From 3a546c6b26d6ac54b2f7641d67a6b8342e282591 Mon Sep 17 00:00:00 2001 From: MaximSmolskiy Date: Thu, 14 Aug 2025 17:40:01 +0300 Subject: [PATCH] Take into account LIDAR_HEIGHT parameter --- scancontext/include/scancontext/Scancontext.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scancontext/include/scancontext/Scancontext.cpp b/scancontext/include/scancontext/Scancontext.cpp index 0e874e1..bd321a5 100644 --- a/scancontext/include/scancontext/Scancontext.cpp +++ b/scancontext/include/scancontext/Scancontext.cpp @@ -146,7 +146,7 @@ MatrixXd SCManager::makeScancontext( Eigen::MatrixX3d & _scan_down ) const auto &point = _scan_down.row(idx); const auto &ptx = point(0); const auto &pty = point(1); - const auto &ptz = point(2); + const auto ptz = point(2) + LIDAR_HEIGHT; // xyz to ring, sector azim_range = sqrt(ptx * ptx + pty * pty);