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leggedrobotics / elevation_mapping_cupy

Elevation Mapping on GPU.
MIT License
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Reduce the offset between elevation map and plane boundaries #62

Open hsurya08 opened 1 year ago

hsurya08 commented 1 year ago

Hi, Thank you for the amazing work. I am working on the elevation_mapping_cupy package for one of my projects and was currently working on the simulation. I observe that the plane boundaries generated by the algorithm were a bit smaller compared to the actual objects in the environment as shown in the below figure (I want to reduce the offset between the blue and orange boundaries). I assume this is for the purpose of adding a safety threshold, however, I just wanted to know if there is a parameter that I can modify to reduce this offset? Any information or suggestions that you provide would be appreciated. Thanks again!

github_elev_issue

rubengrandia commented 1 year ago

All parameter are specified here: https://github.com/leggedrobotics/elevation_mapping_cupy/blob/main/plane_segmentation/convex_plane_decomposition_ros/config/parameters.yaml

Maybe it is the resampling resolution of 0.04, you can try setting that -1 or the resolution of your map