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bibarz
2015-07-13 18:26:07 -07:00
parent 68e9c6bc16
commit c87bc63ecf
1 changed files with 4 additions and 4 deletions
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src/nodelets/obstacles_detection.cpp
+4 -4
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@@ -181,14 +181,14 @@ private:
hypotheticalGroundCloud = rtabmap::util3d::passThrough(originalCloud, "z", std::numeric_limits<int>::min(), maxFloorHeight_);
obstaclesCloud = rtabmap::util3d::passThrough(originalCloud, "z", maxFloorHeight_, maxObstaclesHeight_);
if (simpleSegmentation_){
if (simpleSegmentation_) {
// If the option simple segmentation has been set to true,
// the floor is just the hypothetical ground cloud, simply
// cut off based on z
groundCloud = hypotheticalGroundCloud;
}
else if (!optimizeForCloseObject_){
else if (!optimizeForCloseObject_) {
// This is the default strategy
// The cloud is divided in two based on reported Z and the position of the camera.
// One is the hypothetical ground cloud and the other one is the obstacles pointcloud.
@@ -212,8 +212,8 @@ private:
}
else if (optimizeForCloseObject_){
// If the option optimize for close object has been set to true,
else {
// in this case optimizeForCloseObject_ is true:
// we divide the floor point cloud into two subsections, one for all potential floor points up to 1m
// one for potential floor points further away than 1m.
// For the points at closer range, we use a smaller normal estimation radius and ground normal angle,