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mikh3x4 / nerf-navigation

Code for the Nerf Navigation Paper. Implements a trajectory optimiser and state estimator which use NeRFs as an environment representation
https://mikh3x4.github.io/nerf-navigation/
MIT License
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Incorporating offsets of real world coordinate systems in A* #7

Closed stalhabukhari closed 2 years ago

stalhabukhari commented 2 years ago

Hello,

I wish to know how the states provided to A* are correctly positioned on the occupancy grid created in the lines below. I am repeatedly encountering the assertion assert not occupied[start], although the start state is in the free region. I believe there is some offset that is not accounted for when converting real-world coordinates to grid-index coordinates.

https://github.com/mikh3x4/nerf-navigation/blob/4c54520243cb794e18107c0e8914c14defe467ec/nav/quad_plot.py#L95-L126

stalhabukhari commented 2 years ago

Nevermind! I realized that 1 is the offset and 2 is the dynamic range.

https://github.com/mikh3x4/nerf-navigation/blob/4c54520243cb794e18107c0e8914c14defe467ec/nav/quad_plot.py#L120-L121

RONINGOD commented 1 year ago

Hello, I have the same problem as you. Can you tell me how to solve it?