Set blind range member variable

Author: james-ward

src/LIVMapper.cpp

@@ -179,6 +179,8 @@ void LIVMapper::readParameters(rclcpp::Node::SharedPtr &node)
   this->node->get_parameter("publish.pub_scan_num", pub_scan_num);
   this->node->get_parameter("publish.pub_effect_point_en", pub_effect_point_en);
   this->node->get_parameter("publish.dense_map_en", dense_map_en);
+
+  p_pre->blind_sqr = p_pre->blind * p_pre->blind;
 }
 
 void LIVMapper::initializeComponents(rclcpp::Node::SharedPtr &node) 

src/preprocess.cpp

@@ -48,6 +48,7 @@ void Preprocess::set(bool feat_en, int lid_type, double bld, int pfilt_num)
   feature_enabled = feat_en;
   lidar_type = lid_type;
   blind = bld;
+  blind_sqr = bld * bld;
   point_filter_num = pfilt_num;
 }
 
@@ -119,6 +120,8 @@ void Preprocess::avia_handler(const livox_ros_driver2::msg::CustomMsg::SharedPtr
         pl_full[i].z = msg->points[i].z;
         pl_full[i].intensity = msg->points[i].reflectivity;
         pl_full[i].curvature = msg->points[i].offset_time / float(1000000); // use curvature as time of each laser points
+        double range = pl_full[i].x * pl_full[i].x + pl_full[i].y * pl_full[i].y + pl_full[i].z * pl_full[i].z;
+        if (range < blind_sqr) continue;
 
         bool is_new = false;
         if ((abs(pl_full[i].x - pl_full[i - 1].x) > 1e-7) || (abs(pl_full[i].y - pl_full[i - 1].y) > 1e-7) ||
@@ -1077,4 +1080,4 @@ bool Preprocess::edge_jump_judge(const PointCloudXYZI &pl, vector<orgtype> &type
   if (d1 > edgea * d2 || (d1 - d2) > edgeb) { return false; }
 
   return true;
-}
+}