From 376385771433b25dd411188b31ae640a4e437988 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 3 Jul 2024 11:31:44 +0900 Subject: [PATCH] fix(euclidean_cluster): fix max_cluster_size bug (#7734) Signed-off-by: badai-nguyen --- .../lib/voxel_grid_based_euclidean_cluster.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp b/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp index 34c52bb7836b8..126f877afddb0 100644 --- a/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp +++ b/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp @@ -117,7 +117,7 @@ bool VoxelGridBasedEuclideanCluster::cluster( voxel_grid_.getCentroidIndexAt(voxel_grid_.getGridCoordinates(point.x, point.y, point.z)); if (map.find(index) != map.end()) { auto & cluster_data_size = clusters_data_size.at(map[index]); - if (cluster_data_size + point_step > std::size_t(max_cluster_size_ * point_step)) { + if (cluster_data_size > std::size_t(max_cluster_size_ * point_step)) { continue; } std::memcpy(