removing TODO's that were replaced by github issues; updating comment…

…s to explain magic number
SharedAutonomyToolkit · Dec 12, 2013 · 9ed4707 · 9ed4707
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commit 9ed4707
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diff --git a/clear_table/src/clear_table/scene_handler.py b/clear_table/src/clear_table/scene_handler.py
@@ -1,9 +1,6 @@
 # This is a utility class that handles all the sensor and PlanningScene interaction
 # for the clear_table state machine
 
-# TODO: need to parameterize l/r arm for adding objects
-# TODO: also need to parameterize world frame ... 
-
 import sys
 
 import rospy

diff --git a/clear_table/src/clear_table/sensor_handler.py b/clear_table/src/clear_table/sensor_handler.py
@@ -76,6 +76,8 @@ def get_point_cloud(self, data, mask):
             for ii in range(data.points.width):
                 pt = pt_gen.next()
                 if not math.isnan(pt[0]):
+                    # From openCV, used by Grabcut to mask image. 
+                    # cv::GC_BGD = 0, cv::GC_FGD = 1, cv::GC_PR_BGD = 2, CV::GC_PR_FGC = 3
                     if (img[jj,ii] == 1 or img[jj,ii]==3):
                         out_pts.append(pt[0:3])
         print "done creating output point cloud"