diff --git a/src/laser_geometry.cpp b/src/laser_geometry.cpp
index fa9ea8c..2e2befe 100644
--- a/src/laser_geometry.cpp
+++ b/src/laser_geometry.cpp
@@ -424,7 +424,7 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
     for (size_t i = 0; i < n_pts; ++i)
     {
       //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];
 
@@ -515,7 +515,7 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
     //ensure that we use the correct timestamps
     channel_options |= channel_option::Index;
 
-    projectLaser_(scan_in, cloud_out, -1.0, channel_options);
+    projectLaser_(scan_in, cloud_out, range_cutoff, channel_options);
 
     //we'll assume no associated viewpoint by default
     bool has_viewpoint = false;