Ignored the Z information to generate the obstacle pointcloud.

src/iri_point_cloud_hole_detection_alg.cpp

@@ -42,9 +42,11 @@ void PointCloudHoleDetectionAlgorithm::cloud_all(pcl::PointCloud<pcl::PointXYZRG
   {
     for(size_t colIndex=0;colIndex<cloud_in.width;++colIndex,++pointIndex)
     {
-      if(this->config_.box_z_ini<cloud_in.points[pointIndex].z &&
-         cloud_in.points[pointIndex].z<this->config_.box_z_end &&
-         this->config_.box_x_ini<cloud_in.points[pointIndex].x &&
+//      if(this->config_.box_z_ini<cloud_in.points[pointIndex].z &&
+//         cloud_in.points[pointIndex].z<this->config_.box_z_end &&
+//         this->config_.box_x_ini<cloud_in.points[pointIndex].x &&
+//         cloud_in.points[pointIndex].x<this->config_.box_x_end)
+      if(this->config_.box_x_ini<cloud_in.points[pointIndex].x &&
          cloud_in.points[pointIndex].x<this->config_.box_x_end)
       {
         for(int cell=0;cell<this->config_.num_cells;++cell)