Only segement obstacle that are at least 0.8m away, this is a hack to remove noisy reading AND the fact that we don't clear the costmap when something is closer than 75cm from the robot

src/nodelets/obstacles_detection.cpp

@@ -216,6 +216,7 @@ private:
 			pcl::PointCloud<pcl::PointXYZ>::Ptr hypotheticalGroundCloud_back = rtabmap::util3d::passThrough(originalCloud_back, "z", std::numeric_limits<int>::min(), maxFloorHeight_);
 
 			obstaclesCloud = rtabmap::util3d::passThrough(originalCloud, "z", maxFloorHeight_, maxObstaclesHeight_);
+			obstaclesCloud = rtabmap::util3d::passThrough(obstaclesCloud, "x",  0.8, std::numeric_limits<int>::max());
 
 			//STEP 1.
 			rtabmap::util3d::segmentObstaclesFromGround<pcl::PointXYZ>(hypotheticalGroundCloud_front,

src/nodelets/point_cloud_xyz.cpp

@@ -169,7 +169,6 @@ private:
 
 			if (special_filter_close_object_){
 				cv::Mat pRoi = image(cv::Rect(int(0.05*(float(cols))),int(0.05*(float(rows))),int(0.9*(float(cols))),int(0.9*float(rows))));
-				//cv::GaussianBlur(pRoi, pRoi, cv::Size(3, 3), 0, 0);
 				cv::medianBlur(pRoi, pRoi, 3);
 
 				//Do filter of close objects
@@ -186,10 +185,6 @@ private:
 						}
 					}
 			}
-
-
-
-
 			image_geometry::PinholeCameraModel model;
 			model.fromCameraInfo(*cameraInfo);
 			float fx = model.fx();