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Grid/DetectFlatObstacles default true. segmentObstaclesFromGround(): Fixed not used indices still kept in obstacles output

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matlabbe
2016-08-26 11:41:35 -04:00
parent 797f1f0f1c
commit 4e027a6515
4 changed files with 95 additions and 89 deletions
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8
corelib/include/rtabmap/core/impl/util3d_mapping.hpp
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@@ -141,7 +141,13 @@ void segmentObstaclesFromGround(
if(ground->size() != cloud->size())
{
// Remove ground
pcl::IndicesPtr otherStuffIndices = util3d::extractIndices(cloud, ground, true);
pcl::IndicesPtr notObstacles = ground;
if(indices->size())
{
notObstacles = util3d::extractIndices(cloud, indices, true);
notObstacles = util3d::concatenate(notObstacles, ground);
}
pcl::IndicesPtr otherStuffIndices = util3d::extractIndices(cloud, notObstacles, true);
// If ground height is set, remove obstacles under it
if(maxGroundHeight > 0.0f)