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perception/compare_map_segmentation/src/voxel_grid_map_loader.cpp

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@@ -242,7 +242,9 @@ bool VoxelGridMapLoader::is_in_voxel(
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const double dist_y = map->points.at(voxel_index).y - target_point.y;
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const double dist_z = map->points.at(voxel_index).z - target_point.z - 0.1;
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// check if the point is inside the distance threshold voxel
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if(std::abs(dist_x) < distance_threshold && std::abs(dist_y) < distance_threshold && std::abs(dist_z) < distance_threshold * downsize_ratio_z_axis_){
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if (
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std::abs(dist_x) < distance_threshold && std::abs(dist_y) < distance_threshold &&
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std::abs(dist_z) < distance_threshold * downsize_ratio_z_axis_) {
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return true;
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}
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}

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