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This commit is contained in:
Jean-Baptiste Passot
2015-07-07 17:36:11 -07:00
parent 5e4ededf7a
commit b10ee02eb4
1 changed files with 4 additions and 3 deletions
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src/nodelets/obstacles_detection.cpp
+4 -3
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@@ -114,9 +114,6 @@ private:
return; return;
} }
ROS_ERROR("1111111111111111111111");
rtabmap::Transform localTransform; rtabmap::Transform localTransform;
try try
{ {
@@ -158,9 +155,13 @@ private:
pcl::PointCloud<pcl::PointXYZ>::Ptr hypotheticalGroundCloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::PointCloud<pcl::PointXYZ>::Ptr hypotheticalGroundCloud(new pcl::PointCloud<pcl::PointXYZ>);
hypotheticalGroundCloud = rtabmap::util3d::passThrough(originalCloud, "z", std::numeric_limits<int>::min(), maxFloorHeight_); hypotheticalGroundCloud = rtabmap::util3d::passThrough(originalCloud, "z", std::numeric_limits<int>::min(), maxFloorHeight_);
ROS_ERROR("AAAa3333333333333333333333333");
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_, maxObstaclesHeight_); obstaclesCloud = rtabmap::util3d::passThrough(originalCloud, "z", maxFloorHeight_, maxObstaclesHeight_);
ROS_ERROR("BBBb3333333333333333333333333");
ros::Time lasttime = ros::Time::now(); ros::Time lasttime = ros::Time::now();
pcl::IndicesPtr ground, obstacles; pcl::IndicesPtr ground, obstacles;