elevation_mapping_cupy icon indicating copy to clipboard operation
elevation_mapping_cupy copied to clipboard

Published 20 hours ago • verified publisher icon leggedrobotics

basic layers and normals computation

Open giulioturrisi opened this issue 1 year ago • 1 comments

Hi, I have two questions regarding the concept of basic layers in the parameters.yaml file and the computation of the normals.

  1. If there are multiple basic layers in the array, how are they taken into consideration by the different filters?

  2. I have some problems when adding the layers "normal_x", "normal_y", and "normal_z". When enabling the normal publisher the output array is empty, probably because the condition "norm of the vector less than 0.1" is triggered. But i don't see any particular problem in the elevation layer from which they should be computed. Do you have any ideas on why this is happening?

An additional question regarding 2): is there a way to specify the normal computation from, for example, the "smooth" layer and not from the simple "elevation" layer?

Thank you in advance!

giulioturrisi avatar May 09 '23 10:05 giulioturrisi