fix(downsample_mask): make excluded() function resilient to roundin…

…g errors Signed-off-by: Max SCHMELLER <[email protected]>
tier4 · Jan 16, 2025 · 91fc4b8 · 91fc4b8
1 parent 88fb3d6
commit 91fc4b8
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/...decoders/include/nebula_decoders/nebula_decoders_common/point_filters/downsample_mask.hpp b/...decoders/include/nebula_decoders/nebula_decoders_common/point_filters/downsample_mask.hpp
@@ -61,7 +61,8 @@ inline void dither(
 
   auto should_keep = [denominator](uint32_t numerator, uint32_t pos) {
     for (uint32_t i = 0; i < numerator; ++i) {
-      size_t dithered_pos = std::round(denominator / static_cast<double>(numerator) * i);
+      auto dithered_pos =
+        static_cast<size_t>(std::round(denominator / static_cast<double>(numerator) * i));
       if (dithered_pos == pos) return true;
     }
     return false;
@@ -125,7 +126,7 @@ class DownsampleMaskFilter
   {
     double azi_normalized = (point.azimuth - azimuth_range_.min) / azimuth_range_.extent();
 
-    auto x = static_cast<ssize_t>(azi_normalized * mask_.cols());
+    auto x = static_cast<ssize_t>(std::round(azi_normalized * static_cast<double>(mask_.cols())));
     auto y = point.channel;
 
     bool x_out_of_bounds = x < 0 || x >= mask_.cols();

diff --git a/nebula_decoders/tests/point_filters/test_downsample_mask.cpp b/nebula_decoders/tests/point_filters/test_downsample_mask.cpp
@@ -101,7 +101,7 @@ TEST(TestDownsampleMask, TestFilter)
   for (int32_t azimuth_mdeg = azi_range_mdeg.min - 1; azimuth_mdeg < azi_range_mdeg.max + 1;
        azimuth_mdeg += azi_step_mdeg) {
     for (uint8_t channel = 0; channel < n_channels + 1; ++channel) {
-      NebulaPoint p;
+      NebulaPoint p{};
       p.channel = channel;
       p.azimuth = nebula::drivers::deg2rad(azimuth_mdeg / 1000.);