From fa4cf3429d98e96f23c6500a0c907b5320a01a42 Mon Sep 17 00:00:00 2001 From: maoxiang1991 <34206042+maoxiang1991@users.noreply.github.com> Date: Mon, 10 Apr 2023 15:09:17 +0800 Subject: [PATCH] fix bug: blind param not work --- src/preprocess.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/preprocess.cpp b/src/preprocess.cpp index 490fb45..2bce047 100644 --- a/src/preprocess.cpp +++ b/src/preprocess.cpp @@ -169,9 +169,9 @@ void Preprocess::avia_handler(const livox_ros_driver::CustomMsg::ConstPtr &msg) pl_full[i].intensity = msg->points[i].reflectivity; pl_full[i].curvature = msg->points[i].offset_time / float(1000000); // use curvature as time of each laser points, curvature unit: ms - if((abs(pl_full[i].x - pl_full[i-1].x) > 1e-7) + if(((abs(pl_full[i].x - pl_full[i-1].x) > 1e-7) || (abs(pl_full[i].y - pl_full[i-1].y) > 1e-7) - || (abs(pl_full[i].z - pl_full[i-1].z) > 1e-7) + || (abs(pl_full[i].z - pl_full[i-1].z) > 1e-7)) && (pl_full[i].x * pl_full[i].x + pl_full[i].y * pl_full[i].y + pl_full[i].z * pl_full[i].z > (blind * blind))) { pl_surf.push_back(pl_full[i]);