From 45d0f2db546558ac2b063cd397b4a91d447d9010 Mon Sep 17 00:00:00 2001 From: scepter914 Date: Tue, 22 Nov 2022 18:32:28 +0900 Subject: [PATCH] make temporary variable Signed-off-by: scepter914 --- .../radar_scan_to_pointcloud2_node.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp b/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp index aa3d9f69c2c9d..ec7413d95a43c 100644 --- a/sensing/radar_scan_to_pointcloud2/src/radar_scan_to_pointcloud2_node/radar_scan_to_pointcloud2_node.cpp +++ b/sensing/radar_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}; }