From dfa48a4b12f3c8573826ae28f4c3c5ee50db57e2 Mon Sep 17 00:00:00 2001 From: Ussama Naal Date: Wed, 22 Nov 2023 10:00:31 -0800 Subject: [PATCH] Remove unnecessary sign swtiching --- ouster-ros/src/os_ros.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/ouster-ros/src/os_ros.cpp b/ouster-ros/src/os_ros.cpp index 31c1da52..fe0ba557 100644 --- a/ouster-ros/src/os_ros.cpp +++ b/ouster-ros/src/os_ros.cpp @@ -180,9 +180,7 @@ sensor_msgs::msg::LaserScan lidar_scan_to_laser_scan_msg( msg.intensities.resize(ls.w); for (auto v = 0; v < ls.w; ++v) { - auto idx = ls.w / 2 - 1 - v; - auto sign = v < ls.w / 2 ? +1 : -1; - auto v_shift = (idx - sign * pixel_shift_by_row[ring]) % ls.w; + auto v_shift = (ls.w / 2 - 1 - v - pixel_shift_by_row[ring]) % ls.w; auto src_idx = ring * ls.w + v_shift; msg.ranges[v] = rg[src_idx] * ouster::sensor::range_unit; msg.intensities[v] = static_cast(sg[src_idx]);