From 267933ee04baa01a7ad738d062ed93e1258de2c7 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Wed, 18 Sep 2024 13:32:26 +0200 Subject: [PATCH] [ObjectsPerceptionManager] fix poi reasoning --- src/Perception/Managers/ObjectsPerceptionManager.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/Perception/Managers/ObjectsPerceptionManager.cpp b/src/Perception/Managers/ObjectsPerceptionManager.cpp index b65bc7e0..10ebae36 100644 --- a/src/Perception/Managers/ObjectsPerceptionManager.cpp +++ b/src/Perception/Managers/ObjectsPerceptionManager.cpp @@ -257,11 +257,14 @@ namespace owds { } } // object with pois but none in the fov else // object with no pois in the fov should be put in no_data and erased if pois are in the fov of another module - object_is_consider_with_no_poi = true; + { + //object_is_consider_with_no_poi = true; + } } else // object has no pois object_is_consider_with_no_poi = true; } + if(object_is_consider_with_no_poi) { no_data_objects.emplace(object.first, object.second);