update

jizhang-cmu · alexlin2 · commit 03cb592faee2 · 2025-12-16T19:39:10.000-08:00
diff --git a/src/base_autonomy/terrain_analysis/src/terrainAnalysis.cpp b/src/base_autonomy/terrain_analysis/src/terrainAnalysis.cpp
@@ -539,9 +539,9 @@ int main(int argc, char **argv) {
 
                 float dis4 = sqrt(pointX4 * pointX4 + pointY4 * pointY4);
                 float angle4 = atan2(pointZ4, dis4) * 180.0 / PI;
-                if (angle4 > minDyObsVFOV && angle4 < maxDyObsVFOV || fabs(pointZ4) < absDyObsRelZThre) {
+                if ((angle4 > minDyObsVFOV && angle4 < maxDyObsVFOV) || fabs(pointZ4) < absDyObsRelZThre) {
                   planarVoxelDyObs[planarVoxelWidth * indX + indY]++;
-                } else {
+                } else if (angle4 <= minDyObsVFOV) {
                   planarVoxelOutOfFov[planarVoxelWidth * indX + indY]++;
                 }
               }

Original file line number	Diff line number	Diff line change
`@@ -539,9 +539,9 @@ int main(int argc, char **argv) {`
`539`	`539`
`540`	`540`	`float dis4 = sqrt(pointX4 * pointX4 + pointY4 * pointY4);`
`541`	`541`	`float angle4 = atan2(pointZ4, dis4) * 180.0 / PI;`
`542`		`- if (angle4 > minDyObsVFOV && angle4 < maxDyObsVFOV \|\| fabs(pointZ4) < absDyObsRelZThre) {`
	`542`	`+ if ((angle4 > minDyObsVFOV && angle4 < maxDyObsVFOV) \|\| fabs(pointZ4) < absDyObsRelZThre) {`
`543`	`543`	`planarVoxelDyObs[planarVoxelWidth * indX + indY]++;`
`544`		`- } else {`
	`544`	`+ } else if (angle4 <= minDyObsVFOV) {`
`545`	`545`	`planarVoxelOutOfFov[planarVoxelWidth * indX + indY]++;`
`546`	`546`	`}`
`547`	`547`	`}`