www.semantic-kitti.org/
-[benchmarklink]: https://github.com/url-kaist/Ground-Segmentation-Benchmark
+</div>
 
 ## :open_file_folder: What's in this repo
 
-* C++ source code of Patchwork++ ([patchworkpp][sourcecodelink])
-* Python binding of Patchwork++ using pybind11 ([python_wrapper][wraplink])
-* Examples codes of [C++][cppexamplelink], [Python][pyexamplelink], and [ROS2][rosexamplelink] :thumbsup:
+- C++ source code of Patchwork++ ([patchworkpp][sourcecodelink])
+- Python binding of Patchwork++ using pybind11 ([python_wrapper][wraplink])
+- Examples codes of [C++][cppexamplelink], [Python][pyexamplelink], and [ROS2][rosexamplelink] :thumbsup:
 
 > If you are familiar with ROS1, you can also visit [here][roslink] and try executing ROS1-based Patchwork++!
 
-[roslink]: https://github.com/url-kaist/patchwork-plusplus-ros
-
-[sourcecodelink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/cpp/patchworkpp
-[pybind11link]: https://github.com/pybind/pybind11
-[wraplink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/python/patchworkpp
-
-[cppexamplelink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/cpp 
-[pyexamplelink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/python
-[rosexamplelink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/ros
-
 ## :package: Prerequisite packages
+
 > What we need are just minimal dependencies.
 
 ```commandline
@@ -106,14 +92,15 @@ cd ~/ros2_ws/src
 git clone https://github.com/url-kaist/patchwork-plusplus.git
 cd ~/ros2_ws
 colcon build --packages-select patchworkpp
-source ./install/setup.bash 
+source ./install/setup.bash
 ```
 
 How to launch ROS2 nodes is explained [here][rosexamplelink].
 
-
 ## :pencil: Citation
-If you use our codes, please cite our paper ([arXiv][arXivLink], [IEEE *Xplore*][patchworkppIEEElink])
+
+If you use our codes, please cite our paper ([arXiv][arxivlink], [IEEE *Xplore*][patchworkppieeelink])
+
 ```
 @inproceedings{lee2022patchworkpp,
     title={{Patchwork++: Fast and robust ground segmentation solving partial under-segmentation using 3D point cloud}},
@@ -124,7 +111,8 @@ If you use our codes, please cite our paper ([arXiv][arXivLink], [IEEE *Xplore*]
 }
 ```
 
-In addition, you can also check the paper of our baseline, Patchwork. ([arXiv][patchworkarXivlink], [IEEE *Xplore*][patchworkIEEElink])
+In addition, you can also check the paper of our baseline, Patchwork. ([arXiv][patchworkarxivlink], [IEEE *Xplore*][patchworkieeelink])
+
 ```
 @article{lim2021patchwork,
     title={Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor},
@@ -133,9 +121,6 @@ In addition, you can also check the paper of our baseline, Patchwork. ([arXiv][p
     year={2021}
 }
 ```
-[patchworkppIEEElink]: https://ieeexplore.ieee.org/document/9981561
-[patchworkarXivlink]: https://arxiv.org/abs/2108.05560
-[patchworkIEEElink]: https://ieeexplore.ieee.org/document/9466396
 
 ## :triangular_flag_on_post: Tested Environment
 
@@ -146,20 +131,31 @@ In addition, you can also check the paper of our baseline, Patchwork. ([arXiv][p
 - pybind11 v2.2.3
 - Eigen 3.3.7
 
-
 ## :mailbox: Contact Information
-If you have any questions, please do not hesitate to contact us
-* [Seungjae Lee][sjlink] :envelope: sj98lee `at` kaist `ac` kr
-* [Hyungtae Lim][htlink] :envelope: shapelim `at` kaist `ac` kr
 
-[sjlink]: https://github.com/seungjae24
-[htlink]: https://github.com/LimHyungTae
+If you have any questions, please do not hesitate to contact us
 
+- [Seungjae Lee][sjlink] :envelope: sj98lee `at` kaist `ac` kr
+- [Hyungtae Lim][htlink] :envelope: shapelim `at` kaist `ac` kr
 
----
+______________________________________________________________________
 
 ## Todo List
-- [ ] Support intensity for RNR in `master` branch
-- [ ] Support `Patchwork` mode for users who use this repository for baseline comparison purposes
-- [ ] Integrate TBB and optimize the performance
 
+- \[ \] Support intensity for RNR in `master` branch
+- \[ \] Support `Patchwork` mode for users who use this repository for baseline comparison purposes
+- \[ \] Integrate TBB and optimize the performance
+
+[arxivlink]: https://arxiv.org/abs/2207.11919
+[cppexamplelink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/cpp
+[htlink]: https://github.com/LimHyungTae
+[patchworkarxivlink]: https://arxiv.org/abs/2108.05560
+[patchworkieeelink]: https://ieeexplore.ieee.org/document/9466396
+[patchworklink]: https://github.com/LimHyungTae/patchwork
+[patchworkppieeelink]: https://ieeexplore.ieee.org/document/9981561
+[pyexamplelink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/python
+[rosexamplelink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/ros
+[roslink]: https://github.com/url-kaist/patchwork-plusplus-ros
+[sjlink]: https://github.com/seungjae24
+[sourcecodelink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/cpp/patchworkpp
+[wraplink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/python/patchworkpp

cpp/README.md

@@ -20,13 +20,11 @@
   <br />
   <p align="center"><img src=../pictures/patchwork++.gif alt="animated" /></p>
 
-  [Patchwork++][arXivlink], an extension of [Patchwork][patchworklink], is **a fast, robust, and self-adaptive ground segmentation algorithm** on 3D point cloud.
-</div>
+[Patchwork++][arxivlink], an extension of [Patchwork][patchworklink], is **a fast, robust, and self-adaptive ground segmentation algorithm** on 3D point cloud.
 
-[arXivlink]: https://arxiv.org/abs/2207.11919
-[patchworklink]: https://github.com/LimHyungTae/patchwork
+</div>
 
----
+______________________________________________________________________
 
 # Patchwork++ in C++
 
@@ -45,7 +43,7 @@ If you want to **run demo**, just run the following command in the top-level dir
 make cppinstall_with_demo
 ```
 
-, or 
+, or
 
 ```commandline
 # in patchwork-plusplus directory
@@ -54,7 +52,7 @@ $ cmake -DCMAKE_BUILD_TYPE=Release -DINCLUDE_CPP_EXAMPLES=ON ..
 $ make -j 16
 ```
 
-> [!WARNING]  
+> \[!WARNING\]
 > Please check your cmake version via `cmake --version`.
 > If it is lower than 3.20, it is automatically updated by `scripts/install_latest_cmake.bash` (see [here](https://github.com/url-kaist/patchwork-plusplus/blob/master/cpp/CMakeLists.txt#L31)).
 
@@ -70,31 +68,36 @@ sudo make install
 Consequently, our Patchwork++ is installed in your local environment.
 An example of finding the `patchworkpp` package in another package is also provided in [example_of_find_package](https://github.com/url-kaist/patchwork-plusplus/tree/master/cpp/example_of_find_package)
 
-
 ## :runner: To run the demo codes
+
 > There are some example codes for your convenience!
 > Please try using Patchwork++ to segment ground points in a 3D point cloud :smiley:
 
+- Example 1. Run patchwork++ and visualize ground points (green) and non-ground points (red)
 
-* Example 1. Run patchwork++ and visualize ground points (green) and non-ground points (red)
 ```commandline
 ./cpp/build/examples/demo_visualize
 ```
 
-* Example 2. Run patchwork++ with sequential point cloud inputs 
+- Example 2. Run patchwork++ with sequential point cloud inputs
+
 ```commandline
 ./cpp/build/examples/demo_sequential
 ```
 
-* Example 3. Run patchwork++ with your point cloud file, example here
+- Example 3. Run patchwork++ with your point cloud file, example here
+
 ```commandline
 ./examples/demo_visualize ./data/000000.bin # specify file path
 ```
 
 ### Demo Result
+
 If you execute Patchwork++ with given demo codes well, you can get the following result!
 
 It is a ground segmentation result of data/000000.bin file using Open3D visualization. (Ground : Green, Nonground : Red)
 
 ![Open3D Visualization of "data/000000.bin"](../pictures/demo_000000.png)
 
+[arxivlink]: https://arxiv.org/abs/2207.11919
+[patchworklink]: https://github.com/LimHyungTae/patchwork

cpp/cmake/ListPrepend.cmake

@@ -5,4 +5,4 @@ FUNCTION(list_prepend var value)
   else()
     SET(${var} "${value}" "${${var}}" PARENT_SCOPE)
   endif()
-ENDFUNCTION(list_prepend)
+ENDFUNCTION(list_prepend)

cpp/cmake/eigen.cmake

@@ -43,5 +43,3 @@ if(NOT eigen_POPULATED)
     set_target_properties(eigen PROPERTIES INTERFACE_SYSTEM_INCLUDE_DIRECTORIES "${eigen_include_dirs}")
   endif()
 endif()
-
-