-
Notifications
You must be signed in to change notification settings - Fork 640
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
fix(euclidean_cluster): fix euclidean cluster params #7662
Merged
badai-nguyen
merged 9 commits into
autowarefoundation:main
from
beginningfan:fix/euclidean-cluster-params
Jul 1, 2024
Merged
Changes from 7 commits
Commits
Show all changes
9 commits
Select commit
Hold shift + click to select a range
bf0b1f6
fix(euclidean_cluster): fix max and min cluster size
beginningfan 1f9f177
Merge branch 'autowarefoundation:main' into fix/euclidean-cluster-params
beginningfan 857d378
Merge branch 'autowarefoundation:main' into fix/euclidean-cluster-params
beginningfan 4c732e5
fix(gnss_poser): fix a typo
beginningfan 51dc439
Merge branch 'autowarefoundation:main' into fix/euclidean-cluster-params
beginningfan 3ae673b
fix(euclidean_cluster): fix min cluster size
beginningfan 8810607
style(pre-commit): autofix
pre-commit-ci[bot] dca31f0
Merge branch 'autowarefoundation:main' into fix/euclidean-cluster-params
beginningfan 69483aa
Merge branch 'autowarefoundation:main' into fix/euclidean-cluster-params
beginningfan File filter
Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
@beginningfan I agree with you.
However, I think decide that the max size of output cluster (
cluster_data_size
) to be doubled of temporary_cluster is not reasonable. (runtime_error might be occurred here for some high dense pointcloud)Or we can increment
cluster_data_size
and check it repeatedly.There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Here is a
for loop
that reallocates twice the space every time the space is full. When the space is full, it will twice the space again.I have tested using a ouster64, and the dense pointcloud is sometimes 50 times larger than the downsampled one. Even so, enough space can be allocated quickly.If you use
max_cluster_size_
, it might as well just use the original code. If we add 10 points each time, this will result in multiple copies of the vector data.There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
@beginningfan I understood. I have checked and it worked well. Thank you for your improvement.