fix(pointcloud_preprocessor): fix arrayIndexThenCheck warning (#7547)

veqcc · pre-commit-ci[bot] · web-flow · commit a91bfeb0d4f4 · 2024-06-21T18:10:05.000+09:00
* fix(pointcloud_preprocessor): fix arrayIndexThenCheck waarning

Signed-off-by: Ryuta Kambe &lt;ryuta.kambe@tier4.jp&gt;

* fix deleted_azimuths's index

Signed-off-by: Ryuta Kambe &lt;ryuta.kambe@tier4.jp&gt;

* style(pre-commit): autofix

* fix typo

Signed-off-by: Ryuta Kambe &lt;ryuta.kambe@tier4.jp&gt;

---------

Signed-off-by: Ryuta Kambe &lt;ryuta.kambe@tier4.jp&gt;
Co-authored-by: pre-commit-ci[bot] &lt;66853113+pre-commit-ci[bot]@users.noreply.github.com&gt;
diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/dual_return_outlier_filter_nodelet.cpp
@@ -231,10 +231,10 @@ void DualReturnOutlierFilterComponent::filter(
       if (deleted_azimuths.size() == 0) {
         continue;
       }
-      while ((uint)deleted_azimuths[current_deleted_index] <
+      while (current_deleted_index < deleted_azimuths.size() &&
+             (uint)deleted_azimuths[current_deleted_index] <
                ((i + static_cast<uint>(min_azimuth / horizontal_resolution) + 1) *
-                horizontal_resolution) &&
-             current_deleted_index < (deleted_azimuths.size() - 1)) {
+                horizontal_resolution)) {
         noise_frequency[i] = noise_frequency[i] + 1;
         current_deleted_index++;
       }

Original file line number	Diff line number	Diff line change
`@@ -231,10 +231,10 @@ void DualReturnOutlierFilterComponent::filter(`
`231`	`231`	`if (deleted_azimuths.size() == 0) {`
`232`	`232`	`continue;`
`233`	`233`	`}`
`234`		`- while ((uint)deleted_azimuths[current_deleted_index] <`
	`234`	`+ while (current_deleted_index < deleted_azimuths.size() &&`
	`235`	`+ (uint)deleted_azimuths[current_deleted_index] <`
`235`	`236`	`((i + static_cast<uint>(min_azimuth / horizontal_resolution) + 1) *`
`236`		`- horizontal_resolution) &&`
`237`		`- current_deleted_index < (deleted_azimuths.size() - 1)) {`
	`237`	`+ horizontal_resolution)) {`
`238`	`238`	`noise_frequency[i] = noise_frequency[i] + 1;`
`239`	`239`	`current_deleted_index++;`
`240`	`240`	`}`