fix: add 2d validator option param

Signed-off-by: badai-nguyen <[email protected]>
autowarefoundation · Oct 17, 2023 · d5b7bed · d5b7bed
1 parent c0bca36
commit d5b7bed
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml b/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml
@@ -11,5 +11,6 @@
     <remap from="~/output/objects" to="$(var output/objects)"/>
     <param name="enable_debugger" value="false"/>
     <param from="$(var obstacle_pointcloud_based_validator_param_path)"/>
+    <param name="using_2d_validator" value="true"/>
   </node>
 </launch>
diff --git a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
@@ -158,8 +158,8 @@ void ObstaclePointCloudBasedValidator::on3dObjectsAndObstaclePointCloud(
     trans_obj_position_pcl.y = transformed_object_position.y;
     trans_obj_position_pcl.z = transformed_object_position.z;
     kdtree->radiusSearch(trans_obj_position_pcl, search_radius.value(), indices, distances);
-    for (const auto & indice : indices) {
-      neighbor_pointcloud->push_back(obstacle_pointcloud->at(indice));
+    for (const auto & index : indices) {
+      neighbor_pointcloud->push_back(obstacle_pointcloud->at(index));
     }
 
     if (debugger_) debugger_->addNeighborPointcloud(neighbor_pointcloud);