@@ -102,20 +102,20 @@ int main(int argc, char **argv) {
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ROS_INFO_STREAM (" Mapping finished in " << (end - start).toSec () << " s" );
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// /////// Compute Frontiers /////////////////////
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- ROS_INFO_STREAM (" Computing frontiers" );
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- la3dm::MarkerArrayPub f_pub (nh, " frontier_map" , resolution);
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- for (auto it = map.begin_leaf (); it != map.end_leaf (); ++it) {
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- la3dm::point3f p = it.get_loc ();
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- if (p.z () > 1.0 || p.z () < 0.3 )
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- continue ;
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+ // ROS_INFO_STREAM("Computing frontiers");
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+ // la3dm::MarkerArrayPub f_pub(nh, "frontier_map", resolution);
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+ // for (auto it = map.begin_leaf(); it != map.end_leaf(); ++it) {
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+ // la3dm::point3f p = it.get_loc();
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+ // if (p.z() > 1.0 || p.z() < 0.3)
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+ // continue;
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- if (it.get_node ().get_var () > 0.02 &&
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- it.get_node ().get_prob () < 0.3 ) {
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- f_pub.insert_point3d (p.x (), p.y (), p.z ());
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- }
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- }
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- f_pub.publish ();
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+ // if (it.get_node().get_var() > 0.02 &&
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+ // it.get_node().get_prob() < 0.3) {
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+ // f_pub.insert_point3d(p.x(), p.y(), p.z());
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+ // }
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+ // }
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+ // f_pub.publish();
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// ////// Test Raytracing //////////////////
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la3dm::MarkerArrayPub ray_pub (nh, " /ray" , resolution);
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