make temporary variable

Signed-off-by: scepter914 <scepter914@gmail.com>
autowarefoundation · Nov 22, 2022 · 45d0f2d · 45d0f2d
1 parent bd19053
commit 45d0f2d
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/...scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp b/...scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp
@@ -44,8 +44,9 @@ bool update_param(
 
 pcl::PointXYZI getPointXYZI(const radar_msgs::msg::RadarReturn & radar, float intensity)
 {
-  const float x = radar.range * std::cos(radar.azimuth) * std::cos(radar.elevation);
-  const float y = radar.range * std::sin(radar.azimuth) * std::cos(radar.elevation);
+  const float r_xy = radar.range * std::cos(radar.elevation);
+  const float x = r_xy * std::cos(radar.azimuth);
+  const float y = r_xy * std::sin(radar.azimuth);
   const float z = radar.range * std::sin(radar.elevation);
   return pcl::PointXYZI{x, y, z, intensity};
 }