From 6861c236c7dd4f63723b8e95f7c9aa3f3eb66a23 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 2 Jun 2021 17:28:17 +0200
Subject: [PATCH] Ignored the Z information to generate the obstacle
pointcloud.
---
src/iri_point_cloud_hole_detection_alg.cpp | 8 +++++---
1 file changed, 5 insertions(+), 3 deletions(-)
diff --git a/src/iri_point_cloud_hole_detection_alg.cpp b/src/iri_point_cloud_hole_detection_alg.cpp
index 79c99b8..5951d29 100644
--- a/src/iri_point_cloud_hole_detection_alg.cpp
+++ b/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)
--
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