V1.0.36 fix bug in calculate point index

zhangyu-hesaitech · zhangyu-hesaitech · commit f180a1066564 · 2022-12-05T21:35:57.000+08:00
diff --git a/pandar_pointcloud/src/conversions/convert.cc b/pandar_pointcloud/src/conversions/convert.cc
@@ -1307,7 +1307,7 @@ void Convert::calcPointXYZIT(pandar_msgs::PandarPacket &packet, int cursor) {
         }
         else{
           pthread_mutex_lock(&m_RedundantPointLock);
-          if (fabs(point.timestamp - m_OutMsgArray[cursor]->points[point_index].timestamp) > 0.01)
+          if (point.timestamp - m_OutMsgArray[cursor]->points[point_index].timestamp  > 0.01 && point.timestamp - m_OutMsgArray[cursor]->points[point_index].timestamp  < 0.11)
 						m_RedundantPointBuffer.push_back(RedundantPoint{point_index, point});
           pthread_mutex_unlock(&m_RedundantPointLock);
         }
@@ -1484,7 +1484,7 @@ void Convert::calcQT128PointXYZIT(pandar_msgs::PandarPacket &packet, int cursor)
       }
       else{
         pthread_mutex_lock(&m_RedundantPointLock);
-        if (fabs(point.timestamp - m_OutMsgArray[cursor]->points[point_index].timestamp) > 0.01)
+        if (point.timestamp - m_OutMsgArray[cursor]->points[point_index].timestamp  > 0.01 && point.timestamp - m_OutMsgArray[cursor]->points[point_index].timestamp  < 0.11)
 						m_RedundantPointBuffer.push_back(RedundantPoint{point_index, point});
         pthread_mutex_unlock(&m_RedundantPointLock);
       }

Original file line number	Diff line number	Diff line change
`@@ -1307,7 +1307,7 @@ void Convert::calcPointXYZIT(pandar_msgs::PandarPacket &packet, int cursor) {`
`1307`	`1307`	`}`
`1308`	`1308`	`else{`
`1309`	`1309`	`pthread_mutex_lock(&m_RedundantPointLock);`
`1310`		`- if (fabs(point.timestamp - m_OutMsgArray[cursor]->points[point_index].timestamp) > 0.01)`
	`1310`	`+ if (point.timestamp - m_OutMsgArray[cursor]->points[point_index].timestamp > 0.01 && point.timestamp - m_OutMsgArray[cursor]->points[point_index].timestamp < 0.11)`
`1311`	`1311`	`m_RedundantPointBuffer.push_back(RedundantPoint{point_index, point});`
`1312`	`1312`	`pthread_mutex_unlock(&m_RedundantPointLock);`
`1313`	`1313`	`}`
`@@ -1484,7 +1484,7 @@ void Convert::calcQT128PointXYZIT(pandar_msgs::PandarPacket &packet, int cursor)`
`1484`	`1484`	`}`
`1485`	`1485`	`else{`
`1486`	`1486`	`pthread_mutex_lock(&m_RedundantPointLock);`
`1487`		`- if (fabs(point.timestamp - m_OutMsgArray[cursor]->points[point_index].timestamp) > 0.01)`
	`1487`	`+ if (point.timestamp - m_OutMsgArray[cursor]->points[point_index].timestamp > 0.01 && point.timestamp - m_OutMsgArray[cursor]->points[point_index].timestamp < 0.11)`
`1488`	`1488`	`m_RedundantPointBuffer.push_back(RedundantPoint{point_index, point});`
`1489`	`1489`	`pthread_mutex_unlock(&m_RedundantPointLock);`
`1490`	`1490`	`}`