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ZJU-FAST-Lab / EGO-Planner-v2

Swarm Playground, the codebase of the paper "Swarm of micro flying robots in the wild"
GNU General Public License v3.0
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360 deg point cloud not showing up #7

Closed shubham-shahh closed 2 years ago

shubham-shahh commented 2 years ago

Hi @bigsuperZZZX, I am passing the planner a 360 deg lidar data, but I'm able to visualize only the objects right in front of the copter, I've attached an image below, which illustrates it better

The solid red colour Illustrates the original point cloud I'm passing to the planner

thanks Screenshot from 2022-05-24 10-05-44

shubham-shahh commented 2 years ago

Hi @bigsuperZZZX, any update on this?

thanks

shubham-shahh commented 2 years ago

Hi i found the reason in grid_map.cpp () if (heading.dot(relative_dir.normalized()) > 0.5) causes the problem

thanks