fix(euclidean_cluster): fix max_cluster_size bug (autowarefoundation#…

…7734) Signed-off-by: badai-nguyen <[email protected]>
Ariiees · Jul 22, 2024 · 5e04dae · 5e04dae
1 parent f58af9e
commit 5e04dae
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp b/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp
@@ -117,7 +117,7 @@ bool VoxelGridBasedEuclideanCluster::cluster(
       voxel_grid_.getCentroidIndexAt(voxel_grid_.getGridCoordinates(point.x, point.y, point.z));
     if (map.find(index) != map.end()) {
       auto & cluster_data_size = clusters_data_size.at(map[index]);
-      if (cluster_data_size + point_step > std::size_t(max_cluster_size_ * point_step)) {
+      if (cluster_data_size > std::size_t(max_cluster_size_ * point_step)) {
         continue;
       }
       std::memcpy(