fix(autoware_image_projection_based_fusion): pointpainting bug fix fo…

…r point projection (#9150) fix: projected 2d point has 1.0 of depth Signed-off-by: Taekjin LEE <[email protected]>
autowarefoundation · Oct 25, 2024 · a633dea · a633dea
1 parent 3e0d3c7
commit a633dea
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp
@@ -350,7 +350,7 @@ dc   | dc dc dc  dc ||zc|
       sensor_msgs::msg::RegionOfInterest roi = feature_object.feature.roi;
       // paint current point if it is inside bbox
       int label2d = feature_object.object.classification.front().label;
-      if (!isUnknown(label2d) && isInsideBbox(projected_point.x(), projected_point.y(), roi, p_z)) {
+      if (!isUnknown(label2d) && isInsideBbox(projected_point.x(), projected_point.y(), roi, 1.0)) {
         // cppcheck-suppress invalidPointerCast
         auto p_class = reinterpret_cast<float *>(&output[stride + class_offset]);
         for (const auto & cls : isClassTable_) {