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Comment for debugging

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This commit is contained in:
Jean-Baptiste Passot
2015-07-07 17:44:34 -07:00
parent b10ee02eb4
commit 6c1fd0e728
1 changed files with 4 additions and 1 deletions
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src/nodelets/obstacles_detection.cpp
+4 -1
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@@ -158,7 +158,6 @@ private:
ROS_ERROR("AAAa3333333333333333333333333");
pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesCloud(new pcl::PointCloud<pcl::PointXYZ>);
obstaclesCloud = rtabmap::util3d::passThrough(originalCloud, "z", maxFloorHeight_, maxObstaclesHeight_);
ROS_ERROR("BBBb3333333333333333333333333");
@@ -177,6 +176,9 @@ private:
{
pcl::copyPointCloud(*hypotheticalGroundCloud, *ground, *groundCloud);
}
obstaclesCloud = rtabmap::util3d::passThrough(originalCloud, "z", maxFloorHeight_, maxObstaclesHeight_);
if(obstacles.get() && obstacles->size())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr obstaclesNearFloorCloud(new pcl::PointCloud<pcl::PointXYZ>);
@@ -186,6 +188,7 @@ private:
}
else{
ROS_ERROR("555555555555555555555555");
obstaclesCloud = rtabmap::util3d::passThrough(originalCloud, "z", maxFloorHeight_, maxObstaclesHeight_);
groundCloud = hypotheticalGroundCloud;
}