Change the type of the buffer array

As the lidar sends distance with the type float, we have to store those datas in an array of float. The conversion from float to int return zeros which messed up the median filter. Signed-off-by: Thomas Bonnefille <[email protected]>
7Robot · Nov 6, 2023 · a6bdd09 · a6bdd09
1 parent db9ae73
commit a6bdd09
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/cluster_detector.cpp b/src/cluster_detector.cpp
@@ -18,7 +18,7 @@ void ClusterDetector::scan_callback(const sensor_msgs::msg::LaserScan msg){
     	return;
     } 
 
-    int val_list[2*NB_MEDIAN+1];
+    float val_list[2*NB_MEDIAN+1];
     int i,add, access_index, buffer_index;
     float buffer_val;
     for (i = 0; i<NB_POINT_SCAN; i++){this->points[i].cluster_id=-1;}
@@ -29,7 +29,7 @@ void ClusterDetector::scan_callback(const sensor_msgs::msg::LaserScan msg){
         for (add = -NB_MEDIAN; add <= NB_MEDIAN; add++){
             access_index = i + add;
 	    if (access_index < 0){access_index+=NB_POINT_SCAN;}
-	    if (access_index >= NB_POINT_SCAN){access_index-=NB_POINT_SCAN;}
+            else if (access_index >= NB_POINT_SCAN){access_index-=NB_POINT_SCAN;}
 	    val_list[NB_MEDIAN+add] = (msg.ranges[access_index] < 10) ? msg.ranges[access_index] : 30;
 	}