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leggedrobotics / elevation_mapping_cupy

Elevation Mapping on GPU.
MIT License
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Add step_filter #25

Closed AlexReimann closed 1 year ago

AlexReimann commented 2 years ago

Adds a StepFilter, which simply results in a layer which has the highest differences to the neighboring cells.

Mostly copy & paste from the MinFilter.

Has settings for the neighbor cell radius and if negative differences should be included

AlexReimann commented 2 years ago

Basically a fix for #20, as this has a much smaller traversability.

mktk1117 commented 2 years ago

Thanks for your PR! What was the issue you tried to fix with this filter?

mktk1117 commented 2 years ago

Selection_119 With your original implementation, the border of the invalid cells have large step value. By checking the validity of the neighboring cells, the map becomes like this. Selection_118 Which one do you intend?

AlexReimann commented 2 years ago

Which one do you intend?

The second one, but I wonder why I didn't see this before.

We definitely have "NAN" cells from clearing, which should currently cause an issue then. Can you supply a patch?

mktk1117 commented 2 years ago

Okay, please have a look at this branch, which is a modified one from your PR. https://github.com/leggedrobotics/elevation_mapping_cupy/tree/step_filter

AlexReimann commented 1 year ago

Closing we are running now with heavy modifications, so not putting effort into getting this back into upstream anymore.