fix(velodyne): reset pointcloud incl. width/height, not just points b…

…uffer Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>
tier4 · Nov 5, 2024 · 96b216e · 96b216e
1 parent 18af521
commit 96b216e
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Showing 3 changed files with 3 additions and 5 deletions.
diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
@@ -89,7 +89,7 @@ int Vlp16Decoder::pointsPerPacket()
 
 void Vlp16Decoder::reset_pointcloud(size_t n_pts, double time_stamp)
 {
-  scan_pc_->points.clear();
+  scan_pc_->clear();
   max_pts_ = n_pts * pointsPerPacket();
   scan_pc_->points.reserve(max_pts_);
   reset_overflow(time_stamp);  // transfer existing overflow points to the cleared pointcloud

diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
@@ -87,8 +87,7 @@ int Vlp32Decoder::pointsPerPacket()
 
 void Vlp32Decoder::reset_pointcloud(size_t n_pts, double time_stamp)
 {
-  //  scan_pc_.reset(new NebulaPointCloud);
-  scan_pc_->points.clear();
+  scan_pc_->clear();
   max_pts_ = n_pts * pointsPerPacket();
   scan_pc_->points.reserve(max_pts_);
   reset_overflow(time_stamp);  // transfer existing overflow points to the cleared pointcloud

diff --git a/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp b/nebula_decoders/src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
@@ -89,8 +89,7 @@ int Vls128Decoder::pointsPerPacket()
 
 void Vls128Decoder::reset_pointcloud(size_t n_pts, double time_stamp)
 {
-  //  scan_pc_.reset(new NebulaPointCloud);
-  scan_pc_->points.clear();
+  scan_pc_->clear();
   max_pts_ = n_pts * pointsPerPacket();
   scan_pc_->points.reserve(max_pts_);
   reset_overflow(time_stamp);  // transfer existing overflow points to the cleared pointcloud