From 6abaa2342d3c950b758abb8af9914bad33429c2e Mon Sep 17 00:00:00 2001 From: Shunsuke Miura Date: Mon, 1 Jul 2024 19:11:43 +0900 Subject: [PATCH 1/4] fix: bug Signed-off-by: Shunsuke Miura --- .../src/ransac_ground_filter_nodelet.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp index d7fa777dc58c9..73b6f223d267b 100644 --- a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp +++ b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp @@ -292,12 +292,13 @@ void RANSACGroundFilterComponent::filter( no_ground_cloud_msg_ptr->header = input->header; no_ground_cloud_msg_ptr->fields = input->fields; no_ground_cloud_msg_ptr->point_step = point_step; + no_ground_cloud_msg_ptr.data.resize(input->data.size()); size_t output_size = 0; // use not downsampled pointcloud for extract pointcloud that higher than height threshold for (size_t global_size = 0; global_size < input->data.size(); global_size += point_step) { - float x = *reinterpret_cast(input->data[global_size + x_offset]); - float y = *reinterpret_cast(input->data[global_size + y_offset]); - float z = *reinterpret_cast(input->data[global_size + z_offset]); + float x = *reinterpret_cast(&input->data[global_size + x_offset]); + float y = *reinterpret_cast(&input->data[global_size + y_offset]); + float z = *reinterpret_cast(&input->data[global_size + z_offset]); const Eigen::Vector3d transformed_point = plane_affine.inverse() * Eigen::Vector3d(x, y, z); if (std::abs(transformed_point.z()) > height_threshold_) { std::memcpy( From 4808c477600a8d2e233066bbd65f215e8c23a179 Mon Sep 17 00:00:00 2001 From: Shunsuke Miura Date: Mon, 1 Jul 2024 21:07:47 +0900 Subject: [PATCH 2/4] fix Signed-off-by: Shunsuke Miura --- .../ground_segmentation/src/ransac_ground_filter_nodelet.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp index 73b6f223d267b..aa224e7adc5bf 100644 --- a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp +++ b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp @@ -292,7 +292,7 @@ void RANSACGroundFilterComponent::filter( no_ground_cloud_msg_ptr->header = input->header; no_ground_cloud_msg_ptr->fields = input->fields; no_ground_cloud_msg_ptr->point_step = point_step; - no_ground_cloud_msg_ptr.data.resize(input->data.size()); + no_ground_cloud_msg_ptr->data.resize(input->data.size()); size_t output_size = 0; // use not downsampled pointcloud for extract pointcloud that higher than height threshold for (size_t global_size = 0; global_size < input->data.size(); global_size += point_step) { From 147ebc3fbae14e4cd7c5c0cd55e41d7b0904ef77 Mon Sep 17 00:00:00 2001 From: Shunsuke Miura Date: Tue, 2 Jul 2024 21:43:32 +0900 Subject: [PATCH 3/4] add exec dependency to tier4_perception_launch Signed-off-by: Shunsuke Miura --- launch/tier4_perception_launch/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 2d007ae8c5ff0..592c1ff28c0c5 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -15,6 +15,7 @@ cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator + elevation_map_loader detected_object_feature_remover detected_object_validation detection_by_tracker From 34b4d7734b3cdea9847fb175fdf29c1dd6090be5 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 2 Jul 2024 12:48:32 +0000 Subject: [PATCH 4/4] style(pre-commit): autofix --- launch/tier4_perception_launch/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index c4c66821e6a9d..57d4b209efeef 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -16,10 +16,10 @@ autoware_map_based_prediction cluster_merger compare_map_segmentation - elevation_map_loader detected_object_feature_remover detected_object_validation detection_by_tracker + elevation_map_loader euclidean_cluster ground_segmentation image_projection_based_fusion