From 17a3393694f4e442f27c4a899f6e999be9e959c8 Mon Sep 17 00:00:00 2001
From: scturtle <scturtle@gmail.com>
Date: Thu, 24 Nov 2016 22:16:35 +0800
Subject: [PATCH] Fix `to_remove`. (#143)

---
 cartographer/io/outlier_removing_points_processor.cc | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/cartographer/io/outlier_removing_points_processor.cc b/cartographer/io/outlier_removing_points_processor.cc
index 8a038e0..72481c2 100644
--- a/cartographer/io/outlier_removing_points_processor.cc
+++ b/cartographer/io/outlier_removing_points_processor.cc
@@ -109,7 +109,9 @@ void OutlierRemovingPointsProcessor::ProcessInPhaseThree(
   std::vector<int> to_remove;
   for (size_t i = 0; i < batch->points.size(); ++i) {
     const auto voxel = voxels_.value(voxels_.GetCellIndex(batch->points[i]));
-    to_remove.push_back(!(voxel.rays < kMissPerHitLimit * voxel.hits));
+    if (!(voxel.rays < kMissPerHitLimit * voxel.hits)) {
+      to_remove.push_back(i);
+    }
   }
   RemovePoints(to_remove, batch.get());
   next_->Process(std::move(batch));