fix(euclidean_cluster): fix max_cluster_size bug (#7734)

badai-nguyen · web-flow · commit 376385771433 · 2024-07-03T11:31:44.000+09:00
Signed-off-by: badai-nguyen &lt;dai.nguyen@tier4.jp&gt;
diff --git 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(

Original file line number	Diff line number	Diff line change
`@@ -117,7 +117,7 @@ bool VoxelGridBasedEuclideanCluster::cluster(`
`117`	`117`	`voxel_grid_.getCentroidIndexAt(voxel_grid_.getGridCoordinates(point.x, point.y, point.z));`
`118`	`118`	`if (map.find(index) != map.end()) {`
`119`	`119`	`auto & cluster_data_size = clusters_data_size.at(map[index]);`
`120`		`- if (cluster_data_size + point_step > std::size_t(max_cluster_size_ * point_step)) {`
	`120`	`+ if (cluster_data_size > std::size_t(max_cluster_size_ * point_step)) {`
`121`	`121`	`continue;`
`122`	`122`	`}`
`123`	`123`	`std::memcpy(`