Commit a1ec64c 1 parent 44b25d3 commit a1ec64c Copy full SHA for a1ec64c
File tree 1 file changed +6
-4
lines changed
sensing/pointcloud_preprocessor/src/blockage_diag
1 file changed +6
-4
lines changed Original file line number Diff line number Diff line change @@ -255,9 +255,11 @@ void BlockageDiagComponent::filter(
255
255
256
256
if (ground_blockage_ratio_ > blockage_ratio_threshold_) {
257
257
cv::Rect ground_blockage_bb = cv::boundingRect (ground_no_return_mask);
258
- ground_blockage_range_deg_[0 ] = static_cast <float >(ground_blockage_bb.x ) + angle_range_deg_[0 ];
258
+ ground_blockage_range_deg_[0 ] =
259
+ ground_blockage_bb.x * horizontal_resolution_ + angle_range_deg_[0 ];
259
260
ground_blockage_range_deg_[1 ] =
260
- static_cast <float >(ground_blockage_bb.x + ground_blockage_bb.width ) + angle_range_deg_[0 ];
261
+ (ground_blockage_bb.x + ground_blockage_bb.width ) * horizontal_resolution_ +
262
+ angle_range_deg_[0 ];
261
263
if (ground_blockage_count_ <= 2 * blockage_count_threshold_) {
262
264
ground_blockage_count_ += 1 ;
263
265
}
@@ -266,9 +268,9 @@ void BlockageDiagComponent::filter(
266
268
}
267
269
if (sky_blockage_ratio_ > blockage_ratio_threshold_) {
268
270
cv::Rect sky_blockage_bx = cv::boundingRect (sky_no_return_mask);
269
- sky_blockage_range_deg_[0 ] = static_cast < float >( sky_blockage_bx.x ) + angle_range_deg_[0 ];
271
+ sky_blockage_range_deg_[0 ] = sky_blockage_bx.x * horizontal_resolution_ + angle_range_deg_[0 ];
270
272
sky_blockage_range_deg_[1 ] =
271
- static_cast < float > (sky_blockage_bx.x + sky_blockage_bx.width ) + angle_range_deg_[0 ];
273
+ (sky_blockage_bx.x + sky_blockage_bx.width ) * horizontal_resolution_ + angle_range_deg_[0 ];
272
274
if (sky_blockage_count_ <= 2 * blockage_count_threshold_) {
273
275
sky_blockage_count_ += 1 ;
274
276
}
You can’t perform that action at this time.
0 commit comments