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obstacles_detection: fixed ground filtered if under 0

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Mathieu Labbe
2016-05-23 15:49:43 -04:00
parent 9d8fd935a9
commit 3d7b6b1baf
1 changed files with 2 additions and 1 deletions
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src/nodelets/obstacles_detection.cpp
+2 -1
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@@ -167,7 +167,8 @@ private:
originalCloud = rtabmap::util3d::transformPointCloud(originalCloud, localTransform); originalCloud = rtabmap::util3d::transformPointCloud(originalCloud, localTransform);
if(maxObstaclesHeight_ > 0) if(maxObstaclesHeight_ > 0)
{ {
originalCloud = rtabmap::util3d::passThrough(originalCloud, "z", std::numeric_limits<float>::min(), maxObstaclesHeight_); // std::numeric_limits<float>::lowest() exists only for c++11
originalCloud = rtabmap::util3d::passThrough(originalCloud, "z", std::numeric_limits<int>::min(), maxObstaclesHeight_);
} }
if(originalCloud->size()) if(originalCloud->size())