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add obst height back

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This commit is contained in:
Oleg Sinyavskiy
2015-06-22 15:54:54 -07:00
parent 3cd48d670a
commit 36442e4ece
1 changed files with 6 additions and 4 deletions
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src/nodelets/obstacles_detection.cpp
+6 -4
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@@ -71,7 +71,7 @@ public:
groundNormalAngle_(M_PI_4), groundNormalAngle_(M_PI_4),
minClusterSize_(20), minClusterSize_(20),
maxFloorHeight_(-1), maxFloorHeight_(-1),
//maxObstaclesHeight_(0), maxObstaclesHeight_(1.5),
waitForTransform_(false) waitForTransform_(false)
{} {}
@@ -90,7 +90,7 @@ private:
pnh.param("normal_estimation_radius", normalEstimationRadius_, normalEstimationRadius_); pnh.param("normal_estimation_radius", normalEstimationRadius_, normalEstimationRadius_);
pnh.param("ground_normal_angle", groundNormalAngle_, groundNormalAngle_); pnh.param("ground_normal_angle", groundNormalAngle_, groundNormalAngle_);
pnh.param("min_cluster_size", minClusterSize_, minClusterSize_); pnh.param("min_cluster_size", minClusterSize_, minClusterSize_);
//pnh.param("max_obstacles_height", maxObstaclesHeight_, maxObstaclesHeight_); pnh.param("max_obstacles_height", maxObstaclesHeight_, maxObstaclesHeight_);
pnh.param("max_floor_height", maxFloorHeight_, maxFloorHeight_); pnh.param("max_floor_height", maxFloorHeight_, maxFloorHeight_);
pnh.param("wait_for_transform", waitForTransform_, waitForTransform_); pnh.param("wait_for_transform", waitForTransform_, waitForTransform_);
@@ -163,7 +163,9 @@ private:
} }
pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesCloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesCloud(new pcl::PointCloud<pcl::PointXYZ>);
obstaclesCloud = rtabmap::util3d::passThrough(originalCloud, "z", maxFloorHeight_, std::numeric_limits<int>::max());
obstaclesCloud = rtabmap::util3d::passThrough(originalCloud, "z", maxFloorHeight_, maxObstaclesHeight_);
if(obstacles.get() && obstacles->size()) if(obstacles.get() && obstacles->size())
{ {
@@ -211,7 +213,7 @@ private:
double normalEstimationRadius_; double normalEstimationRadius_;
double groundNormalAngle_; double groundNormalAngle_;
int minClusterSize_; int minClusterSize_;
//double maxObstaclesHeight_; double maxObstaclesHeight_;
double maxFloorHeight_; double maxFloorHeight_;
bool waitForTransform_; bool waitForTransform_;