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Jean-Baptiste Passot
2015-07-07 17:47:20 -07:00
parent 6c1fd0e728
commit 0b0406723f
1 changed files with 7 additions and 0 deletions
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src/nodelets/obstacles_detection.cpp
+7
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@@ -179,17 +179,24 @@ private:
obstaclesCloud = rtabmap::util3d::passThrough(originalCloud, "z", maxFloorHeight_, maxObstaclesHeight_);
ROS_ERROR("RRR 44444444444444444444444444444");
if(obstacles.get() && obstacles->size())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesNearFloorCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*hypotheticalGroundCloud, *obstacles, *obstaclesNearFloorCloud);
*obstaclesCloud += *obstaclesNearFloorCloud;
}
ROS_ERROR("R 44444444444444444444444444444");
}
else{
ROS_ERROR("555555555555555555555555");
obstaclesCloud = rtabmap::util3d::passThrough(originalCloud, "z", maxFloorHeight_, maxObstaclesHeight_);
ROS_ERROR("RRR 555555555555555555555555");
groundCloud = hypotheticalGroundCloud;
}