chore: refactor

Signed-off-by: badai-nguyen <[email protected]>
autowarefoundation · Oct 18, 2023 · c3317b6 · c3317b6
1 parent e3cbf6c
commit c3317b6
Showing 1 changed file with 6 additions and 5 deletions.
diff --git a/...ption/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp b/...ption/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp
@@ -71,15 +71,16 @@ class Debugger
   void addNeighborPointcloud(const pcl::PointCloud<pcl::PointXY>::Ptr & input)
   {
     pcl::PointCloud<pcl::PointXYZ>::Ptr input_xyz = toXYZ(input);
-    for (const auto & point : *input_xyz) {
-      neighbor_pointcloud_->push_back(point);
-    }
+    addNeighborPointcloud(input_xyz);
   }
 
   void addNeighborPointcloud(const pcl::PointCloud<pcl::PointXYZ>::Ptr & input)
   {
-    for (const auto & point : *input) {
-      neighbor_pointcloud_->push_back(point);
+    if (!input->empty()) {
+      neighbor_pointcloud_->reserve(neighbor_pointcloud_->size() + input->size());
+      for (const auto & point : *input) {
+        neighbor_pointcloud_->push_back(point);
+      }
     }
   }
   void addPointcloudWithinPolygon(const pcl::PointCloud<pcl::PointXYZ>::Ptr & input)