Fix Mask class

Signed-off-by: Diego Palma <dpalma@symbotic.com>
Ekumen-OS · Oct 5, 2024 · 3ad7d35 · 3ad7d35
1 parent be9c0d9
commit 3ad7d35
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/beluga/include/beluga/actions/overlay.hpp b/beluga/include/beluga/actions/overlay.hpp
@@ -46,7 +46,7 @@ struct overlay_base_fn {
       class ExecutionPolicy,
       class Range,
       class MaskRange,
-      class Mask = ranges::range_value_t<Range>,
+      class Mask,
       std::enable_if_t<std::is_execution_policy_v<std::decay_t<ExecutionPolicy>>, int> = 0,
       std::enable_if_t<ranges::range<Range>, int> = 0,
       std::enable_if_t<ranges::range<MaskRange>, int> = 0>
@@ -70,7 +70,7 @@ struct overlay_base_fn {
       class ExecutionPolicy,
       class Range,
       class MaskRange,
-      class Mask = ranges::range_value_t<Range>,
+      class Mask,
       std::enable_if_t<std::is_execution_policy_v<ExecutionPolicy>, int> = 0,
       std::enable_if_t<ranges::range<Range>, int> = 0,
       std::enable_if_t<ranges::range<MaskRange>, int> = 0>
@@ -101,7 +101,7 @@ struct overlay_fn : public overlay_base_fn {
   template <
       class Range,
       class MaskRange,
-      class Mask = ranges::range_value_t<Range>,
+      class Mask,
       std::enable_if_t<ranges::range<Range>, int> = 0,
       std::enable_if_t<ranges::range<MaskRange>, int> = 0>
   constexpr auto operator()(Range&& range, MaskRange&& mask, Mask&& mask_value) const -> Range& {

diff --git a/beluga/include/beluga/sensor/likelihood_field_model.hpp b/beluga/include/beluga/sensor/likelihood_field_model.hpp
@@ -187,8 +187,9 @@ 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(), background_distance);
+      distance_map |= beluga::actions::overlay(grid.unknown_mask(), mask_value);
     }
 
     auto likelihood_values = std::move(distance_map) |                               //