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Merged
S1ink merged 2 commits into from
Jan 31, 2026
Merged

weekly sync #75

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bd38c18
found the actual issue with preproc
S1ink Jan 21, 2026
d637b5c
Bump project version to 0.7.1
S1ink Jan 31, 2026
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.14)
project(cardinal_perception VERSION 0.7.0)
project(cardinal_perception VERSION 0.7.1)

# --- Dependencies -------------------------------------------------------------
find_package(rosidl_default_generators REQUIRED)
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33 changes: 18 additions & 15 deletions include/modules/scan_preprocessor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -379,6 +379,7 @@ int ScanPreprocessor<P, S, R, T>::filterPoints(const PointCloudMsg& scan)

// check validity
if (in_pt.getArray3fMap().isNaN().any() ||
in_pt.getArray3fMap().isInf().any() ||
in_pt.getVector3fMap().isZero())
{
// zero output and add indices if null
Expand All @@ -388,20 +389,20 @@ int ScanPreprocessor<P, S, R, T>::filterPoints(const PointCloudMsg& scan)
continue;
}

bool out_was_nan = false;
// bool out_was_nan = false;
// loop through each zone tf
for (const auto& zones_tf : this->computed_tf_zones)
{
out_was_nan = false;
// out_was_nan = false;
// transform point to output
out_pt_v3m = zones_tf.first * in_pt.getVector3fMap();
if (out_pt_v3m.array().isNaN().any())
{
// for some reason some points pass the input NaN test
// but blow up when being transformed???
out_was_nan = true;
continue;
}
// if (out_pt_v3m.array().isNaN().any())
// {
// // for some reason some points pass the input NaN test
// // but blow up when being transformed???
// out_was_nan = true;
// continue;
// }

bool br = false;
// check all bounding zones in this frame
Expand All @@ -424,12 +425,14 @@ int ScanPreprocessor<P, S, R, T>::filterPoints(const PointCloudMsg& scan)
}
}

if (out_was_nan)
{
out_pt_v3m.setZero();
this->null_indices.push_back(i);
this->remove_indices.push_back(i);
}
// if (out_was_nan)
// {
// std::cout << "[PREPROC]: NaN value detected after transform" << std::endl;

// out_pt_v3m.setZero();
// this->null_indices.push_back(i);
// this->remove_indices.push_back(i);
// }
}

if constexpr (!(Config_Value & PREPROC_PERFORM_DESKEW))
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