fix(compare_map_segmentation): keep low level pointcloud

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
autowarefoundation · Jul 11, 2023 · eb07f95 · eb07f95
1 parent 3ae0b00
commit eb07f95
Showing 1 changed file with 0 additions and 50 deletions.
diff --git a/perception/compare_map_segmentation/src/voxel_grid_map_loader.cpp b/perception/compare_map_segmentation/src/voxel_grid_map_loader.cpp
@@ -76,11 +76,6 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels(
         pcl::PointXYZ(point.x, point.y, point.z), point, distance_threshold, map, voxel)) {
     return true;
   }
-  if (is_in_voxel(
-        pcl::PointXYZ(point.x, point.y - distance_threshold, point.z - distance_threshold), point,
-        distance_threshold, map, voxel)) {
-    return true;
-  }
   if (is_in_voxel(
         pcl::PointXYZ(point.x, point.y - distance_threshold, point.z), point, distance_threshold,
         map, voxel)) {
@@ -91,21 +86,11 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels(
         distance_threshold, map, voxel)) {
     return true;
   }
-  if (is_in_voxel(
-        pcl::PointXYZ(point.x, point.y, point.z - distance_threshold), point, distance_threshold,
-        map, voxel)) {
-    return true;
-  }
   if (is_in_voxel(
         pcl::PointXYZ(point.x, point.y, point.z + distance_threshold), point, distance_threshold,
         map, voxel)) {
     return true;
   }
-  if (is_in_voxel(
-        pcl::PointXYZ(point.x, point.y + distance_threshold, point.z - distance_threshold), point,
-        distance_threshold, map, voxel)) {
-    return true;
-  }
   if (is_in_voxel(
         pcl::PointXYZ(point.x, point.y + distance_threshold, point.z), point, distance_threshold,
         map, voxel)) {
@@ -116,13 +101,6 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels(
         distance_threshold, map, voxel)) {
     return true;
   }
-
-  if (is_in_voxel(
-        pcl::PointXYZ(
-          point.x - distance_threshold, point.y - distance_threshold, point.z - distance_threshold),
-        point, distance_threshold, map, voxel)) {
-    return true;
-  }
   if (is_in_voxel(
         pcl::PointXYZ(point.x - distance_threshold, point.y - distance_threshold, point.z), point,
         distance_threshold, map, voxel)) {
@@ -134,11 +112,6 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels(
         point, distance_threshold, map, voxel)) {
     return true;
   }
-  if (is_in_voxel(
-        pcl::PointXYZ(point.x - distance_threshold, point.y, point.z - distance_threshold), point,
-        distance_threshold, map, voxel)) {
-    return true;
-  }
   if (is_in_voxel(
         pcl::PointXYZ(point.x - distance_threshold, point.y, point.z), point, distance_threshold,
         map, voxel)) {
@@ -149,12 +122,6 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels(
         distance_threshold, map, voxel)) {
     return true;
   }
-  if (is_in_voxel(
-        pcl::PointXYZ(
-          point.x - distance_threshold, point.y + distance_threshold, point.z - distance_threshold),
-        point, distance_threshold, map, voxel)) {
-    return true;
-  }
   if (is_in_voxel(
         pcl::PointXYZ(point.x - distance_threshold, point.y + distance_threshold, point.z), point,
         distance_threshold, map, voxel)) {
@@ -167,12 +134,6 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels(
     return true;
   }
 
-  if (is_in_voxel(
-        pcl::PointXYZ(
-          point.x + distance_threshold, point.y - distance_threshold, point.z - distance_threshold),
-        point, distance_threshold, map, voxel)) {
-    return true;
-  }
   if (is_in_voxel(
         pcl::PointXYZ(point.x + distance_threshold, point.y - distance_threshold, point.z), point,
         distance_threshold, map, voxel)) {
@@ -184,11 +145,6 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels(
         point, distance_threshold, map, voxel)) {
     return true;
   }
-  if (is_in_voxel(
-        pcl::PointXYZ(point.x + distance_threshold, point.y, point.z - distance_threshold), point,
-        distance_threshold, map, voxel)) {
-    return true;
-  }
   if (is_in_voxel(
         pcl::PointXYZ(point.x + distance_threshold, point.y, point.z), point, distance_threshold,
         map, voxel)) {
@@ -199,12 +155,6 @@ bool VoxelGridMapLoader::is_close_to_neighbor_voxels(
         distance_threshold, map, voxel)) {
     return true;
   }
-  if (is_in_voxel(
-        pcl::PointXYZ(
-          point.x + distance_threshold, point.y + distance_threshold, point.z - distance_threshold),
-        point, distance_threshold, map, voxel)) {
-    return true;
-  }
   if (is_in_voxel(
         pcl::PointXYZ(point.x + distance_threshold, point.y + distance_threshold, point.z), point,
         distance_threshold, map, voxel)) {