i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

obstacles_detection: added empty cloud verification

Browse Source
This commit is contained in:
Mathieu Labbe
2015-03-27 17:20:14 -04:00
parent c75ef5c578
commit f0b7b183c5
1 changed files with 5 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/nodelets/obstacles_detection.cpp
+5 -2
View File
@@ -134,8 +134,11 @@ private:
{ {
cloud = rtabmap::util3d::passThrough<pcl::PointXYZ>(cloud, "z", std::numeric_limits<int>::min(), maxObstaclesHeight_); cloud = rtabmap::util3d::passThrough<pcl::PointXYZ>(cloud, "z", std::numeric_limits<int>::min(), maxObstaclesHeight_);
} }
rtabmap::util3d::segmentObstaclesFromGround<pcl::PointXYZ>(cloud, if(cloud->size())
ground, obstacles, normalEstimationRadius_, groundNormalAngle_, minClusterSize_); {
rtabmap::util3d::segmentObstaclesFromGround<pcl::PointXYZ>(cloud,
ground, obstacles, normalEstimationRadius_, groundNormalAngle_, minClusterSize_);
}
} }
pcl::PointCloud<pcl::PointXYZ>::Ptr groundCloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::PointCloud<pcl::PointXYZ>::Ptr groundCloud(new pcl::PointCloud<pcl::PointXYZ>);