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LimHyungTae / patchwork

SOTA fast and robust ground segmentation using 3D point cloud (accepted in RA-L'21 w/ IROS'21)
MIT License
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prabally code error #29

Closed HMX2013 closed 1 year ago

HMX2013 commented 1 year ago

It seems that line 186 "concentric_idx_tmp++; " should be put behind line 187.

LimHyungTae commented 1 year ago

Could you please why? I don't think so, because it's the index for rings from the central to far part (maybe I have to change it to more appropriate names)

HMX2013 commented 1 year ago

Because the value of "num_rings_each_zone" may be bigger than 1. Therefore the ring index may be different from the zone index. For example, in variables flatnessthr[concentric_idx], concentric_idx may be greater than 3. I think concentric_idx should be the zone index, not the ring index.

LimHyungTae commented 1 year ago

Well, the flatness term is only applied to the closest rings, not the zone. Because we cannot discern between flat but steep slope and just non-ground, flat objects when the distance from the origin becomes large. That's why elevation and flatness are applied to the closest rings.

HMX2013 commented 1 year ago

Thanks.