search

Ruben-MR / Quadrotor_3D_planning_control

Repository for the Planning and Decision Making Project Code
MIT License
4 stars 1 forks source link

Voxel representation distorted #3

Closed Ruben-MR closed 2 years ago

Ruben-MR commented 2 years ago

Maybe it's a problem on my side but when I execute the simulation and the animation starts, the voxels are quite distorted in the X-axis (I think). The scales are not homogeneous and leads to some distortion in the voxel representation. I guess this will be fixed when switching to 2.5D representation, but it may affect anyways so we'll need to take a look at that.

xinjie-liu commented 2 years ago

Hey Ruben, this is because i only chose a small proportional voxels from the original collider.csv file. The original file is in the map/ directory (collilders(copy).csv). If you replace the colliders.csv in the root directory by this one and also change the line 105 in the simulator.py to voxmap = create_voxmap(data, 10), it should give the right voxels. I did so changes because it ran faster on my computer.

Ruben-MR commented 2 years ago

Fair enough, I guess we can consider it to be sloved now that we have finally switched to bbox representation