From 61a194a0d7c7afaf9220eea1dcaa877702a1ef65 Mon Sep 17 00:00:00 2001 From: Aaron Hoy Date: Wed, 3 Feb 2016 17:01:18 -0800 Subject: [PATCH] Changing min_clearing_height to -infinity Similar to raising max_clearing_height to infinity. A noisy or otherwise slightly incorrect ground plane can cause some clearing rays to have endpoints with negative height values, but those rays are still valid for clearing. --- fetch_depth_layer/src/depth_layer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fetch_depth_layer/src/depth_layer.cpp b/fetch_depth_layer/src/depth_layer.cpp index d3a36780..3441880b 100644 --- a/fetch_depth_layer/src/depth_layer.cpp +++ b/fetch_depth_layer/src/depth_layer.cpp @@ -72,7 +72,7 @@ void FetchDepthLayer::onInitialize() // Observation range values for both marking and claering private_nh.param("min_obstacle_height", min_obstacle_height, 0.0); private_nh.param("max_obstacle_height", max_obstacle_height, 2.0); - private_nh.param("min_clearing_height", min_clearing_height, 0.0); + private_nh.param("min_clearing_height", min_clearing_height, -std::numeric_limits::infinity()); private_nh.param("max_clearing_height", max_clearing_height, std::numeric_limits::infinity()); marking_buf_ = boost::shared_ptr (