fix(scan_ground_filter): intensity bug fix

badai-nguyen · badai-nguyen · commit c75c92af00eb · 2024-04-23T17:54:33.000+09:00
Signed-off-by: badai-nguyen &lt;dai.nguyen@tier4.jp&gt;
diff --git a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp
@@ -581,8 +581,6 @@ void ScanGroundFilterComponent::extractObjectPoints(
     std::memcpy(
       &out_object_cloud.data[output_data_size], &in_cloud_ptr->data[i * in_cloud_ptr->point_step],
       in_cloud_ptr->point_step * sizeof(uint8_t));
-    *reinterpret_cast<float *>(&out_object_cloud.data[output_data_size + intensity_offset_]) =
-      1;  // set intensity to 1
     output_data_size += in_cloud_ptr->point_step;
   }
 }

Original file line number	Diff line number	Diff line change
`@@ -581,8 +581,6 @@ void ScanGroundFilterComponent::extractObjectPoints(`
`581`	`581`	`std::memcpy(`
`582`	`582`	`&out_object_cloud.data[output_data_size], &in_cloud_ptr->data[i * in_cloud_ptr->point_step],`
`583`	`583`	`in_cloud_ptr->point_step * sizeof(uint8_t));`
`584`		`- reinterpret_cast<float >(&out_object_cloud.data[output_data_size + intensity_offset_]) =`
`585`		`- 1; // set intensity to 1`
`586`	`584`	`output_data_size += in_cloud_ptr->point_step;`
`587`	`585`	`}`
`588`	`586`	`}`