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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
616 stars 183 forks source link

Kinetic/fix/vertical fov bug #266

Open yShzZpp opened 1 year ago

yShzZpp commented 1 year ago

Subject: Pull Request: Modification for spatioTemporalVoxelLayer

Dear Steve,

I hope this message finds you well. I am submitting my first Pull Request for your repository, [Repository Name], and I would greatly appreciate your review and consideration. I have made modifications to the code related to the usage of the spatioTemporalVoxelLayer, as I encountered compatibility issues with the kinetic version of the library when using a Livox radar.

The Livox radar has a field of view (FOV) ranging from -7° to 53°. However, the existing code simply divides the FOV by two as a parameter, resulting in an incomplete clearance of the costmap in the upper half, while the lower half is cleared properly.

To address this issue, I have made the following modifications to the code:

Replaced the "vertical_fov_angle" parameter with two parameters: "vertical_fov_start_angle" and "vertical_fov_end_angle." This allows for accurate definition of the vertical FOV range and resolves the clearance issue. I have thoroughly tested these modifications on the Livox radar. However, I must note that I do not have access to a depth camera for comprehensive testing. Therefore, I have only submitted the modifications for the 3D radar functionality.

I genuinely value your expertise and would greatly appreciate your feedback, suggestions, or any optimizations you may have. This Pull Request holds significant meaning for my professional career, and I am committed to making any necessary changes to ensure its successful integration into the project.

Thank you for taking the time to review my code, despite your busy schedule. I look forward to your response.

Best regards, zzpp

yShzZpp commented 1 year ago

Dear Steve, In this latest revision, I have made changes to incorporate FOV segmentation for 3D LiDAR scans. The segmentation will only be enabled when "model_type = 1" and "use_start_end_angle = true". For cases involving a depth camera, this feature will remain inactive. Best regards, zzpp

yShzZpp commented 1 year ago

Dear Steve, I wanted to express my gratitude for your patient guidance and support during the review process. I have made further adjustments to the code. In this revised version, I have implemented a method that utilizes only a single constructor. I carefully considered your feedback and worked diligently to ensure that the code adheres to the best practices and standards of the project. I kindly request you to review this latest iteration, and if there are any lingering issues or concerns, please do not hesitate to point them out. I am fully committed to patiently continue refining the code until it meets your expectations.

Once again, I extend my heartfelt appreciation for your valuable input and guidance. Your support is pivotal in my journey of growth and improvement as a developer.

Thank you for taking the time to review my work. I look forward to your feedback.

Best regards, zzpp

yShzZpp commented 1 year ago

Dear Steve, In this latest revision, I have diligently addressed the areas you highlighted and made the necessary modifications. Additionally, I would like to extend my sincerest apologies for not paying attention to the formatting issues in my previous submissions. I have now taken the time to rectify all the formatting problems throughout the code. Best regards, zzpp