Add height of cluster with the most points method #323
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Signed-off-by: kosuke55 <[email protected]>
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@pfankhauser |
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ping @maximilianwulf @SteveMacenski @Marwan99 |
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Hey, could you retarget it to the main branch? |
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@maximilianwulf |
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Yes. Are you working enterily with ROS2? |
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Yes. I'm working enterily with ROS2. |
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Could you in any case create a 2nd MR onto master? |
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OK, will you plan to review PR for master before this PR? |
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@maximilianwulf |
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kosuke55
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friendly ping @maximilianwulf @SteveMacenski @Marwan99 |
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Thank you. |
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Thank you for the work.
I added the method to use the mean value of the cluster with the most points as elevation value.
This method may be able to estimate more ground-like values.
0: Smallest value among the average values of each cluster (current method)
1: Mean value of the cluster with the most points (new method)
(height_thresh is a parameter for this methods to reduce the influence of point clouds that exist in high locations such as ceilings.)