fix: mark TRTBEVDetNode constructor to explicit and try fix spell-check error

Signed-off-by: liu cui <cynthia.liu@autocore.ai>

Author: cyn-liu

perception/autoware_tensorrt_bevdet/include/autoware/tensorrt_bevdet/bevdet_node.hpp

@@ -22,7 +22,6 @@
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <opencv2/opencv.hpp>
 
 #include <sensor_msgs/msg/image.hpp>
 
@@ -159,7 +158,7 @@ class TRTBEVDetNode : public rclcpp::Node
    * @brief Constructor for TRTBEVDetNode.
    * @param options The options for the node.
    */
-  TRTBEVDetNode(const rclcpp::NodeOptions & options);
+  explicit TRTBEVDetNode(const rclcpp::NodeOptions & options);
 
   /**
    * @brief Destructor for TRTBEVDetNode.

perception/autoware_tensorrt_bevdet/include/autoware/tensorrt_bevdet/ros_utils.hpp

@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+// cspell:ignore BEVDET, bevdet
+
 #ifndef AUTOWARE__TENSORRT_BEVDET__ROS_UTILS_HPP_
 #define AUTOWARE__TENSORRT_BEVDET__ROS_UTILS_HPP_
 
@@ -21,7 +23,7 @@
 #include <geometry_msgs/msg/vector3.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-
+#include <opencv2/opencv.hpp>
 #include <bevdet.h>
 
 #include <string>
@@ -43,5 +45,8 @@ void getTransform(
 void getCameraIntrinsics(
   const sensor_msgs::msg::CameraInfo::SharedPtr msg, Eigen::Matrix3f & intrinsics);
 
+// Convert images from OpenCV's cv:: Mat format to a specific format
+void imageTransport(std::vector<cv::Mat> imgs, uchar * out_imgs, size_t width, size_t height);
+
 }  // namespace autoware::tensorrt_bevdet
 #endif  // AUTOWARE__TENSORRT_BEVDET__ROS_UTILS_HPP_

perception/autoware_tensorrt_bevdet/src/bevdet_node.cpp

@@ -12,13 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-// cspell:ignore BEVDET, thre, TRTBEV, bevdet, caminfo, intrin, Ncams, bevfeat, dlongterm, RGBHWC,
-// BGRCHW
+// cspell:ignore BEVDET, thre, TRTBEV, bevdet, caminfo, intrin, Ncams, bevfeat, dlongterm
 
 #include "autoware/tensorrt_bevdet/bevdet_node.hpp"
 
-#include <preprocess.h>
-
 namespace autoware
 {
 namespace tensorrt_bevdet
@@ -144,21 +141,6 @@ void TRTBEVDetNode::startCameraInfoSubscription()
     [this](const sensor_msgs::msg::CameraInfo::SharedPtr msg) { cameraInfoCallback(5, msg); });
 }
 
-void imageTransport(std::vector<cv::Mat> imgs, uchar * out_imgs, size_t width, size_t height)
-{
-  uchar * temp = new uchar[width * height * 3];
-  uchar * temp_gpu = nullptr;
-  CHECK_CUDA(cudaMalloc(&temp_gpu, width * height * 3));
-
-  for (size_t i = 0; i < imgs.size(); i++) {
-    cv::cvtColor(imgs[i], imgs[i], cv::COLOR_BGR2RGB);
-    CHECK_CUDA(cudaMemcpy(temp_gpu, imgs[i].data, width * height * 3, cudaMemcpyHostToDevice));
-    convert_RGBHWC_to_BGRCHW(temp_gpu, out_imgs + i * width * height * 3, 3, height, width);
-  }
-  delete[] temp;
-  CHECK_CUDA(cudaFree(temp_gpu));
-}
-
 void TRTBEVDetNode::callback(
   const sensor_msgs::msg::Image::ConstSharedPtr & msg_fl_img,
   const sensor_msgs::msg::Image::ConstSharedPtr & msg_f_img,

perception/autoware_tensorrt_bevdet/src/ros_utils.cpp

@@ -12,11 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+// cspell:ignore bevdet, RGBHWC, BGRCHW
+
 #include "autoware/tensorrt_bevdet/ros_utils.hpp"
 
 #include <autoware_perception_msgs/msg/detected_object_kinematics.hpp>
 #include <autoware_perception_msgs/msg/object_classification.hpp>
 #include <autoware_perception_msgs/msg/shape.hpp>
+#include <preprocess.h>
 
 namespace autoware::tensorrt_bevdet
 {
@@ -114,4 +117,20 @@ void getCameraIntrinsics(
   intrinsics << msg->k[0], msg->k[1], msg->k[2], msg->k[3], msg->k[4], msg->k[5], msg->k[6],
     msg->k[7], msg->k[8];
 }
+
+void imageTransport(std::vector<cv::Mat> imgs, uchar * out_imgs, size_t width, size_t height)
+{
+  uchar * temp = new uchar[width * height * 3];
+  uchar * temp_gpu = nullptr;
+  CHECK_CUDA(cudaMalloc(&temp_gpu, width * height * 3));
+
+  for (size_t i = 0; i < imgs.size(); i++) {
+    cv::cvtColor(imgs[i], imgs[i], cv::COLOR_BGR2RGB);
+    CHECK_CUDA(cudaMemcpy(temp_gpu, imgs[i].data, width * height * 3, cudaMemcpyHostToDevice));
+    convert_RGBHWC_to_BGRCHW(temp_gpu, out_imgs + i * width * height * 3, 3, height, width);
+  }
+  delete[] temp;
+  CHECK_CUDA(cudaFree(temp_gpu));
+}
+
 }  // namespace autoware::tensorrt_bevdet