Open matlabbe opened 1 month ago
Refer to this discussion: https://github.com/introlab/rtabmap_ros/issues/1194#issuecomment-2395204102
The issue is that points over the obstacle threshold won't be used for ray tracing, so some dynamic obstacles even smaller than max obstacle height may still remain in the OctoMap after it is gone. We should handle Grid/MinGroundHeight and Grid/MaxObstacleHeight differently if both Grid/3D and Grid/RayTracing are enabled. We should not filter the cloud like this: https://github.com/introlab/rtabmap/blob/538bc681d4a382ad06333ee1e17c6ac120e82c80/corelib/include/rtabmap/core/impl/LocalMapMaker.hpp#L111-L117 Instead, forward Grid/MinGroundHeight and Grid/MaxObstacleHeight to OctoMap and treat them like Grid/RangeMax parameter, so that ray tracing can clear obstacles for which the background is seen outside the obstacle volume. https://github.com/introlab/rtabmap/blob/538bc681d4a382ad06333ee1e17c6ac120e82c80/corelib/src/global_map/OctoMap.cpp#L530-L541
Grid/MinGroundHeight
Grid/MaxObstacleHeight
Grid/RangeMax
Refer to this discussion: https://github.com/introlab/rtabmap_ros/issues/1194#issuecomment-2395204102
The issue is that points over the obstacle threshold won't be used for ray tracing, so some dynamic obstacles even smaller than max obstacle height may still remain in the OctoMap after it is gone. We should handle Grid/MinGroundHeight and Grid/MaxObstacleHeight differently if both Grid/3D and Grid/RayTracing are enabled. We should not filter the cloud like this: https://github.com/introlab/rtabmap/blob/538bc681d4a382ad06333ee1e17c6ac120e82c80/corelib/include/rtabmap/core/impl/LocalMapMaker.hpp#L111-L117 Instead, forward
Grid/MinGroundHeightandGrid/MaxObstacleHeightto OctoMap and treat them likeGrid/RangeMaxparameter, so that ray tracing can clear obstacles for which the background is seen outside the obstacle volume. https://github.com/introlab/rtabmap/blob/538bc681d4a382ad06333ee1e17c6ac120e82c80/corelib/src/global_map/OctoMap.cpp#L530-L541