From 157c8e486d0d2129f92a3e1ed7fa8129af3c1a54 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Matou=C5=A1=20Vrba?= <vrbamato@fel.cvut.cz>
Date: Sun, 15 Oct 2023 12:08:09 +0200
Subject: [PATCH] minor refactor of BelowGroundRemoval filter (does anyone even
 use this?)

---
 src/remove_below_ground_filter.cpp | 42 ++++++++++++++++--------------
 1 file changed, 22 insertions(+), 20 deletions(-)

diff --git a/src/remove_below_ground_filter.cpp b/src/remove_below_ground_filter.cpp
index e133f64..291f671 100644
--- a/src/remove_below_ground_filter.cpp
+++ b/src/remove_below_ground_filter.cpp
@@ -3,29 +3,31 @@
 namespace mrs_pcl_tools
 {
 
-void RemoveBelowGroundFilter::initialize(ros::NodeHandle& nh, const std::shared_ptr<CommonHandlers_t> common_handlers) {
-  common_handlers->param_loader->loadParamReusable<bool>("keep_organized", keep_organized, false);
-  common_handlers->param_loader->loadParam("ground_removal/plane_offset", plane_offset, 1.0);
-  const auto pfx = common_handlers->param_loader->getPrefix();
+  void RemoveBelowGroundFilter::initialize(ros::NodeHandle& nh, const std::shared_ptr<CommonHandlers_t> common_handlers)
+  {
+    common_handlers->param_loader->loadParamReusable<bool>("keep_organized", keep_organized, false);
+    common_handlers->param_loader->loadParam("ground_removal/plane_offset", plane_offset, 1.0);
+    const auto pfx = common_handlers->param_loader->getPrefix();
 
-  if (common_handlers->transformer == nullptr) {
-    common_handlers->param_loader->setPrefix("");
-    std::string uav_name;
-    common_handlers->param_loader->loadParamReusable<std::string>("uav_name", uav_name);
-    common_handlers->param_loader->setPrefix(pfx);
-    this->transformer = std::make_shared<mrs_lib::Transformer>("RemoveBelowGroundFilter");
-    this->transformer->setDefaultPrefix(uav_name);
-    this->transformer->setLookupTimeout(ros::Duration(0.3));
-    this->transformer->retryLookupNewest(true);
-  } else {
-    this->transformer = common_handlers->transformer;
-  }
+    if (common_handlers->transformer == nullptr)
+    {
+      common_handlers->param_loader->setPrefix("");
+      const auto uav_name = common_handlers->param_loader->loadParamReusable2<std::string>("uav_name");
+      common_handlers->param_loader->setPrefix(pfx);
+      this->transformer = std::make_shared<mrs_lib::Transformer>("RemoveBelowGroundFilter");
+      this->transformer->setDefaultPrefix(uav_name);
+      this->transformer->setLookupTimeout(ros::Duration(0.3));
+      this->transformer->retryLookupNewest(true);
+    } else
+    {
+      this->transformer = common_handlers->transformer;
+    }
 
-  m_ground_detector.initialize(nh, this->transformer,
-                               GroundplaneDetector::groundplane_detection_config_t(*common_handlers->param_loader, pfx + "ground_removal/"));
+    m_ground_detector.initialize(nh,
+        this->transformer, GroundplaneDetector::groundplane_detection_config_t(*common_handlers->param_loader, pfx + "ground_removal/"));
 
-  initialized = true;
-}
+    initialized = true;
+  }
 
 }  // namespace mrs_pcl_tools