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leggedrobotics / elevation_mapping_cupy

Elevation Mapping on GPU.
MIT License
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Banning a radius around the sensor (Question) #64

Open mukundbala opened 1 year ago

mukundbala commented 1 year ago

Hi,

I've integrate the elevation_mapping_cupy together with my Hexapod, using D435 mounted at the front, running on the Jetson Orin AGX. I am planning to move to a 3D Lidar soon. An issue I have with using both sensors is that the legs of the Hexapod show up in the elevation map as large spikes. How would i specify a radius with respect to a particular frame, eg BaseLink to disable the map inside this radius to prevent this from happening

?

mktk1117 commented 1 year ago

You can increase this parameter for example.

min_valid_distance: 0.5 # points with shorter distance will be filtered out.

roboticlemon commented 6 months ago

I would filter the pointcloud using a simple cropbox first. See this answer if you need something more complicated.