fix(yabloc): fix bug in capturing in lambda function (#7208)

* fix(yabloc): fix bug in capturing in lambda function Signed-off-by: Ryuta Kambe <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Ryuta Kambe <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Jun 2, 2024 · 85fef81 · 85fef81
1 parent a553c6d
commit 85fef81
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/localization/yabloc/yabloc_common/src/extract_line_segments.cpp b/localization/yabloc/yabloc_common/src/extract_line_segments.cpp
@@ -25,7 +25,8 @@ pcl::PointCloud<pcl::PointNormal> extract_near_line_segments(
 
   // All line segments contained in a square with max_range on one side must be taken out,
   // so pick up those that are closer than the **diagonals** of the square.
-  auto check_intersection = [max_range, pose_vector](const pcl::PointNormal & pn) -> bool {
+  auto check_intersection = [sqrt_two, max_range,
+                             pose_vector](const pcl::PointNormal & pn) -> bool {
     const Eigen::Vector3f from = pn.getVector3fMap() - pose_vector;
     const Eigen::Vector3f to = pn.getNormalVector3fMap() - pose_vector;