where is 1.0 assign to p.normal_z？

[silent-zhou]

Is "nomal_z = 1.0" is missing in the line 935 of LidarFeatureExtractor.cpp.
because the selection of laserConerFeature is according to “if(std::fabs(p.normal_z - 1.0) < 1e-5)” in the "LidarFeatureExtractor::FeatureExtract_hap" fuction

i think the end part of “LidarFeatureExtractor::detectFeaturePoint2” should change to

if(a2d > thre2d || (a3d < thre3d2 && a1d < thre1d)) {
  for(int k = 1; k < interval; k++) {
    cloud->points[i-k].normal_z = 2.0;
    pointsLessFlat->points.push_back(cloud->points[i-k]);
    cloud->points[i+k].normal_z = 2.0;
    pointsLessFlat->points.push_back(cloud->points[i+k]);
  }
  cloud->points[i].normal_z = 2.0;
  pointsLessFlat->points.push_back(cloud->points[i]);
} else if(a3d > thre3d) {
  for(int k = 1; k < interval; k++) {
    cloud->points[i-k].normal_z = 3.0;
    pointsNonFeature->points.push_back(cloud->points[i-k]);
    cloud->points[i+k].normal_z = 3.0;
    pointsNonFeature->points.push_back(cloud->points[i+k]);
  }
  cloud->points[i].normal_z = 3.0;
  pointsNonFeature->points.push_back(cloud->points[i]);
}
else 
{
  cfor(int k = 1; k < interval; k++) {
    cloud->points[i-k].normal_z = 1.0;
    pointsNonFeature->points.push_back(cloud->points[i-k]);
    cloud->points[i+k].normal_z = 1.0;
    pointsNonFeature->points.push_back(cloud->points[i+k]);
  }
}