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fix(autoware_tracking_object_merger): fix clang-diagnostic-sign-conversion (#9494)
Signed-off-by: kobayu858 <yutaro.kobayashi@tier4.jp>
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perception/autoware_tracking_object_merger/src/association/data_association.cpp

+12-8
Original file line numberDiff line numberDiff line change
@@ -94,11 +94,11 @@ void DataAssociation::assign(
9494
const Eigen::MatrixXd & src, std::unordered_map<int, int> & direct_assignment,
9595
std::unordered_map<int, int> & reverse_assignment)
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{
97-
std::vector<std::vector<double>> score(src.rows());
97+
std::vector<std::vector<double>> score(static_cast<size_t>(src.rows()));
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for (int row = 0; row < src.rows(); ++row) {
99-
score.at(row).resize(src.cols());
99+
score.at(static_cast<size_t>(row)).resize(static_cast<size_t>(src.cols()));
100100
for (int col = 0; col < src.cols(); ++col) {
101-
score.at(row).at(col) = src(row, col);
101+
score.at(static_cast<size_t>(row)).at(static_cast<size_t>(col)) = src(row, col);
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}
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}
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// Solve
@@ -134,15 +134,17 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
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const autoware_perception_msgs::msg::TrackedObjects & objects0,
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const autoware_perception_msgs::msg::TrackedObjects & objects1)
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{
137-
Eigen::MatrixXd score_matrix =
138-
Eigen::MatrixXd::Zero(objects1.objects.size(), objects0.objects.size());
137+
Eigen::MatrixXd score_matrix = Eigen::MatrixXd::Zero(
138+
static_cast<Eigen::Index>(objects1.objects.size()),
139+
static_cast<Eigen::Index>(objects0.objects.size()));
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for (size_t objects1_idx = 0; objects1_idx < objects1.objects.size(); ++objects1_idx) {
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const auto & object1 = objects1.objects.at(objects1_idx);
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for (size_t objects0_idx = 0; objects0_idx < objects0.objects.size(); ++objects0_idx) {
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const auto & object0 = objects0.objects.at(objects0_idx);
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const double score = calcScoreBetweenObjects(object0, object1);
144145

145-
score_matrix(objects1_idx, objects0_idx) = score;
146+
score_matrix(
147+
static_cast<Eigen::Index>(objects1_idx), static_cast<Eigen::Index>(objects0_idx)) = score;
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}
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}
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return score_matrix;
@@ -159,15 +161,17 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
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const autoware_perception_msgs::msg::TrackedObjects & objects0,
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const std::vector<TrackerState> & trackers)
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{
162-
Eigen::MatrixXd score_matrix = Eigen::MatrixXd::Zero(trackers.size(), objects0.objects.size());
164+
Eigen::MatrixXd score_matrix = Eigen::MatrixXd::Zero(
165+
static_cast<Eigen::Index>(trackers.size()), static_cast<Eigen::Index>(objects0.objects.size()));
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for (size_t trackers_idx = 0; trackers_idx < trackers.size(); ++trackers_idx) {
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const auto & object1 = trackers.at(trackers_idx).getObject();
165168

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for (size_t objects0_idx = 0; objects0_idx < objects0.objects.size(); ++objects0_idx) {
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const auto & object0 = objects0.objects.at(objects0_idx);
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const double score = calcScoreBetweenObjects(object0, object1);
169172

170-
score_matrix(trackers_idx, objects0_idx) = score;
173+
score_matrix(
174+
static_cast<Eigen::Index>(trackers_idx), static_cast<Eigen::Index>(objects0_idx)) = score;
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}
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}
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return score_matrix;

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