Update localization/yabloc/yabloc_particle_filter/src/camera_correcto…

…r/camera_particle_corrector_core.cpp change to use get_mean_pose directly Co-authored-by: Kento Yabuuchi <[email protected]>
a-maumau · Jun 18, 2024 · 19284aa · 19284aa
1 parent fb6b042
commit 19284aa
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/...ion/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp b/...ion/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp
@@ -190,8 +190,7 @@ void CameraParticleCorrector::on_line_segments(const PointCloud2 & line_segments
 
   // DEBUG: just visualization
   {
-    Pose tmp_mean_pose = get_mean_pose(weighted_particles);
-    Sophus::SE3f transform = common::pose_to_se3(tmp_mean_pose);
+    Sophus::SE3f transform = common::pose_to_se3(get_mean_pose(weighted_particles););
 
     pcl::PointCloud<pcl::PointXYZI> cloud = evaluate_cloud(
       common::transform_line_segments(line_segments_cloud, transform), transform.translation());