message: MapCloud display: floor and ceiling filtering can be negative
diff: @@ -167,14 +167,14 @@ MapCloudDisplay::MapCloudDisplay()
  "Filter the floor up to maximum height set here "
  "(only appropriate for 2D mapping).",
  this, SLOT( updateCloudParameters() ), this );
  - cloud_filter_floor_height_->setMin( 0.0f );
  + cloud_filter_floor_height_->setMin( -999.0f );
  cloud_filter_floor_height_->setMax( 999.0f );
  cloud_filter_ceiling_height_ = new rviz::FloatProperty( "Filter ceiling (m)", 0.0f,
  "Filter the ceiling at the specified height set here "
  "(only appropriate for 2D mapping).",
  this, SLOT( updateCloudParameters() ), this );
  - cloud_filter_ceiling_height_->setMin( 0.0f );
  + cloud_filter_ceiling_height_->setMin( -999.0f );
  cloud_filter_ceiling_height_->setMax( 999.0f );
  node_filtering_radius_ = new rviz::FloatProperty( "Node filtering radius (m)", 0.0f,
  @@ -320,13 +320,13 @@ void MapCloudDisplay::processMapData(const rtabmap_ros::MapData& map)
  cloud = rtabmap::util3d::voxelize(cloud, validIndices, cloud_voxel_size_->getFloat());
  }
  - if(cloud_filter_floor_height_->getFloat() > 0.0f || cloud_filter_ceiling_height_->getFloat() > 0.0f)
  + if(cloud_filter_floor_height_->getFloat() != 0.0f || cloud_filter_ceiling_height_->getFloat() != 0.0f)
  {
  // convert in /odom frame
  cloud = rtabmap::util3d::transformPointCloud(cloud, s.getPose());
  cloud = rtabmap::util3d::passThrough(cloud, "z",
  - cloud_filter_floor_height_->getFloat()>0.0f?cloud_filter_floor_height_->getFloat():-999.0f,
  - cloud_filter_ceiling_height_->getFloat()>0.0f && (cloud_filter_floor_height_->getFloat()<=0.0f || cloud_filter_ceiling_height_->getFloat()>cloud_filter_floor_height_->getFloat())?cloud_filter_ceiling_height_->getFloat():999.0f);
  + cloud_filter_floor_height_->getFloat()!=0.0f?cloud_filter_floor_height_->getFloat():-999.0f,
  + cloud_filter_ceiling_height_->getFloat()!=0.0f && (cloud_filter_floor_height_->getFloat()==0.0f || cloud_filter_ceiling_height_->getFloat()>cloud_filter_floor_height_->getFloat())?cloud_filter_ceiling_height_->getFloat():999.0f);
  // convert back in /base_link frame
  cloud = rtabmap::util3d::transformPointCloud(cloud, s.getPose().inverse());
  }
  