From c0e92510052e5c18270e8087a4741ecad9887e8d Mon Sep 17 00:00:00 2001
From: Yoshi Ri <yoshiyoshidetteiu@gmail.com>
Date: Wed, 4 Sep 2024 01:52:45 +0900
Subject: [PATCH] fix(compare_map_segmentation): use squared distance to
 compare threshold (#8744)

fix: use square distance to compare threshold

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
---
 .../src/distance_based_compare_map_filter/node.cpp          | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp
index 53183cd7dc3f0..e5ff8da4e4da9 100644
--- a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp
+++ b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp
@@ -59,14 +59,14 @@ bool DistanceBasedStaticMapLoader::is_close_to_map(
   }
 
   std::vector<int> nn_indices(1);
-  std::vector<float> nn_distances(1);
+  std::vector<float> nn_sqr_distances(1);
   if (!isFinite(point)) {
     return false;
   }
-  if (!tree_->nearestKSearch(point, 1, nn_indices, nn_distances)) {
+  if (!tree_->nearestKSearch(point, 1, nn_indices, nn_sqr_distances)) {
     return false;
   }
-  if (nn_distances[0] > distance_threshold) {
+  if (nn_sqr_distances[0] > distance_threshold * distance_threshold) {
     return false;
   }
   return true;