From 2f2c3c4158e7581e462ac8a5c6265e688fbe8207 Mon Sep 17 00:00:00 2001
From: Ussama Naal <ussama.naal@ouster.io>
Date: Thu, 12 Oct 2023 12:46:08 -0700
Subject: [PATCH] shorten function name

---
 ouster-ros/src/point_cloud_compose.h           |  8 ++------
 ouster-ros/src/point_cloud_processor_factory.h | 13 +++++++------
 2 files changed, 9 insertions(+), 12 deletions(-)

diff --git a/ouster-ros/src/point_cloud_compose.h b/ouster-ros/src/point_cloud_compose.h
index 7e3160c7..4ed3ef23 100644
--- a/ouster-ros/src/point_cloud_compose.h
+++ b/ouster-ros/src/point_cloud_compose.h
@@ -64,7 +64,7 @@ template <class T>
 using Cloud = pcl::PointCloud<T>;
 
 template <std::size_t N, const ChanFieldTable<N>& PROFILE, typename PointT, typename PointS>
-void scan_to_cloud_f_destaggered_tuple(
+void scan_to_cloud_f_destaggered(
     ouster_ros::Cloud<PointT>& cloud,
     PointS& staging_point,
     const ouster::PointsF& points,
@@ -72,9 +72,7 @@ void scan_to_cloud_f_destaggered_tuple(
     const std::vector<int>& pixel_shift_by_row) {
 
     auto profile_tuple = compose_tuple_table<0, N, PROFILE>();
-
     map_scan_fields_to_tuple<0, N, PROFILE>(profile_tuple, ls);
-
     auto timestamp = ls.timestamp();
 
     for (auto u = 0; u < ls.h; u++) {
@@ -84,19 +82,17 @@ void scan_to_cloud_f_destaggered_tuple(
             const auto src_idx = u * ls.w + v_shift;
             const auto tgt_idx = u * ls.w + v;
             const auto xyz = points.row(src_idx);
-
             // if target point and staging point has matching type bind the target directly
             // and avoid performing transform_point at the end
             auto& pt = CondBinaryBind<std::is_same_v<PointT, PointS>>::run(
                 cloud.points[tgt_idx], staging_point);
-
+            // all native point types have x, y, z, t and ring values
             pt.x = static_cast<float>(xyz(0));
             pt.y = static_cast<float>(xyz(1));
             pt.z = static_cast<float>(xyz(2));
             pt.t = static_cast<uint32_t>(ts);
             pt.ring = static_cast<uint16_t>(u);
             tuple_copy_values<0, N, PROFILE>(pt, profile_tuple, src_idx);
-
             // only perform point transform operation when PointT, and PointS don't match
             CondBinaryOp<!std::is_same_v<PointT, PointS>>::run(cloud.points[tgt_idx],  staging_point,
                 [](auto& tgt_pt, const auto& src_pt) {
diff --git a/ouster-ros/src/point_cloud_processor_factory.h b/ouster-ros/src/point_cloud_processor_factory.h
index f6e9cc4e..faa9bf7c 100644
--- a/ouster-ros/src/point_cloud_processor_factory.h
+++ b/ouster-ros/src/point_cloud_processor_factory.h
@@ -21,7 +21,7 @@ class PointCloudProcessorFactory {
                             int return_index) {
                     unused_variable(return_index);
                     static Point_LEGACY staging_pt; // TODO: temporary, will remove
-                    scan_to_cloud_f_destaggered_tuple<Profile_LEGACY.size(), Profile_LEGACY>(
+                    scan_to_cloud_f_destaggered<Profile_LEGACY.size(), Profile_LEGACY>(
                         cloud, staging_pt, points, scan_ts, ls, pixel_shift_by_row);
                 };
 
@@ -33,12 +33,12 @@ class PointCloudProcessorFactory {
                             int return_index) {
                     static Point_RNG19_RFL8_SIG16_NIR16_DUAL staging_pt; // TODO: temporary, will remove
                     if (return_index == 0) {
-                        scan_to_cloud_f_destaggered_tuple<
+                        scan_to_cloud_f_destaggered<
                             Profile_RNG19_RFL8_SIG16_NIR16_DUAL.size(), Profile_RNG19_RFL8_SIG16_NIR16_DUAL>(
                             cloud, staging_pt, points, scan_ts, ls, pixel_shift_by_row);
                     }
                     else {
-                        scan_to_cloud_f_destaggered_tuple<
+                        scan_to_cloud_f_destaggered<
                             Profile_RNG19_RFL8_SIG16_NIR16_DUAL_2ND_RETURN.size(), Profile_RNG19_RFL8_SIG16_NIR16_DUAL_2ND_RETURN>(
                             cloud, staging_pt, points, scan_ts, ls, pixel_shift_by_row);
                     }
@@ -52,7 +52,7 @@ class PointCloudProcessorFactory {
                             int return_index) {
                     unused_variable(return_index);
                     static Point_RNG19_RFL8_SIG16_NIR16 staging_pt; // TODO: temporary, will remove
-                    scan_to_cloud_f_destaggered_tuple<
+                    scan_to_cloud_f_destaggered<
                         Profile_RNG19_RFL8_SIG16_NIR16.size(), Profile_RNG19_RFL8_SIG16_NIR16>(
                         cloud, staging_pt, points, scan_ts, ls, pixel_shift_by_row);
                 };
@@ -65,12 +65,13 @@ class PointCloudProcessorFactory {
                             int return_index) {
                     unused_variable(return_index);
                     static Point_RNG15_RFL8_NIR8 staging_pt; // TODO: temporary, will remove
-                    scan_to_cloud_f_destaggered_tuple<
+                    scan_to_cloud_f_destaggered<
                         Profile_RNG15_RFL8_NIR8.size(), Profile_RNG15_RFL8_NIR8>(
                         cloud, staging_pt, points, scan_ts, ls, pixel_shift_by_row);
                 };
 
             default:
+                // TODO: propagate error message
                 // RCLCPP_WARN_STREAM(get_logger(),
                 //     "point_type is set to auto but current udp_profile_lidar is unsupported "
                 //     "! falling back to the driver default/legacy pcl point format");
@@ -81,7 +82,7 @@ class PointCloudProcessorFactory {
                             int return_index) {
                     unused_variable(return_index);
                     static Point_LEGACY staging_pt; // TODO: temporary, will remove
-                    scan_to_cloud_f_destaggered_tuple<Profile_LEGACY.size(), Profile_LEGACY>(
+                    scan_to_cloud_f_destaggered<Profile_LEGACY.size(), Profile_LEGACY>(
                         cloud, staging_pt, points, scan_ts, ls, pixel_shift_by_row);
                 };
         }