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SteveMacenski / spatio_temporal_voxel_layer

A new voxel layer leveraging modern 3D graphics tools to modernize navigation environmental representations
http://wiki.ros.org/spatio_temporal_voxel_layer
GNU Lesser General Public License v2.1
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`voxel_min_points` parameter not working #242

Closed Srijan221 closed 2 years ago

Srijan221 commented 2 years ago

Print before this line the value of the min voxel size https://github.com/SteveMacenski/spatio_temporal_voxel_layer/blob/melodic-devel/src/measurement_buffer.cpp#L164. If you get a non-zero number, then your gripe is with pcl. If you get a zero-value, I can look into it. Moreover, we have used the default pointcloud from the ros realsense wrapper and no other costmap layers are added in our implementation.

I tried printing, but the code doesn't seem to enter that block, it doesn't print any value (zero / non-zero), not even any static string written in that line.

Those plus signs, in my opinion are due to the lighting conditions in the room, maybe due to reflections.

I have tried using two different Realsense - Realsense D415 and D455, Below are some errors observed with Realsense d455 - Image3 As you can see in the image above, the reflection due to the sunlight causes a random voxel to appear in the map and it is marked onto the costmap with an inflation which should not happen in a general case.

Image4 And, ghost points appear at locations that aren't in the field of view of camera as you can see above.

I am just looking for voxel_min_points to somehow remove these unwanted voxels to appear or mark in the costmap altogether.

Raising a new issue as previous one was closed without any soliution _Originally posted by @Srijan221 in https://github.com/SteveMacenski/spatio_temporal_voxel_layer/issues/241#issuecomment-1308673467_

SteveMacenski commented 2 years ago

I don’t see how these are STVL questions / problems. It sounds like you need to calibrate your sensors or filter them if you frequently are environments where lighting conditions result in extraneous noise.

Srijan221 commented 2 years ago

Thankyou for the clarification Steve, I just want to know the use of voxel_min_points parameter in ROS1 Melodic version of the plugin. Why is the parameter not working and changing it's value does not help?