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fix(ground_segmentation): fix bug #7771

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merged 5 commits into from
Jul 3, 2024
Merged

fix(ground_segmentation): fix bug #7771

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6abaa23
fix: bug
miursh Jul 1, 2024
4808c47
fix
miursh Jul 1, 2024
147ebc3
add exec dependency to tier4_perception_launch
miursh Jul 2, 2024
e6fb179
Merge branch 'main' into fix/bug_in_ransac
miursh Jul 2, 2024
34b4d77
style(pre-commit): autofix
pre-commit-ci[bot] Jul 2, 2024
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1 change: 1 addition & 0 deletions launch/tier4_perception_launch/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
<exec_depend>detected_object_feature_remover</exec_depend>
<exec_depend>detected_object_validation</exec_depend>
<exec_depend>detection_by_tracker</exec_depend>
<exec_depend>elevation_map_loader</exec_depend>
<exec_depend>euclidean_cluster</exec_depend>
<exec_depend>ground_segmentation</exec_depend>
<exec_depend>image_projection_based_fusion</exec_depend>
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7 changes: 4 additions & 3 deletions perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp
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Expand Up @@ -292,12 +292,13 @@
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<float *>(input->data[global_size + x_offset]);
float y = *reinterpret_cast<float *>(input->data[global_size + y_offset]);
float z = *reinterpret_cast<float *>(input->data[global_size + z_offset]);
float x = *reinterpret_cast<const float *>(&input->data[global_size + x_offset]);
float y = *reinterpret_cast<const float *>(&input->data[global_size + y_offset]);
float z = *reinterpret_cast<const float *>(&input->data[global_size + z_offset]);

Check warning on line 301 in perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Large Method 

RANSACGroundFilterComponent::filter increases from 93 to 94 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.

Check warning on line 301 in perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp

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Codecov / codecov/patch

perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp#L300-L301 

Added lines #L300 - L301 were not covered by tests
const Eigen::Vector3d transformed_point = plane_affine.inverse() * Eigen::Vector3d(x, y, z);
if (std::abs(transformed_point.z()) > height_threshold_) {
std::memcpy(
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