how to calculate elevation_thresholds and flatness_thresholds

ralphoon commented 3 years ago

Hello, Thanks for your open source! I would like to ask what function elevation_thresholds and flatness_thresholds are calculated according to

LimHyungTae commented 3 years ago

Oops, sorry for the late response due to the ICRA'22..haha.

I'll upload it ASAP

LimHyungTae commented 3 years ago

Hello, ralphoon I added additional explanations about elevation_thresholds. Since the original parameters are for KITTI, but you can change them depending on your own environment. [elevation_thresholds]

If your env is strictly flat, then set the elevation_thresholds to be similar to the sensor height. [flatness_thresholds]
The surface variable is usually set to 0.02 in many papers to estimate whether the target unit cloud is flat or not.
But I recommend setting flatness_thresholds in a more strict way

The best way is to check the printed command line in your command window and then set proper parameters. If the verbose is true, you can show the below commands:

LimHyungTae commented 3 years ago

Like this

ralphoon commented 3 years ago

Thank you very much for your reply, it is very useful to me！

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how to calculate elevation_thresholds and flatness_thresholds #1