search

ANYbotics / elevation_mapping

Robot-centric elevation mapping for rough terrain navigation
BSD 3-Clause "New" or "Revised" License
1.36k stars 446 forks source link

Is that any configuration for realsense L515? #153

Closed altfool closed 3 years ago

altfool commented 3 years ago

Hi, I'm rencently working on combing the elevation mapping with intel realsense L515. I checked the configuration in elevation_mapping directory and found the configuration for ZR300 and D435. I planned to copy D435's configuration to create a configuration for L515, but after I checked L515 configuration online, I can't find something similar to the normalfactor*, so would you mind telling how to get those parameters or do you have a configuration for the realsense L515?

maximilianwulf commented 3 years ago

Hey @altfool, there is currently no configuration for the L515 available in this repository. You can derive it yourself with the help of the available papers. In case you manage to figure out a configuration, it would be great if you could make a PR.

Also, since the L515 is actually a Lidar and not a stereo camera, you should look into the other Lidar configurations, such as this one: https://github.com/ANYbotics/elevation_mapping/blob/master/elevation_mapping/config/sensor_processors/velodyne_HDL-32E.yaml. This is also the reason why there are no normal_factor_* parameters given.

altfool commented 3 years ago

Hey @altfool, there is currently no configuration for the L515 available in this repository. You can derive it yourself with the help of the available papers. In case you manage to figure out a configuration, it would be great if you could make a PR.

Also, since the L515 is actually a Lidar and not a stereo camera, you should look into the other Lidar configurations, such as this one: https://github.com/ANYbotics/elevation_mapping/blob/master/elevation_mapping/config/sensor_processors/velodyne_HDL-32E.yaml. This is also the reason why there are no normal_factor_* parameters given.

Thank you very much.

usamex commented 3 years ago

Hey, sorry to invoke this issue but how can I configure a structured light sensor? I have D455 with me but I don't know how can I adjust normalfactor* parameters. Is there a paper for it?

maximilianwulf commented 3 years ago

Hey @usamex there is a paper for the D435, see here: https://ieeexplore.ieee.org/abstract/document/8768489

I guess the D455 is still too new such that is a paper, but if you find one it would be great if you could share it here.