fix: fixed the offset of the output buffer in the kernel

knzo25 · knzo25 · commit d0ea5f0ae60b · 2024-06-03T15:52:08.000+09:00
Signed-off-by: Kenzo Lobos-Tsunekawa &lt;kenzo.lobos@tier4.jp&gt;
diff --git a/perception/lidar_centerpoint/lib/preprocess/voxel_generator.cpp b/perception/lidar_centerpoint/lib/preprocess/voxel_generator.cpp
@@ -69,8 +69,8 @@ std::size_t VoxelGenerator::generateSweepPoints(float * points_d, cudaStream_t s
 
     generateSweepPoints_launch(
       pc_cache_iter->points_d.get(), sweep_num_points, point_step / sizeof(float), time_lag,
-      affine_past2current.matrix().data(), config_.point_feature_size_, points_d + point_counter,
-      stream);
+      affine_past2current.matrix().data(), config_.point_feature_size_,
+      points_d + config_.point_feature_size_ * point_counter, stream);
 
     point_counter += sweep_num_points;
   }

Original file line number	Diff line number	Diff line change
`@@ -69,8 +69,8 @@ std::size_t VoxelGenerator::generateSweepPoints(float * points_d, cudaStream_t s`
`69`	`69`
`70`	`70`	`generateSweepPoints_launch(`
`71`	`71`	`pc_cache_iter->points_d.get(), sweep_num_points, point_step / sizeof(float), time_lag,`
`72`		`- affine_past2current.matrix().data(), config_.point_feature_size_, points_d + point_counter,`
`73`		`- stream);`
	`72`	`+ affine_past2current.matrix().data(), config_.point_feature_size_,`
	`73`	`+ points_d + config_.point_feature_size_ * point_counter, stream);`
`74`	`74`
`75`	`75`	`point_counter += sweep_num_points;`
`76`	`76`	`}`