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OccupancyGrid: updated parameters check

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matlabbe
2017-08-04 11:41:50 -04:00
parent d8a6ed4ba6
commit 75854fc026
3 changed files with 28 additions and 26 deletions
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4
corelib/include/rtabmap/core/impl/OccupancyGrid.hpp
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@@ -121,7 +121,9 @@ typename pcl::PointCloud<PointT>::Ptr OccupancyGrid::segmentCloud(
{
UDEBUG("");
// passthrough filter
groundIndices = rtabmap::util3d::passThrough(cloud, indices, "z", minGroundHeight_!=0.0f?minGroundHeight_:std::numeric_limits<int>::min(), maxGroundHeight_);
groundIndices = rtabmap::util3d::passThrough(cloud, indices, "z",
minGroundHeight_!=0.0f?minGroundHeight_:std::numeric_limits<int>::min(),
maxGroundHeight_!=0.0f?maxGroundHeight_:std::numeric_limits<int>::max());
pcl::IndicesPtr notObstacles = groundIndices;
if(indices->size())