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tsengapola / costmap_depth_camera

This is a costmap plugin for costmap_2d pkg. This plugin supports multiple depth cameras and run in real time.
https://github.com/tsengapola/costmap_depth_camera
BSD 2-Clause "Simplified" License
66 stars 19 forks source link

hollow without inflation_layer #8

Open sun421-cloud opened 10 months ago

sun421-cloud commented 10 months ago

hello, i use the humble version of the plugin in the nav2_costmap_2d without inflation_layer. There are some holes in point cloud updates, as shown in the figure below: image The green dots represent the point clouds in pc_3d_mapglobal, and the purple dots represent point clouds of the latest frame. In addition, the purple dots is not be put in pc_3d_mapglobal completely, especially the point clouds near the robot.

tsengapola commented 10 months ago

Hi, can you show me the camera_link tf and also the frustums. I can not see things clear from your figure. And also annotate purple pc and green pc on your figure.