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segmentObstaclesFromGround: Added epsilon for ground surface inclusion inside maximum and minimum heights

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matlabbe
2016-05-16 16:26:16 -04:00
parent f19c058634
commit 2db6b2ceef
1 changed files with 1 additions and 1 deletions
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2
corelib/include/rtabmap/core/impl/util3d_mapping.hpp
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@@ -71,7 +71,7 @@ void segmentObstaclesFromGround(
{ {
Eigen::Vector4f centroid; Eigen::Vector4f centroid;
pcl::compute3DCentroid(*cloud, *clusteredFlatSurfaces.at(i), centroid); pcl::compute3DCentroid(*cloud, *clusteredFlatSurfaces.at(i), centroid);
if(centroid[2] >= min[2] && centroid[2] <= max[2]) if(centroid[2] >= min[2]-0.01 && centroid[2] <= max[2]+0.01) // epsilon
{ {
ground = util3d::concatenate(ground, clusteredFlatSurfaces.at(i)); ground = util3d::concatenate(ground, clusteredFlatSurfaces.at(i));
} }