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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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Unused variable: `point_vels` #9

Open stalhabukhari opened 1 year ago

stalhabukhari commented 1 year ago

Hello,

The point_vels variable is not used in loss computation:

https://github.com/mikh3x4/nerf-navigation/blob/7fd14ff6640602e49e92e2a54d40ba0e519debae/nav/quad_plot.py#L232

I am facing issues in the initial path planning and I believe this is relevant.

mikh3x4 commented 1 year ago

This line computes the velocity of each individual point making up the robot point cloud.

You are correct that this is odd - In my memory I thought this is used in the next line instead of the velocity of the robot origin (vel), assuming correct numpy broadcasting, but it's not. Instead the velocity of the robot origin is used. I do think it is a good approximation when the robot isn't turning fast compared to its linear motion, but including the rotation is technically correct