fix(ceres_intrinsic_camera_calibrator): use ceres min and max

Signed-off-by: Amadeusz Szymko <[email protected]>
tier4 · Feb 13, 2025 · cd41b4c · cd41b4c
1 parent 48111de
commit cd41b4c
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/...es_intrinsic_camera_calibrator/include/ceres_intrinsic_camera_calibrator/fov_residual.hpp b/...es_intrinsic_camera_calibrator/include/ceres_intrinsic_camera_calibrator/fov_residual.hpp
@@ -126,9 +126,9 @@ struct FOVResidual
     T height_t = T(height_);
 
     if (u >= T(0.0) && u <= width_t - T(1.0) && v >= T(0.0) && v <= height_t - T(1.0)) {
-      T closest_u = std::min(u, width_t - u - T(1.0)) / (std::max(height_t, width_t) - T(1.0));
-      T closest_v = std::min(v, height_t - v - T(1.0)) / (std::max(height_t, width_t) - T(1.0));
-      return std::min(closest_u, closest_v);
+      T closest_u = ceres::fmin(u, width_t - u - T(1.0)) / (ceres::fmax(height_t, width_t) - T(1.0));
+      T closest_v = ceres::fmin(v, height_t - v - T(1.0)) / (ceres::fmax(height_t, width_t) - T(1.0));
+      return ceres::fmin(closest_u, closest_v);
     }
     return T(0.0);
   }