Can we crop the mesh generated throgh nvblox?

[vatsal21770]

Can we crop the nvblox mesh? Is there any parameter or something through that we can visualize mesh till certain height or certain depth frorm camera?

[alexmillane]

Thank you for your interest in the project and the question.

We have several parameters for slicing the visualized mesh.

• mesh_streamer_exclusion_height_m: 2.0 here. This controls the height above which the mesh is published from nvblox. In other words the mesh above this height is not transmitted and does not contribute to, say, WiFi bandwidth when streaming from a remote machine (for example the jetson on your robot).
• We have options for cutting the mesh above a certain height in our rviz widget (see attached image). So this part of the mesh is transmitted, but is then cut out in the visualization tool.