Always use std::distance in lmeds

Co-Authored-By: Kunal Tyagi <tyagi.kunal@live.com>
PointCloudLibrary · Mar 7, 2020 · 8bc774a · 8bc774a
1 parent 0ad9e94
commit 8bc774a
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/sample_consensus/include/pcl/sample_consensus/impl/lmeds.hpp b/sample_consensus/include/pcl/sample_consensus/impl/lmeds.hpp
@@ -99,7 +99,7 @@ pcl::LeastMedianSquares<PointT>::computeModel (int debug_verbosity_level)
     }
     // Move all NaNs in distances to the end
     const auto new_end = (sac_model_->getInputCloud()->is_dense ? distances.end() : std::partition (distances.begin(), distances.end(), [](double d){return !std::isnan (d);}));
-    const auto nr_valid_dists = (sac_model_->getInputCloud()->is_dense ? distances.size() : std::distance (distances.begin (), new_end));
+    const auto nr_valid_dists = std::distance (distances.begin (), new_end);
 
     // d_cur_penalty = median (distances)
     const std::size_t mid = nr_valid_dists / 2;
@@ -202,4 +202,3 @@ pcl::LeastMedianSquares<PointT>::computeModel (int debug_verbosity_level)
 #define PCL_INSTANTIATE_LeastMedianSquares(T) template class PCL_EXPORTS pcl::LeastMedianSquares<T>;
 
 #endif    // PCL_SAMPLE_CONSENSUS_IMPL_LMEDS_H_
-