Fix lambda captures in localization_verifier
There's a reason the style guide says to explicitly list lambda
captures...
Change-Id: I951677147a51f7aefc6a96ad9f811fd7f8d760d9
Signed-off-by: James Kuszmaul <jabukuszmaul@gmail.com>
diff --git a/y2023/vision/localization_verifier.cc b/y2023/vision/localization_verifier.cc
index a85ca05..3b366fa 100644
--- a/y2023/vision/localization_verifier.cc
+++ b/y2023/vision/localization_verifier.cc
@@ -58,6 +58,9 @@
H_field_robot * H_robot_camera * H_camera_target;
LOG(INFO) << "Field to target " << target_pose->id();
+ LOG(INFO) << "H_field_robot " << H_field_robot;
+ LOG(INFO) << "H_robot_camera " << H_robot_camera;
+ LOG(INFO) << "H_camera_target " << H_camera_target;
LOG(INFO) << "Transform: " << H_field_target;
LOG(INFO) << "Translation: "
<< Eigen::Affine3d(H_field_target).translation();
@@ -87,11 +90,11 @@
const std::string_view pi_name =
camera->calibration()->node_name()->string_view();
event_loop.MakeWatcher(absl::StrCat("/", pi_name, "/camera"),
- [&](const frc971::vision::TargetMap &target_map) {
+ [H_robot_camera, &localizer_fetcher](
+ const frc971::vision::TargetMap &target_map) {
HandleDetections(target_map, H_robot_camera,
&localizer_fetcher);
});
-
}
event_loop.Run();
}