From c3317b63547472675d09e7c0d27597d8b7665749 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Wed, 18 Oct 2023 11:15:46 +0900
Subject: [PATCH] chore: refactor

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../obstacle_pointcloud_based_validator/debugger.hpp  | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp b/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp
index 7b6cf91997682..6597475ae297e 100644
--- a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp
+++ b/perception/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)