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posenet_publish: use const references (#23310)

pull/23327/head
Dean Lee 2021-12-28 05:31:42 +08:00 committed by GitHub
parent 21fc9d5375
commit 1fc1382480
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1 changed files with 4 additions and 4 deletions
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8
selfdrive/modeld/models/driving.cc
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@ -327,10 +327,10 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, flo
void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames,
const ModelOutput &net_outputs, uint64_t timestamp_eof, const bool valid) {
MessageBuilder msg;
auto v_mean = net_outputs.pose.velocity_mean;
auto r_mean = net_outputs.pose.rotation_mean;
auto v_std = net_outputs.pose.velocity_std;
auto r_std = net_outputs.pose.rotation_std;
const auto &v_mean = net_outputs.pose.velocity_mean;
const auto &r_mean = net_outputs.pose.rotation_mean;
const auto &v_std = net_outputs.pose.velocity_std;
const auto &r_std = net_outputs.pose.rotation_std;
auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry();
posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z});