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fix bug: blind param not work

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maoxiang1991 2023-04-10 15:09:17 +08:00 committed by GitHub
parent 02d022e316
commit fa4cf3429d
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1 changed files with 2 additions and 2 deletions
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4
src/preprocess.cpp
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@ -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].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 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].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_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]); pl_surf.push_back(pl_full[i]);