From 3d17861ccd98f3c8a58c82a12a54e764c83f84b4 Mon Sep 17 00:00:00 2001
From: Calvin Miao <jhmiao@gmail.com>
Date: Thu, 31 Jan 2019 13:41:47 -0800
Subject: [PATCH] Revert "perception: refactor WriteCalibrationOutput method
 (#6654)" (#6701)

This reverts commit 60dd9ffa920e1cf64c80e5f2d9c92ec60722c275.
---
 modules/perception/camera/app/debug_info.cc              | 6 ------
 .../perception/camera/app/obstacle_camera_perception.cc  | 8 ++------
 modules/planning/common/indexed_list.h                   | 9 +++++----
 3 files changed, 7 insertions(+), 16 deletions(-)

diff --git a/modules/perception/camera/app/debug_info.cc b/modules/perception/camera/app/debug_info.cc
index b840066290..40fc37700a 100644
--- a/modules/perception/camera/app/debug_info.cc
+++ b/modules/perception/camera/app/debug_info.cc
@@ -316,16 +316,10 @@ int WriteCalibrationOutput(bool enable,
                                           &camera_ground_height,
                                           &pitch_angle);
   FILE *file_save = fopen(out_path.data(), "wt");
-  if (file_save == nullptr) {
-    AERROR << "Failed to open calibration output file: " << out_path.data();
-    return -1;
-  }
-
   fprintf(file_save, "camera_ground_height:\t%f\n",
     camera_ground_height);
   fprintf(file_save, "pitch_angle:\t%f\n",
     pitch_angle);
-
   fclose(file_save);
   return 0;
 }
diff --git a/modules/perception/camera/app/obstacle_camera_perception.cc b/modules/perception/camera/app/obstacle_camera_perception.cc
index 581c0def08..3247ac9549 100644
--- a/modules/perception/camera/app/obstacle_camera_perception.cc
+++ b/modules/perception/camera/app/obstacle_camera_perception.cc
@@ -341,13 +341,9 @@ bool ObstacleCameraPerception::Perception(
   std::string save_calibration_path =
       perception_param_.debug_param().calibration_out_dir()
       + "/" + std::to_string(frame->frame_id) + ".txt";
-
-  if (WriteCalibrationOutput(perception_param_.has_debug_param() &&
+  WriteCalibrationOutput(perception_param_.has_debug_param() &&
       perception_param_.debug_param().has_calibration_out_dir(),
-      save_calibration_path, frame) < 0) {
-    AERROR << "Failed to write calibration output.";
-    return false;
-  }
+      save_calibration_path, frame);
 
   // obstacle
   if (!tracker_->Predict(tracker_options, frame)) {
diff --git a/modules/planning/common/indexed_list.h b/modules/planning/common/indexed_list.h
index 3ee357a680..18105b71ba 100644
--- a/modules/planning/common/indexed_list.h
+++ b/modules/planning/common/indexed_list.h
@@ -48,11 +48,12 @@ class IndexedList {
       AWARN << "object " << id << " is already in container";
       *obs = object;
       return obs;
+    } else {
+      object_dict_.insert({id, object});
+      auto* ptr = &object_dict_.at(id);
+      object_list_.push_back(ptr);
+      return ptr;
     }
-    object_dict_.insert({id, object});
-    auto* ptr = &object_dict_.at(id);
-    object_list_.push_back(ptr);
-    return ptr;
   }
 
   /**
-- 
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