the sensor height change?

[Nothand0212]

I set the sensor height to 3.0，but on some case it will change like below?

the data is collected on boat. In some case, it work well; but some case, patchwork++ can not master.

did I need to change other params?

[ RNR ] Num of noises : 57
Flushed patches
[ CZM ] Divides pointcloud into the concentric zone model
=========== Temporal Ground Revert (TGR) ===========
[1, 8] mean_flatness: 0.0106572, stdev_flatness: 0.00265974
8th flat_sector_candidate / flatness: 0.0195439 / line_variable: 5.9849 / ground_num : 137
FINAL REJECT
====================================================
sensor height: 0.709483
elevation_thr_  :   -0.4289,  -0.8812,  -0.2444,  -0.1239
flatness_thr_   :   0.0152,  0.0085,  0.0013,  0.0053
Input Point Cloud Size:         18653
Ground Point Cloud Size:        5352
Non-Ground Point Cloud Size:    13301
Timer took 7.17513ms

[seungjae24]

Hi @Nothand0212,

It is true that the sensor height is updated in an adaptive manner. You can disable the update of sensor_height variable in the source code, which is written as below.

patchwork-plusplus/patchworkpp/src/patchworkpp.cpp

Line 338 in d3f4ca4

params_.sensor_height = -update_mean;

Also, it might be great if you share your data collected using boat. It looks very interesting to try Patchwork++ in another platform because I have tested my algorithm only for autonomous vehicles, mobile robots, or quadruped robots. If you don't mind to share your data, please send me an e-mail! The e-mail address is written in the end of README. Thank you!