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Fixed bug where the default pose data would be published for occluded segments #21

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Fixed bug where the default pose data would be published for occluded segments #21

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5 changes: 5 additions & 0 deletions vicon_receiver/src/communicator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -178,6 +178,11 @@ void Communicator::get_frame()
Output_GetSegmentGlobalRotationQuaternion quat =
vicon_client.GetSegmentGlobalRotationQuaternion(subject_name, segment_name);

// Skip data publish if segment is occluded
if ( trans.Occluded || quat.Occluded ){
continue;
}

// Build a TF message for this segment
geometry_msgs::msg::TransformStamped tf_msg;

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