fix(ceres_intrinsic_camera_calibrator): remove cond statement for coe…

…ffs regularization block Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp>
tier4 · Jan 31, 2025 · 3c41206 · 3c41206
1 parent 2ea83e3
commit 3c41206
Showing 1 changed file with 8 additions and 10 deletions.
diff --git a/...ra_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_camera_intrinsics_optimizer.cpp b/...ra_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_camera_intrinsics_optimizer.cpp
@@ -373,16 +373,14 @@ void CeresCameraIntrinsicsOptimizer::solve()
     }
   }
 
-  if (coeffs_regularization_weight_ > 0.0) {
-    problem.AddResidualBlock(
-      DistortionCoefficientsResidual::createResidual(
-        radial_distortion_coefficients_, use_tangential_distortion_,
-        rational_distortion_coefficients_),
-      new ceres::ScaledLoss(
-        nullptr, coeffs_regularization_weight_ * object_points_.size(),
-        ceres::TAKE_OWNERSHIP),  // L2
-      intrinsics_placeholder_.data());
-  }
+  problem.AddResidualBlock(
+    DistortionCoefficientsResidual::createResidual(
+      radial_distortion_coefficients_, use_tangential_distortion_,
+      rational_distortion_coefficients_),
+    new ceres::ScaledLoss(
+      nullptr, coeffs_regularization_weight_ * object_points_.size(),
+      ceres::TAKE_OWNERSHIP),  // L2
+    intrinsics_placeholder_.data());
 
   if (fov_regularization_weight_ > 0.0) {
     problem.AddResidualBlock(