Commit 2d287dec authored by Niklas Yann Wettengel's avatar Niklas Yann Wettengel
Browse files

depth_occupancy_map: detect smaller obstacles

parent 2f8e5cff
...@@ -137,7 +137,7 @@ void depth_occupancy_map::updateDepthData(const sensor_msgs::PointCloud2::ConstP ...@@ -137,7 +137,7 @@ void depth_occupancy_map::updateDepthData(const sensor_msgs::PointCloud2::ConstP
float min_distance = 0.5; float min_distance = 0.5;
ros::param::getCached("/depth_mapping/min_distance", min_distance); ros::param::getCached("/depth_mapping/min_distance", min_distance);
const float max_range_z = 1.6; const float max_range_z = 1.6;
const float min_range_z = 0.3; const float min_range_z = 0.2;
const float max_distance = MAX_DISTANCE * MAX_DISTANCE; const float max_distance = MAX_DISTANCE * MAX_DISTANCE;
const float min_distance_squared = min_distance * min_distance; const float min_distance_squared = min_distance * min_distance;
geometry_msgs::Point point; geometry_msgs::Point point;
......
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