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Fix missing clusters split while jumping back #59

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Fix missing clusters split while jumping back #59

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cb74e07
Fix missing clusters split while jumping back
HaoQChen May 7, 2018
aab9bd2
Improve result of pairing up legs with no id.
HaoQChen May 8, 2018
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2 changes: 1 addition & 1 deletion leg_detector/src/laser_processor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -255,7 +255,7 @@ ScanProcessor::splitConnected(float thresh)
while ((s_rest != (*c_iter)->end() &&
(*s_rest)->index < (*s_q)->index + expand))
{
if ((*s_rest)->range - (*s_q)->range > thresh)
if (std::abs((*s_rest)->range - (*s_q)->range) > thresh)
{
break;
}
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6 changes: 3 additions & 3 deletions leg_detector/src/leg_detector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -647,16 +647,16 @@ class LegDetector
|| (*leg1)->getReliability() < leg_reliability_limit_)
continue;

for (leg2 = begin; leg2 != end; ++leg2)
for (leg2 = leg1,leg2++; leg2 != end; ++leg2)
{
if (((*leg2)->object_id != "")
|| ((*leg2)->getReliability() < leg_reliability_limit_)
|| (leg1 == leg2)) continue;
|| ((*leg2)->getReliability() < leg_reliability_limit_)) continue;
double d = distance(leg1, leg2);
if (d < closest_dist)
{
best1 = leg1;
best2 = leg2;
closest_dist = d;
}
}
}
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