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Removed frontier computation from gp demo
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src/gpoctomap_static_node.cpp

Lines changed: 12 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -102,20 +102,20 @@ int main(int argc, char **argv) {
102102
ROS_INFO_STREAM("Mapping finished in " << (end - start).toSec() << "s");
103103

104104
///////// Compute Frontiers /////////////////////
105-
ROS_INFO_STREAM("Computing frontiers");
106-
la3dm::MarkerArrayPub f_pub(nh, "frontier_map", resolution);
107-
for (auto it = map.begin_leaf(); it != map.end_leaf(); ++it) {
108-
la3dm::point3f p = it.get_loc();
109-
if (p.z() > 1.0 || p.z() < 0.3)
110-
continue;
105+
// ROS_INFO_STREAM("Computing frontiers");
106+
// la3dm::MarkerArrayPub f_pub(nh, "frontier_map", resolution);
107+
// for (auto it = map.begin_leaf(); it != map.end_leaf(); ++it) {
108+
// la3dm::point3f p = it.get_loc();
109+
// if (p.z() > 1.0 || p.z() < 0.3)
110+
// continue;
111111

112112

113-
if (it.get_node().get_var() > 0.02 &&
114-
it.get_node().get_prob() < 0.3) {
115-
f_pub.insert_point3d(p.x(), p.y(), p.z());
116-
}
117-
}
118-
f_pub.publish();
113+
// if (it.get_node().get_var() > 0.02 &&
114+
// it.get_node().get_prob() < 0.3) {
115+
// f_pub.insert_point3d(p.x(), p.y(), p.z());
116+
// }
117+
// }
118+
// f_pub.publish();
119119

120120
//////// Test Raytracing //////////////////
121121
la3dm::MarkerArrayPub ray_pub(nh, "/ray", resolution);

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