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aytimothy / RealityVirtualVirturalizer

Griffith University WIL ICT 2020 Trimester 1 Project | A device and software package that scans the physical world for virtual/robotics use
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Add a feature in the reconstructor to exclude rays for readings close to or greater than max_range #50

Closed aytimothy closed 4 years ago

aytimothy commented 4 years ago

This is because all laser readings at the max distance it is able to do (in the Hokuyo's case, this is 30m), it means the laser didn't return, and this can mean one of two things:

  1. The laser ray didn't return (ie. you used a rangefinder on a mirror), or
  2. You were trying to measures greater than 30m.

Therefore, rays that return the max value, or some threshold near the max value should be tossed out and ignored rather than marked as a reading.

aytimothy commented 4 years ago

I already added this to the Frame.ToVector3() function in Waleed-tech/DesktopUI@33dcb5114654df575348cdee12e3e2ff5f67a14b, just need a UI counterpart to set whatever the value of threshold is.

aytimothy commented 4 years ago

Added UI Elements in Waleed-Tech/DesktopUI@b2546c2620458ed744e518f0f0861ca54371e840

aytimothy commented 4 years ago

I just realized that we can also use the intensity metric (basically how 'sure' the LIDAR thinks the reading is correct).