diff --git a/evaluator/segmentation_evaluator/README.md b/evaluator/segmentation_evaluator/README.md
index 173b8501da1fb..ae7891f620211 100644
--- a/evaluator/segmentation_evaluator/README.md
+++ b/evaluator/segmentation_evaluator/README.md
@@ -1,3 +1,3 @@
 # Segmentation Evaluator
 
-TBD
\ No newline at end of file
+TBD
diff --git a/evaluator/segmentation_evaluator/include/segmentation_evaluator/metrics/metric.hpp b/evaluator/segmentation_evaluator/include/segmentation_evaluator/metrics/metric.hpp
index 90d81245225c9..1347957a29c05 100644
--- a/evaluator/segmentation_evaluator/include/segmentation_evaluator/metrics/metric.hpp
+++ b/evaluator/segmentation_evaluator/include/segmentation_evaluator/metrics/metric.hpp
@@ -31,16 +31,13 @@ enum class Metric {
 };
 
 static const std::unordered_map<std::string, Metric> str_to_metric = {
-  {"segment_stat", Metric::segment_stat}
-};
+  {"segment_stat", Metric::segment_stat}};
 static const std::unordered_map<Metric, std::string> metric_to_str = {
-  {Metric::segment_stat, "segment_stat"}
-};
+  {Metric::segment_stat, "segment_stat"}};
 
 // Metrics descriptions
 static const std::unordered_map<Metric, std::string> metric_descriptions = {
-  {Metric::segment_stat, "segment_stat [percentage]"}
-};
+  {Metric::segment_stat, "segment_stat [percentage]"}};
 
 namespace details
 {
diff --git a/evaluator/segmentation_evaluator/include/segmentation_evaluator/metrics/segmentation_metrics.hpp b/evaluator/segmentation_evaluator/include/segmentation_evaluator/metrics/segmentation_metrics.hpp
index 16510b18477ae..98b0c5611052c 100644
--- a/evaluator/segmentation_evaluator/include/segmentation_evaluator/metrics/segmentation_metrics.hpp
+++ b/evaluator/segmentation_evaluator/include/segmentation_evaluator/metrics/segmentation_metrics.hpp
@@ -43,7 +43,8 @@ Stat<double> updatePclStats(
  * @return calculated statistics
  */
 std::vector<int> computeConfusionMatrix(
-  const PointCloud2 & pcl, const PointCloud2 & pcl_gt_ground, const PointCloud2 & pcl_gt_obj, PointCloud2 & pcl_no_ex);
+  const PointCloud2 & pcl, const PointCloud2 & pcl_gt_ground, const PointCloud2 & pcl_gt_obj,
+  PointCloud2 & pcl_no_ex);
 
 }  // namespace metrics
 }  // namespace segmentation_diagnostics
diff --git a/evaluator/segmentation_evaluator/include/segmentation_evaluator/metrics_calculator.hpp b/evaluator/segmentation_evaluator/include/segmentation_evaluator/metrics_calculator.hpp
index 2e14459b64c9f..0f402a78a136b 100644
--- a/evaluator/segmentation_evaluator/include/segmentation_evaluator/metrics_calculator.hpp
+++ b/evaluator/segmentation_evaluator/include/segmentation_evaluator/metrics_calculator.hpp
@@ -54,7 +54,8 @@ class MetricsCalculator
    */
   Stat<double> updateStat(
     const Stat<double> stat_prev, const Metric metric, const PointCloud2 & pcl,
-    const PointCloud2 & pcl_gt_ground, const PointCloud2 & pcl_gt_obj, PointCloud2 & pcl_no_ex) const;
+    const PointCloud2 & pcl_gt_ground, const PointCloud2 & pcl_gt_obj,
+    PointCloud2 & pcl_no_ex) const;
 };  // class MetricsCalculator
 
 }  // namespace segmentation_diagnostics
diff --git a/evaluator/segmentation_evaluator/include/segmentation_evaluator/parameters.hpp b/evaluator/segmentation_evaluator/include/segmentation_evaluator/parameters.hpp
index 443133260cd34..389a7be5697a6 100644
--- a/evaluator/segmentation_evaluator/include/segmentation_evaluator/parameters.hpp
+++ b/evaluator/segmentation_evaluator/include/segmentation_evaluator/parameters.hpp
@@ -27,8 +27,8 @@ namespace segmentation_diagnostics
 struct Parameters
 {
   std::array<bool, static_cast<size_t>(Metric::SIZE)> metrics{};  // default values to false
-};  // struct Parameters
+};                                                                // struct Parameters
 
-}  // namespace localiaztion_diagnostics
+}  // namespace segmentation_diagnostics
 
 #endif  // SEGMENTATION_EVALUATOR__PARAMETERS_HPP_
diff --git a/evaluator/segmentation_evaluator/include/segmentation_evaluator/segmentation_evaluator_node.hpp b/evaluator/segmentation_evaluator/include/segmentation_evaluator/segmentation_evaluator_node.hpp
index b40e533bada78..1e5bd2911c85b 100644
--- a/evaluator/segmentation_evaluator/include/segmentation_evaluator/segmentation_evaluator_node.hpp
+++ b/evaluator/segmentation_evaluator/include/segmentation_evaluator/segmentation_evaluator_node.hpp
@@ -71,7 +71,8 @@ class SegmentationEvaluatorNode : public rclcpp::Node
   message_filters::Subscriber<PointCloud2> pcl_sub_, pcl_gt_ground_sub_, pcl_gt_obj_sub_;
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pcl_no_ex_pub_;
 
-  typedef message_filters::sync_policies::ApproximateTime<PointCloud2, PointCloud2, PointCloud2> SyncPolicy;
+  typedef message_filters::sync_policies::ApproximateTime<PointCloud2, PointCloud2, PointCloud2>
+    SyncPolicy;
   typedef message_filters::Synchronizer<SyncPolicy> SyncExact;
   SyncExact sync_;
   rclcpp::Publisher<DiagnosticArray>::SharedPtr metrics_pub_;
@@ -91,4 +92,4 @@ class SegmentationEvaluatorNode : public rclcpp::Node
 };
 }  // namespace segmentation_diagnostics
 
-#endif  // SEGMENTATION_EVALUATOR__MOTION_EVALUATOR_NODE_HPP_
+#endif  // SEGMENTATION_EVALUATOR__SEGMENTATION_EVALUATOR_NODE_HPP_
diff --git a/evaluator/segmentation_evaluator/include/segmentation_evaluator/stat.hpp b/evaluator/segmentation_evaluator/include/segmentation_evaluator/stat.hpp
index c555bc6f4bb32..fc1b6320f5511 100644
--- a/evaluator/segmentation_evaluator/include/segmentation_evaluator/stat.hpp
+++ b/evaluator/segmentation_evaluator/include/segmentation_evaluator/stat.hpp
@@ -66,16 +66,20 @@ class Stat
    */
   void printConfMat()
   {
-    std::cout << std::left << std::fixed <<
-    "            ┌──────────────┬─────────────────────────────┐\n"
-    "            │              │       Predicted values      │\n"
-    "            │  Confusion   ├──────────────┬──────────────┤\n"    
-    "            │   matrix     │    object    │    ground    │\n"
-    "┌───────────┼──────────────┼──────────────┼──────────────┤\n"
-    "│  Actual   │    object    │" << std::setw(14) << tp_ << "│" << std::setw(13) << fn_ << " │\n"
-    "│  values   ├──────────────┼──────────────┼──────────────┤\n"
-    "│           │    ground    │" << std::setw(14) << fp_ << "│" << std::setw(13) << tn_ << " │\n"
-    "└───────────┴──────────────┴──────────────┴──────────────┘\n";
+    std::cout << std::left << std::fixed
+              << "            ┌──────────────┬─────────────────────────────┐\n"
+                 "            │              │       Predicted values      │\n"
+                 "            │  Confusion   ├──────────────┬──────────────┤\n"
+                 "            │   matrix     │    object    │    ground    │\n"
+                 "┌───────────┼──────────────┼──────────────┼──────────────┤\n"
+                 "│  Actual   │    object    │"
+              << std::setw(14) << tp_ << "│" << std::setw(13) << fn_
+              << " │\n"
+                 "│  values   ├──────────────┼──────────────┼──────────────┤\n"
+                 "│           │    ground    │"
+              << std::setw(14) << fp_ << "│" << std::setw(13) << tn_
+              << " │\n"
+                 "└───────────┴──────────────┴──────────────┴──────────────┘\n";
   }
 
   /**
@@ -83,37 +87,43 @@ class Stat
    */
   void printConfMatAccu()
   {
-    std::cout << std::left << std::fixed <<
-    "            ┌──────────────┬─────────────────────────────┐\n"
-    "            │              │       Predicted values      │\n"
-    "            │  Confusion   ├──────────────┬──────────────┤\n"    
-    "            │   matrix     │    object    │    ground    │\n"
-    "┌───────────┼──────────────┼──────────────┼──────────────┤\n"
-    "│  Actual   │    object    │" << std::setw(14) << tp_accu_ << "│" << std::setw(13) << fn_accu_ << " │\n"
-    "│  values   ├──────────────┼──────────────┼──────────────┤\n"
-    "│           │    ground    │" << std::setw(14) << fp_accu_ << "│" << std::setw(13) << tn_accu_ << " │\n"
-    "└───────────┴──────────────┴──────────────┴──────────────┘\n";
+    std::cout << std::left << std::fixed
+              << "            ┌──────────────┬─────────────────────────────┐\n"
+                 "            │              │       Predicted values      │\n"
+                 "            │  Confusion   ├──────────────┬──────────────┤\n"
+                 "            │   matrix     │    object    │    ground    │\n"
+                 "┌───────────┼──────────────┼──────────────┼──────────────┤\n"
+                 "│  Actual   │    object    │"
+              << std::setw(14) << tp_accu_ << "│" << std::setw(13) << fn_accu_
+              << " │\n"
+                 "│  values   ├──────────────┼──────────────┼──────────────┤\n"
+                 "│           │    ground    │"
+              << std::setw(14) << fp_accu_ << "│" << std::setw(13) << tn_accu_
+              << " │\n"
+                 "└───────────┴──────────────┴──────────────┴──────────────┘\n";
   }
 
-   /**
+  /**
    * @brief set confusion matrix
    */
-  void setConfustionMatPerCloud(const std::vector<int> & conf_mat) { 
+  void setConfustionMatPerCloud(const std::vector<int> & conf_mat)
+  {
     tp_ = conf_mat[0];
     fn_ = conf_mat[1];
     fp_ = conf_mat[2];
-    tn_ = conf_mat[3]; 
+    tn_ = conf_mat[3];
     accumulateConfustionMat(conf_mat);
   }
 
-   /**
+  /**
    * @brief accumulate confusion matrix
    */
-  void accumulateConfustionMat(const std::vector<int> & conf_mat) { 
+  void accumulateConfustionMat(const std::vector<int> & conf_mat)
+  {
     tp_accu_ += conf_mat[0];
     fn_accu_ += conf_mat[1];
     fp_accu_ += conf_mat[2];
-    tn_accu_ += conf_mat[3]; 
+    tn_accu_ += conf_mat[3];
   }
 
   /**
diff --git a/evaluator/segmentation_evaluator/package.xml b/evaluator/segmentation_evaluator/package.xml
index 80350e33275f6..6425ac2332d78 100644
--- a/evaluator/segmentation_evaluator/package.xml
+++ b/evaluator/segmentation_evaluator/package.xml
@@ -11,7 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <build_depend>autoware_cmake</build_depend>
-  
+
   <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
   <depend>diagnostic_msgs</depend>
@@ -24,7 +24,7 @@
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_autoware_utils</depend>
-  
+
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/evaluator/segmentation_evaluator/src/metrics/segmentation_metrics.cpp b/evaluator/segmentation_evaluator/src/metrics/segmentation_metrics.cpp
index f2bfad4d8d0c5..0f09753774605 100644
--- a/evaluator/segmentation_evaluator/src/metrics/segmentation_metrics.cpp
+++ b/evaluator/segmentation_evaluator/src/metrics/segmentation_metrics.cpp
@@ -14,18 +14,18 @@
 
 #include "segmentation_evaluator/metrics/segmentation_metrics.hpp"
 
-#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
-
-#include <pcl/point_cloud.h>
-#include <pcl/point_types.h>
-#include <pcl_conversions/pcl_conversions.h>
 #include "rclcpp/serialization.hpp"
 #include "rclcpp/serialized_message.hpp"
+#include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 
 #include "boost/container_hash/hash.hpp"
 
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl_conversions/pcl_conversions.h>
+
 namespace segmentation_diagnostics
 {
 namespace metrics
@@ -50,17 +50,15 @@ Stat<double> updatePclStats(
   return stat;
 }
 
-float r(float v)
-{
-  return floor(v*1000.0) / 1000.0;
-}
+float r(float v) { return floor(v * 1000.0) / 1000.0; }
 
 std::vector<int> computeConfusionMatrix(
   const PointCloud2 & pcl_to_eval, const PointCloud2 & pcl_gt_ground,
   const PointCloud2 & pcl_gt_obj, PointCloud2 & pcl_no_ex)
 {
   // std::cout << pcl_gt_ground.row_step << " + " << pcl_gt_obj.row_step << " = "
-  //           << pcl_gt_ground.row_step + pcl_gt_obj.row_step << "    !eval: " << pcl_to_eval.row_step
+  //           << pcl_gt_ground.row_step + pcl_gt_obj.row_step << "    !eval: " <<
+  //           pcl_to_eval.row_step
   //           << std::endl;
   pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_no_ex_xyz(new pcl::PointCloud<pcl::PointXYZ>);
   pcl_no_ex_xyz->points.reserve(pcl_to_eval.row_step);
@@ -120,9 +118,9 @@ std::vector<int> computeConfusionMatrix(
 
   // std::cout << "ZEROS in pred: " << cnt_zero << "\n";
   // std::cout << "NONEX in pred: " << cnt_non_ex << "\n";
-  std::cout << "Accuracy: " << float(tp+tn)/float(tp+tn+fn+fp) << "\n";
-  std::cout << "Precision: " << float(tp)/float(tp+fp) << "\n";  
-  std::cout << "Recall: " << float(tp)/float(tp+fn) << "\n";  
+  std::cout << "Accuracy: " << float(tp + tn) / float(tp + tn + fn + fp) << "\n";
+  std::cout << "Precision: " << float(tp) / float(tp + fp) << "\n";
+  std::cout << "Recall: " << float(tp) / float(tp + fn) << "\n";
 
   pcl::toROSMsg(*pcl_no_ex_xyz, pcl_no_ex);
   pcl_no_ex.set__header(pcl_to_eval.header);
diff --git a/evaluator/segmentation_evaluator/src/segmentation_evaluator_node.cpp b/evaluator/segmentation_evaluator/src/segmentation_evaluator_node.cpp
index 4529c73ede726..582eabda8fad6 100644
--- a/evaluator/segmentation_evaluator/src/segmentation_evaluator_node.cpp
+++ b/evaluator/segmentation_evaluator/src/segmentation_evaluator_node.cpp
@@ -41,7 +41,6 @@ SegmentationEvaluatorNode::SegmentationEvaluatorNode(const rclcpp::NodeOptions &
 
   pcl_no_ex_pub_ = this->create_publisher<PointCloud2>("~/pcl_no_ex", rclcpp::SensorDataQoS());
 
-
   output_file_str_ = declare_parameter<std::string>("output_file");
   if (output_file_str_.empty()) {
     RCLCPP_INFO(
@@ -89,8 +88,8 @@ void SegmentationEvaluatorNode::syncCallback(
   metrics_msg.header.stamp = now();
   PointCloud2 pcl_no_ex;
   for (Metric metric : metrics_) {
-    metrics_dict_[metric] =
-      metrics_calculator_.updateStat(metrics_dict_[metric], metric, *msg, *msg_gt_ground, *msg_gt_obj, pcl_no_ex);
+    metrics_dict_[metric] = metrics_calculator_.updateStat(
+      metrics_dict_[metric], metric, *msg, *msg_gt_ground, *msg_gt_obj, pcl_no_ex);
     // std::cout << metrics_dict_[metric] << "\n";
     // std::cout << "metric dict count" << metrics_dict_[metric].count() << "\n";
     if (metrics_dict_[metric].count() > 0) {
diff --git a/evaluator/segmentation_evaluator/test/test_segmentation_evaluator_node.cpp b/evaluator/segmentation_evaluator/test/test_segmentation_evaluator_node.cpp
index f1c149e10607f..f2644bf8f1fc0 100644
--- a/evaluator/segmentation_evaluator/test/test_segmentation_evaluator_node.cpp
+++ b/evaluator/segmentation_evaluator/test/test_segmentation_evaluator_node.cpp
@@ -67,7 +67,9 @@ class EvalTest : public ::testing::Test
     tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(dummy_node);
   }
 
-  ~EvalTest() override { /*rclcpp::shutdown();*/ }
+  ~EvalTest() override
+  { /*rclcpp::shutdown();*/
+  }
 
   void setTargetMetric(segmentation_diagnostics::Metric metric)
   {