Potential minor bug in depth map projectection?

ZJU-FAST-Lab / ego-planner-swarm

An efficient single/multi-agent trajectory planner for multicopters.

GNU General Public License v3.0

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Potential minor bug in depth map projectection? #38

Closed zyayoung closed 1 year ago

zyayoung commented 1 year ago

Thanks for your great work!

https://github.com/ZJU-FAST-Lab/ego-planner-swarm/blob/8da8a01e7d01a9977306aaf2922cf85a1a3de71e/src/planner/plan_env/src/grid_map.cpp#L275-L285

To the best of my understanding, the code here (L282-L285) should function as if (depth == 0) depth = mp_.max_ray_length_ + 0.1;. However, the pointer row_ptr is incremented in L276 so (*row_ptr) gets the depth of the next pixel.

I'm wondering if this is a design choice or an implementation issue. Thanks!

bigsuperZZZX commented 1 year ago

L284 will never function. It's just an implementation issue.