DuongTD/laser_geometry
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Treat max_range as invalid measurement

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The stage simulator and the legacy projectLaser_ method
for sensor_msgs::PointCloud treat the max_range/range_cutoff
value as invalid, and so should the projector for
sensors_msgs::PointCloud2.
This commit is contained in:
Timo Röhling 2013-10-25 11:26:21 +02:00
parent 959c8df64f
commit 784a37caf7
1 changed files with 1 additions and 1 deletions
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2
src/laser_geometry.cpp
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@ -424,7 +424,7 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
for (size_t i = 0; i < n_pts; ++i) for (size_t i = 0; i < n_pts; ++i)
{ {
//check to see if we want to keep the point //check to see if we want to keep the point
if (scan_in.ranges[i] <= range_cutoff && scan_in.ranges[i] >= scan_in.range_min) if (scan_in.ranges[i] < range_cutoff && scan_in.ranges[i] >= scan_in.range_min)
{ {
float *pstep = (float*)&cloud_out.data[count * cloud_out.point_step]; float *pstep = (float*)&cloud_out.data[count * cloud_out.point_step];