Plugin/VelodyneLidar/PlaneFitter/vtkPlaneFitter.cxx

@@ -301,6 +301,7 @@ int vtkPlaneFitter::RequestData(vtkInformation *vtkNotUsed(request),
   threshold->SetInputData(input);
   threshold->SetInputArrayToProcess(0, 0, 0, vtkDataObject::FIELD_ASSOCIATION_POINTS, laserIndexArray->GetName());
   threshold->SetOutputPointsPrecision(vtkAlgorithm::DEFAULT_PRECISION);
+  threshold->SetThresholdFunction(vtkThreshold::THRESHOLD_BETWEEN);
 
   // Update stats for each channel with overall stats
   channelStats.semiDist = overallStats.semiDist;
@@ -309,7 +310,8 @@ int vtkPlaneFitter::RequestData(vtkInformation *vtkNotUsed(request),
 
   for (unsigned int i = 0; i < channelNb; ++i)
   {
-    threshold->ThresholdBetween(i, i);
+    threshold->SetLowerThreshold(i);
+    threshold->SetUpperThreshold(i);
     threshold->Update();
     data->DeepCopy(threshold->GetOutput()->GetPoints()->GetData());
 

Plugin/VelodyneLidar/VelodyneHDLPositionPacketInterpreter/vtkVelodyneHDLPositionPacketInterpreter.cxx

@@ -17,6 +17,7 @@
 #include <sstream>
 
 #include <boost/algorithm/string.hpp>
+#include <proj.h>
 
 
 //-----------------------------------------------------------------------------
@@ -89,7 +90,7 @@ void vtkVelodyneHDLPositionPacketInterpreter::FillInterpolatorFromGPSAndHeading(
       this->Interp->AddTransform(currGPS, transformVehiculeWorld.GetPointer());
 
       // Compute heading vector for interpolation
-      double ha = heading * DEG_TO_RAD;
+      double ha = proj_torad(heading);
       double hv[2] = { cos(ha), sin(ha) };
       headingInterpolator->AddTuple(currGPS, hv);
     }