From de8ac38b93d9a06c1cb3c2d20e94d241bead62e9 Mon Sep 17 00:00:00 2001 From: Andy Zeng Date: Thu, 29 Mar 2018 22:35:15 -0700 Subject: [PATCH] Bug fix from Mylittledream: issue #10 --- ros-packages/catkin_ws/src/pose_estimation/src/getObjectPose.m | 1 + 1 file changed, 1 insertion(+) diff --git a/ros-packages/catkin_ws/src/pose_estimation/src/getObjectPose.m b/ros-packages/catkin_ws/src/pose_estimation/src/getObjectPose.m index bd11d1d..5f98220 100644 --- a/ros-packages/catkin_ws/src/pose_estimation/src/getObjectPose.m +++ b/ros-packages/catkin_ws/src/pose_estimation/src/getObjectPose.m @@ -113,6 +113,7 @@ [indicesNN,distsNN] = multiQueryKNNSearchImpl(backgroundPointCloud,objSegmPts',1); end objSegmPts(:,find(sqrt(distsNN) < 0.005)) = []; +objSegmConf(:,find(sqrt(distsNN) < 0.005)) = []; if strcmp(sceneData.env,'shelf') objSegmPtsBg = extBin2Bg(1:3,1:3) * objSegmPts + repmat(extBin2Bg(1:3,4) + [0;0;0.01],1,size(objSegmPts,2)); bgRot = vrrotvec2mat([0 1 0 -atan(0.025/0.20)]);