Add and use python for formatting.

.ci/azure-pipelines/formatting.yaml

@@ -7,7 +7,7 @@ jobs:
       - checkout: self
         # find the commit hash on a quick non-forced update too
         fetchDepth: 10
-      - script: ./.dev/format.sh $(which clang-format) .
+      - script: python ./.dev/format.py .
         displayName: 'Run clang-format'
       - script: git diff > formatting.patch
         displayName: 'Compute diff'

.dev/format.py

@@ -0,0 +1,79 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+import subprocess
+import argparse
+
+EXTENSIONS = (".c", ".h", ".cpp", ".hpp", ".cxx", ".hxx", ".cu")
+WHITELIST_FILE = os.path.join(".dev", "whitelist.txt")
+
+def load_whitelist():
+    if not os.path.isfile(WHITELIST_FILE):
+        print(f"Could not find whitelist file at {WHITELIST_FILE}")
+        sys.exit(167)
+    with open(WHITELIST_FILE, "r") as f:
+        return [line.strip() for line in f if line.strip()]
+
+def is_in_whitelist(file_path, whitelist):
+    file_path = os.path.normpath(file_path)
+    for w in whitelist:
+        w_norm = os.path.normpath(w)
+        if os.path.commonpath([file_path, w_norm]) == w_norm or file_path.startswith(w_norm + os.sep):
+            return True
+    return False
+
+def find_files(path):
+    if os.path.isfile(path):
+        if path.endswith(EXTENSIONS):
+            yield path
+    elif os.path.isdir(path):
+        for root, _, files in os.walk(path):
+            for file in files:
+                if file.endswith(EXTENSIONS):
+                    yield os.path.join(root, file)
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Format C/C++/CUDA files using clang-format via pipx."
+    )
+    parser.add_argument(
+        "files",
+        nargs="+",
+        help="List of files to check/format, or a single '.' to check all whitelisted files."
+    )
+    args = parser.parse_args()
+
+    whitelist = load_whitelist()
+    manual_mode = len(args.files) == 1 and args.files[0] == "."
+
+    if manual_mode:
+        all_files = []
+        for rel_path in whitelist:
+            abs_path = os.path.join(os.getcwd(), rel_path)
+            all_files.extend(find_files(abs_path))
+    else:
+        all_files = [
+            f for f in args.files
+            if f.endswith(EXTENSIONS) and os.path.isfile(f) and is_in_whitelist(f, whitelist)
+        ]
+
+    all_files = list(set(all_files))  # Remove duplicates
+
+    if not all_files:
+        print("No files found to format.")
+        sys.exit(0)
+
+    check_cmd = ["pipx", "run", "clang-format==14.0.3", "--dry-run", "--Werror", "--style=file"] + all_files
+    result = subprocess.run(check_cmd, capture_output=True, text=True)
+    if result.returncode != 0:
+        format_cmd = ["pipx", "run", "clang-format==14.0.3", "-i", "--style=file"] + all_files
+        subprocess.run(format_cmd)
+        if not manual_mode:
+            sys.exit(1)  # Only fail for pre-commit
+        # In manual mode, just continue and exit 0
+
+    sys.exit(0)
+
+if __name__ == "__main__":
+    main()

.dev/format.sh

@@ -7,9 +7,6 @@
 # $ sh /pcl/format.sh `which clang-format` /pcl
 
 format() {
-    # don't use a directory with whitespace
-    local whitelist="apps/3d_rec_framework apps/in_hand_scanner apps/include apps/modeler apps/src benchmarks 2d geometry ml octree simulation stereo tracking registration gpu/containers gpu/segmentation"
-
     local PCL_DIR="${2}"
     local formatter="${1}"
 
@@ -18,17 +15,22 @@ format() {
         exit 166
     fi
 
-    # check for self
     if [ ! -f "${PCL_DIR}/.dev/format.sh" ]; then
         echo "Please ensure that PCL_SOURCE_DIR is passed as the second argument"
         exit 166
     fi
 
-    for dir in ${whitelist}; do
+    local whitelist_file="${PCL_DIR}/.dev/whitelist.txt"
+    if [ ! -f "${whitelist_file}" ]; then
+        echo "Could not find whitelist file at ${whitelist_file}"
+        exit 167
+    fi
+
+    while IFS= read -r dir || [ -n "$dir" ]; do
+        [ -z "$dir" ] && continue
         path=${PCL_DIR}/${dir}
-        find ${path} -type f -iname *.[ch] -o -iname *.[ch]pp -o -iname *.[ch]xx \
-            -iname *.cu | xargs -n1 ${formatter} -i -style=file
-    done
+        find ${path} -type f \( -iname "*.[ch]" -o -iname "*.[ch]pp" -o -iname "*.[ch]xx" -o -iname "*.cu" \) | xargs -n1 ${formatter} -i -style=file
+    done < "${whitelist_file}"
 }
 
-format $@
+format "$@"

.dev/whitelist.txt

@@ -0,0 +1,16 @@
+apps/3d_rec_framework
+apps/in_hand_scanner
+apps/include
+apps/modeler
+apps/src
+benchmarks
+2d
+geometry
+ml
+octree
+simulation
+stereo
+tracking
+registration
+gpu/containers
+gpu/segmentation

gpu/containers/src/repacks.cu

@@ -3,97 +3,94 @@
 
 #include <algorithm>
 
-namespace pcl
+namespace pcl {
+namespace device {
+struct Info {
+  enum { SIZE = 4 };
+  int data[SIZE];
+};
+
+template <int n>
+struct Point {
+  int data[n];
+};
+
+template <int in, int out, typename Info>
+__global__ void
+deviceCopyFields4B(const Info info, const int size, const void* input, void* output)
 {
-    namespace device
-    {
-        struct Info
-        {
-            enum { SIZE = 4 };
-            int data[SIZE];
-        };
-
-        template<int n>
-        struct Point
-        {
-            int data[n];
-        };
-
-        template<int in, int out, typename Info>
-        __global__ void deviceCopyFields4B(const Info info, const int size, const void* input, void* output)
-        {
-            int idx = blockIdx.x * blockDim.x + threadIdx.x;
-
-            if (idx < size)
-            {
-                Point<in>  point_in  = reinterpret_cast<const  Point<in>* >( input)[idx];
-                Point<out> point_out = reinterpret_cast<      Point<out>* >(output)[idx];
+  int idx = blockIdx.x * blockDim.x + threadIdx.x;
 
-                for(int i = 0; i < Info::SIZE; ++i)
-                {
-                    int byte;
-                    int code = info.data[i];
+  if (idx < size) {
+    Point<in> point_in = reinterpret_cast<const Point<in>*>(input)[idx];
+    Point<out> point_out = reinterpret_cast<Point<out>*>(output)[idx];
 
-                    byte = ((code >> 0) & 0xFF);
+    for (int i = 0; i < Info::SIZE; ++i) {
+      int byte;
+      int code = info.data[i];
 
-                    if (byte == 0xFF)
-                        break;
-                    else
-                        point_out.data[byte >> 4] = point_in.data[byte & 0xF];
+      byte = ((code >> 0) & 0xFF);
 
-                    byte = ((code >> 8) & 0xFF);
+      if (byte == 0xFF)
+        break;
+      else
+        point_out.data[byte >> 4] = point_in.data[byte & 0xF];
 
-                    if (byte == 0xFF)
-                        break;
-                    else
-                        point_out.data[byte >> 4] = point_in.data[byte & 0xF];
+      byte = ((code >> 8) & 0xFF);
 
-                    byte = ((code >> 16) & 0xFF);
+      if (byte == 0xFF)
+        break;
+      else
+        point_out.data[byte >> 4] = point_in.data[byte & 0xF];
 
-                    if (byte == 0xFF)
-                        break;
-                    else
-                        point_out.data[byte >> 4] = point_in.data[byte & 0xF];
+      byte = ((code >> 16) & 0xFF);
 
-                    byte = ((code >> 24) & 0xFF);
+      if (byte == 0xFF)
+        break;
+      else
+        point_out.data[byte >> 4] = point_in.data[byte & 0xF];
 
-                    if (byte == 0xFF)
-                        break;
-                    else
-                        point_out.data[byte >> 4] = point_in.data[byte & 0xF];
-                }
+      byte = ((code >> 24) & 0xFF);
 
-                reinterpret_cast< Point<out>* >(output)[idx] = point_out;
-            }
-        };
+      if (byte == 0xFF)
+        break;
+      else
+        point_out.data[byte >> 4] = point_in.data[byte & 0xF];
+    }
 
-        template<int in_size, int out_size>
-        void cf(int info[4], int size, const void* input, void* output)
-        {
-            Info i;
-            std::copy(info, info + 4, i.data);
+    reinterpret_cast<Point<out>*>(output)[idx] = point_out;
+  }
+};
 
-            dim3 block(256);
-            dim3 grid(divUp(size, block.x));
+template <int in_size, int out_size>
+void
+cf(int info[4], int size, const void* input, void* output)
+{
+  Info i;
+  std::copy(info, info + 4, i.data);
 
-            deviceCopyFields4B<in_size, out_size><<<grid, block>>>(i, size, input, output);
-            cudaSafeCall ( cudaGetLastError () );
-            cudaSafeCall (cudaDeviceSynchronize ());
-        }
+  dim3 block(256);
+  dim3 grid(divUp(size, block.x));
 
-        using copy_fields_t = void (*)(int info[4], int size, const void* input, void* output);
-    }
+  deviceCopyFields4B<in_size, out_size><<<grid, block>>>(i, size, input, output);
+  cudaSafeCall(cudaGetLastError());
+  cudaSafeCall(cudaDeviceSynchronize());
 }
 
-namespace pcl
-{
-    namespace gpu
-    {
-        using namespace pcl::device;
+using copy_fields_t = void (*)(int info[4], int size, const void* input, void* output);
+} // namespace device
+} // namespace pcl
 
-        PCL_EXPORTS void copyFieldsImpl(int in_size, int out_size, int rules[4], int size, const void* input, void* output)
-        {
-            pcl::device::copy_fields_t funcs[16][16] =
+namespace pcl {
+namespace gpu {
+using namespace pcl::device;
+
+PCL_EXPORTS void
+copyFieldsImpl(
+    int in_size, int out_size, int rules[4], int size, const void* input, void* output)
+{
+  // clang-format off
+  pcl::device::copy_fields_t funcs[16][16] =
             {
                 { /**/ cf<1,1>,  cf<1, 2>, cf<1, 3>, cf<1, 4>, /**/ cf<1, 5>, cf<1, 6>, cf<1, 7>, cf<1, 8>, /**/ cf<1, 9>, cf<1,10>, cf<1, 11>, cf<1, 12>, /**/ cf<1, 13>, cf<1, 14>, cf<1, 15>,  cf<1,16> },
                 { /**/ cf<2,1>,  cf<2, 2>, cf<2, 3>, cf<2, 4>, /**/ cf<2, 5>, cf<2, 6>, cf<2, 7>, cf<2, 8>, /**/ cf<2, 9>, cf<1,10>, cf<2, 11>, cf<2, 12>, /**/ cf<2, 13>, cf<2, 14>, cf<2, 15>,  cf<2,16> },
@@ -112,9 +109,8 @@ namespace pcl
                 { /**/ cf<15,1>, cf<15,2>, cf<15,3>, cf<15,4>, /**/ cf<15,5>, cf<15,6>, cf<15,7>, cf<15,8>, /**/ cf<15,9>, cf<1,10>, cf<15,11>, cf<15,12>, /**/ cf<15,13>, cf<15,14>, cf<15,15>, cf<15,16> },
                 { /**/ cf<16,1>, cf<16,2>, cf<16,3>, cf<16,4>, /**/ cf<16,5>, cf<16,6>, cf<16,7>, cf<16,8>, /**/ cf<16,9>, cf<1,10>, cf<16,11>, cf<16,12>, /**/ cf<16,13>, cf<16,14>, cf<16,15>, cf<16,16> }
             };
-
-            funcs[in_size-1][out_size-1](rules, size, input, output);
-        }
-    }
+  // clang-format on
+  funcs[in_size - 1][out_size - 1](rules, size, input, output);
 }
-
+} // namespace gpu
+} // namespace pcl