Why are there so many holes and how to solve them?

ANYbotics / elevation_mapping

Robot-centric elevation mapping for rough terrain navigation

BSD 3-Clause "New" or "Revised" License

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Closed DLonng closed 2 years ago

DLonng commented 2 years ago

2021-11-29_19-45

maximilianwulf commented 2 years ago

Hey @DLonng, it seems your point clouds are not dense enough, 2 possible options:

When the robot moves the holes get filled once a point from a point cloud falls into it.
You add a postprocessor pipeline to the elevation mapping which fills small holes, we currently recommend this one: https://github.com/ANYbotics/grid_map/blob/master/grid_map_filters/include/grid_map_filters/MedianFillFilter.hpp

DLonng commented 2 years ago

very good!!! hahhaaa :)

maximilianwulf commented 2 years ago

Nice, seems to work. Will close the issue, feel free to re-open if you need further assistance.

hzyhuter commented 1 year ago

hey，can you teach me how to use the MedianFillFilter? thank you very much!