From 4dd017520ea3ae7ab6a94eef1c6ff0546f879409 Mon Sep 17 00:00:00 2001
From: Maximilian Hilger <126889506+maxhilger@users.noreply.github.com>
Date: Tue, 9 Jan 2024 14:51:04 +0100
Subject: [PATCH] Fixed detection of Hugin point cloud type

Previously, Hugin pcls have been misdetected as Arbe pcls. Added a check for elevation field to make the distinction between both types.
---
 radar_ego_velocity_estimator/src/radar_point_cloud.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/radar_ego_velocity_estimator/src/radar_point_cloud.cpp b/radar_ego_velocity_estimator/src/radar_point_cloud.cpp
index 78d5f13..35405af 100644
--- a/radar_ego_velocity_estimator/src/radar_point_cloud.cpp
+++ b/radar_ego_velocity_estimator/src/radar_point_cloud.cpp
@@ -122,7 +122,7 @@ bool reve::pcl2msgToPcl(const sensor_msgs::PointCloud2& pcl_msg, pcl::PointCloud
   }
   // The Arbe pcl type
   else if (fields.find("x") != fields.end() && fields.find("y") != fields.end() && fields.find("z") != fields.end() &&
-           fields.find("power") != fields.end() && fields.find("doppler") != fields.end())
+           fields.find("power") != fields.end() && fields.find("doppler") != fields.end() && fields.find("elevation") == fields.end())
   {
     ROS_INFO_ONCE("[pcl2msgToPcl]: Detected Arbe dataset pcl format!");