fix(scan_ground_filter): fix segmentation fault (#1503)

* feat(scan_ground_filter): fix segfault Signed-off-by: Shunsuke Miura <[email protected]> * change using sentence Signed-off-by: Shunsuke Miura <[email protected]> * fix Signed-off-by: Shunsuke Miura <[email protected]> * remove unused code Signed-off-by: Shunsuke Miura <[email protected]>
tier4 · Aug 3, 2022 · 7af412e · 7af412e
1 parent b4492a9
commit 7af412e
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp
@@ -29,6 +29,7 @@ namespace ground_segmentation
 using pointcloud_preprocessor::get_param;
 using tier4_autoware_utils::calcDistance3d;
 using tier4_autoware_utils::deg2rad;
+using tier4_autoware_utils::normalizeDegree;
 using tier4_autoware_utils::normalizeRadian;
 using vehicle_info_util::VehicleInfoUtil;
 
@@ -87,7 +88,8 @@ void ScanGroundFilterComponent::convertPointcloud(
   for (size_t i = 0; i < in_cloud->points.size(); ++i) {
     auto radius{static_cast<float>(std::hypot(in_cloud->points[i].x, in_cloud->points[i].y))};
     auto theta{normalizeRadian(std::atan2(in_cloud->points[i].x, in_cloud->points[i].y), 0.0)};
-    auto radial_div{static_cast<size_t>(std::floor(theta / radial_divider_angle_rad_))};
+    auto radial_div{
+      static_cast<size_t>(std::floor(normalizeDegree(theta / radial_divider_angle_rad_, 0.0)))};
 
     current_point.radius = radius;
     current_point.theta = theta;