fixup! feat(perception_online_evaluator): publish metrics of each obj…

…ect class
autowarefoundation · Mar 6, 2024 · 5dd8c49 · 5dd8c49
1 parent 40f3796
commit 5dd8c49
Showing 1 changed file with 3 additions and 8 deletions.
diff --git a/evaluator/perception_online_evaluator/src/metrics_calculator.cpp b/evaluator/perception_online_evaluator/src/metrics_calculator.cpp
@@ -38,11 +38,6 @@ std::optional<MetricStatMap> MetricsCalculator::calculate(const Metric & metric)
   }
   const auto target_objects = getObjectsByStamp(target_stamp);
   const ClassObjectsMap class_objects_map = separateObjectsByClass(target_objects);
-
-  // print class and size
-  for (const auto [label, objects] : class_objects_map) {
-  }
-
   switch (metric) {
     case Metric::lateral_deviation:
       return calcLateralDeviationMetrics(class_objects_map);
@@ -166,7 +161,7 @@ MetricStatMap MetricsCalculator::calcLateralDeviationMetrics(
   const ClassObjectsMap & class_objects_map) const
 {
   MetricStatMap metric_stat_map{};
-  for (const auto [label, objects] : class_objects_map) {
+  for (const auto & [label, objects] : class_objects_map) {
     Stat<double> stat{};
     const auto stamp = rclcpp::Time(objects.header.stamp);
     for (const auto & object : objects.objects) {
@@ -190,7 +185,7 @@ MetricStatMap MetricsCalculator::calcYawDeviationMetrics(
   const ClassObjectsMap & class_objects_map) const
 {
   MetricStatMap metric_stat_map{};
-  for (const auto [label, objects] : class_objects_map) {
+  for (const auto & [label, objects] : class_objects_map) {
     Stat<double> stat{};
     const auto stamp = rclcpp::Time(objects.header.stamp);
     for (const auto & object : objects.objects) {
@@ -216,7 +211,7 @@ MetricStatMap MetricsCalculator::calcPredictedPathDeviationMetrics(
   const auto time_horizons = parameters_->prediction_time_horizons;
 
   MetricStatMap metric_stat_map{};
-  for (const auto [label, objects] : class_objects_map) {
+  for (const auto & [label, objects] : class_objects_map) {
     for (const double time_horizon : time_horizons) {
       const auto stat = calcPredictedPathDeviationMetrics(objects, time_horizon);
       std::ostringstream stream;