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leggedrobotics / tree_detection

This package implements a simple tree detector from point cloud data. It makes no assumptions about the ground plane and can handle arbitrary terrains.
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Point cloud preprocessing #5

Closed TunVunDerBunn closed 2 years ago

TunVunDerBunn commented 2 years ago

Create own package for the preprocessing of the input point cloud. The preprocessing is required if the point cloud contains points, which are extremely close to each other or which are very far from each other.

The preprocessing is only working correctly if the leaf size is big enough compared to the crop box volume that an integer variable inside the pcl voxel grid filter is not overflowing. A note regarding this was made in the readme.

TunVunDerBunn commented 2 years ago

Hi Edo,

If you want to have a pcd which contains an unprocessed point cloud (with infinite expansion and very close points) to test the changes, please let me know. I can quickly record on with my current software stack. (I tested the changes on my own and everything is supposed to work. In addition, your pipeline, if the two filters are switched off, should work as it did before without the changes.)

Best regards, Tun