Is there a mistake in patchwork.hpp????

LimHyungTae / patchwork

SOTA fast and robust ground segmentation using 3D point cloud (accepted in RA-L'21 w/ IROS'21)

MIT License

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Closed dutwjw closed 2 years ago

dutwjw commented 2 years ago

Line 439 if (ground_z_elevation > elevation_thr_[ring_idx + 2 * k]) {

is index 'ring_idx + 2k' wrong ? the size of elevationthr is 4. So, ' ring_idx + 2k' may be large than 4. Can you explain it?

LimHyungTae commented 2 years ago

Hello there, sorry for the late reply due to my paperwork!

But it is previously checked in if (concentric_idx < num_rings_of_interest_) { condition. Please print ring_idx + 2 * k out :)