Fix max_value

Signed-off-by: Diego Palma <dpalma@symbotic.com>
Ekumen-OS · Oct 5, 2024 · 287453b · 287453b
1 parent 3ad7d35
commit 287453b
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/beluga/include/beluga/actions/overlay.hpp b/beluga/include/beluga/actions/overlay.hpp
@@ -53,14 +53,17 @@ struct overlay_base_fn {
   constexpr auto operator()(ExecutionPolicy&& policy, Range& range, MaskRange&& mask, Mask&& mask_value) const
       -> Range& {
     auto map = range | ranges::views::common;
+    const auto converted_mask_value = static_cast<ranges::range_value_t<Range>>(mask_value);
 
     std::transform(
         policy,            //
         std::begin(map),   //
         std::end(map),     //
         std::begin(mask),  //
         std::begin(map),   //
-        [&mask_value](const auto& base_value, bool flag) { return flag ? mask_value : base_value; });
+        [&converted_mask_value](const auto& base_value, bool flag) {
+          return flag ? converted_mask_value : base_value;
+        });
 
     return range;
   }

diff --git a/beluga/include/beluga/sensor/likelihood_field_model.hpp b/beluga/include/beluga/sensor/likelihood_field_model.hpp
@@ -187,9 +187,8 @@ class LikelihoodFieldModel {
     if (params.model_unknown_space) {
       const double inverse_max_distance = 1 / params.max_laser_distance;
       const double background_distance = -two_squared_sigma * std::log((inverse_max_distance - offset) / amplitude);
-      const auto mask_value = static_cast<ranges::range_value_t<decltype(distance_map)>>(background_distance);
 
-      distance_map |= beluga::actions::overlay(grid.unknown_mask(), mask_value);
+      distance_map |= beluga::actions::overlay(grid.unknown_mask(), background_distance);
     }
 
     auto likelihood_values = std::move(distance_map) |                               //