From 9ae3e39c666980ba00dd998443d5bee42616e3fe Mon Sep 17 00:00:00 2001
From: Sameer Sheorey <sameer.sheorey@intel.com>
Date: Wed, 27 Sep 2023 14:21:01 -0700
Subject: [PATCH] Style fix.

---
 cpp/open3d/geometry/PointCloud.cpp | 16 ++++++++--------
 cpp/open3d/geometry/PointCloud.h   |  6 ++++--
 cpp/pybind/geometry/pointcloud.cpp |  2 +-
 cpp/tests/geometry/PointCloud.cpp  | 25 +++++++++----------------
 4 files changed, 22 insertions(+), 27 deletions(-)

diff --git a/cpp/open3d/geometry/PointCloud.cpp b/cpp/open3d/geometry/PointCloud.cpp
index 7ac0442a04f..b0b6e0130ae 100644
--- a/cpp/open3d/geometry/PointCloud.cpp
+++ b/cpp/open3d/geometry/PointCloud.cpp
@@ -541,25 +541,25 @@ std::shared_ptr<PointCloud> PointCloud::FarthestPointDownSample(
     return SelectByIndex(selected_indices);
 }
 
-std::shared_ptr<PointCloud> PointCloud::Crop(
-        const AxisAlignedBoundingBox &bbox,
-        bool invert) const {
+std::shared_ptr<PointCloud> PointCloud::Crop(const AxisAlignedBoundingBox &bbox,
+                                             bool invert) const {
     if (bbox.IsEmpty()) {
         utility::LogError(
                 "AxisAlignedBoundingBox either has zeros size, or has wrong "
                 "bounds.");
     }
-    return SelectByIndex(bbox.GetPointIndicesWithinBoundingBox(points_),invert);
+    return SelectByIndex(bbox.GetPointIndicesWithinBoundingBox(points_),
+                         invert);
 }
-std::shared_ptr<PointCloud> PointCloud::Crop(
-        const OrientedBoundingBox &bbox,
-        bool invert) const {
+std::shared_ptr<PointCloud> PointCloud::Crop(const OrientedBoundingBox &bbox,
+                                             bool invert) const {
     if (bbox.IsEmpty()) {
         utility::LogError(
                 "AxisAlignedBoundingBox either has zeros size, or has wrong "
                 "bounds.");
     }
-    return SelectByIndex(bbox.GetPointIndicesWithinBoundingBox(points_),invert);
+    return SelectByIndex(bbox.GetPointIndicesWithinBoundingBox(points_),
+                         invert);
 }
 
 std::tuple<std::shared_ptr<PointCloud>, std::vector<size_t>>
diff --git a/cpp/open3d/geometry/PointCloud.h b/cpp/open3d/geometry/PointCloud.h
index d42753e118e..334bdc9f0f5 100644
--- a/cpp/open3d/geometry/PointCloud.h
+++ b/cpp/open3d/geometry/PointCloud.h
@@ -186,7 +186,8 @@ class PointCloud : public Geometry3D {
     ///
     /// \param bbox AxisAlignedBoundingBox to crop points.
     /// \param invert Optional boolean to invert cropping.
-    std::shared_ptr<PointCloud> Crop(const AxisAlignedBoundingBox &bbox, bool invert=false) const;
+    std::shared_ptr<PointCloud> Crop(const AxisAlignedBoundingBox &bbox,
+                                     bool invert = false) const;
 
     /// \brief Function to crop pointcloud into output pointcloud
     ///
@@ -195,7 +196,8 @@ class PointCloud : public Geometry3D {
     ///
     /// \param bbox OrientedBoundingBox to crop points.
     /// \param invert Optional boolean to invert cropping.
-    std::shared_ptr<PointCloud> Crop(const OrientedBoundingBox &bbox, bool invert=false) const;
+    std::shared_ptr<PointCloud> Crop(const OrientedBoundingBox &bbox,
+                                     bool invert = false) const;
 
     /// \brief Function to remove points that have less than \p nb_points in a
     /// sphere of a given radius.
diff --git a/cpp/pybind/geometry/pointcloud.cpp b/cpp/pybind/geometry/pointcloud.cpp
index 304c1c59c08..835ec3123b1 100644
--- a/cpp/pybind/geometry/pointcloud.cpp
+++ b/cpp/pybind/geometry/pointcloud.cpp
@@ -290,7 +290,7 @@ camera. Given depth value d at (u, v) image coordinate, the corresponding 3d poi
     docstring::ClassMethodDocInject(
             m, "PointCloud", "crop",
             {{"bounding_box", "AxisAlignedBoundingBox to crop points"},
-            {"invert", "optional boolean to invert cropping"}});
+             {"invert", "optional boolean to invert cropping"}});
     docstring::ClassMethodDocInject(
             m, "PointCloud", "remove_non_finite_points",
             {{"remove_nan", "Remove NaN values from the PointCloud"},
diff --git a/cpp/tests/geometry/PointCloud.cpp b/cpp/tests/geometry/PointCloud.cpp
index 06888f06eb0..21bfe5659bf 100644
--- a/cpp/tests/geometry/PointCloud.cpp
+++ b/cpp/tests/geometry/PointCloud.cpp
@@ -1003,22 +1003,15 @@ TEST(PointCloud, Crop_AxisAlignedBoundingBox_Invert) {
             5.0 * Eigen::Matrix3d::Identity(),
     };
     std::shared_ptr<geometry::PointCloud> pc_crop = pcd.Crop(aabb, true);
-    ExpectEQ(pc_crop->points_, std::vector<Eigen::Vector3d>({
-                                       {3, 1, 1},
-                                       {-1, 1, 1}
-                               }));
-    ExpectEQ(pc_crop->normals_, std::vector<Eigen::Vector3d>({
-                                        {4, 0, 0},
-                                        {5, 0, 0}
-                                }));
-    ExpectEQ(pc_crop->colors_, std::vector<Eigen::Vector3d>({
-                                       {0.4, 0.0, 0.0},
-                                       {0.5, 0.0, 0.0}
-                               }));
-    ExpectEQ(pc_crop->covariances_, std::vector<Eigen::Matrix3d>({
-                                            4.0 * Eigen::Matrix3d::Identity(),
-                                            5.0 * Eigen::Matrix3d::Identity()
-                                    }));
+    ExpectEQ(pc_crop->points_,
+             std::vector<Eigen::Vector3d>({{3, 1, 1}, {-1, 1, 1}}));
+    ExpectEQ(pc_crop->normals_,
+             std::vector<Eigen::Vector3d>({{4, 0, 0}, {5, 0, 0}}));
+    ExpectEQ(pc_crop->colors_,
+             std::vector<Eigen::Vector3d>({{0.4, 0.0, 0.0}, {0.5, 0.0, 0.0}}));
+    ExpectEQ(pc_crop->covariances_,
+             std::vector<Eigen::Matrix3d>({4.0 * Eigen::Matrix3d::Identity(),
+                                           5.0 * Eigen::Matrix3d::Identity()}));
 }
 
 TEST(PointCloud, EstimateNormals) {