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ntnu-arl / gbplanner_ros

Graph-based Exploration Planner for Subterranean Environments
BSD 3-Clause "New" or "Revised" License
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Wrong subscript order in voxblox_alt_impl.cpp #20

Open SunZezhou opened 2 years ago

SunZezhou commented 2 years ago

Hello, Thank you very much for your work. When I was reading the code I noticed that the order of the subscript of starting_points in gbplanner_ros/planner_common/src/voxblox/voxblox_alt_impl.cpp seems to be written in reverse order.

The starting_points(height, width) is declared on line 569. But the subscript is starting_points(width, height), as shown below. It seems that the order of all starting_points in the file may need to be swapped.

assertion fail

In addition, I think the range of x should be [0, width - 1), instead of [0, width) (line 606). Otherwise starting_points(x + 1, y) will also encounter the problem of out-of-bounds, such as line 693. Please have a check.

Best, Zezhou

MihirDharmadhikari commented 2 years ago

Hi Zezhou,

I will look into this and get back to you.

Best, Mihir