-
Notifications
You must be signed in to change notification settings - Fork 8
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
it does not work at the outdoor #4
Comments
Hey Xiao, If its working "very well" inside and "not working" outside then its probably an issue with the depth image from the sunlight. I also have issues with my D435i outside in the sun, it only works for a very limited range. So my advice would be first to improve the depth image by adjusting parameters in RealSense, such as exposure time. After this then adjust post processing filters, Polylidar3D mesh smoothing, and then Polylidar3D polygon extraction parameters RealSense ParametersIf you are using the
Right now it currently links to to
I would change that to around 1500 or maybe even 1000 if you are outside on a bright day. Also note that you can use RealSense viewer to change these parameters and then save the changes into a JSON file. That JSON could then be loaded by Polylidar-realsense. Note that this doesnt apply to post-processing filters which are specified separately in the config file and are not apart of the cameras advanced parameters. Post Processing FiltersThe realsense filters are very good. Please read up on them if you haven't. I would make sure that you have adjusted them to give the best results for the scene you are interested in. Decimation filters do a really good job at smoothing and will lower the processing time for downstream filters. The temporal filter is very valuable, but be careful to not overuse it! In high movement scenarios it will cause smearing, but if your scene can be roughly static then go ahead and crank it up. The spatial bilateral filter is also really great and will help to preserve edges. Polylidar3D Mesh SmoothingI would leave these parameters alone for right now. But you can play with them around later if needed. Polylidar3D ParametersSince the polygon extraction is working inside then there probably are not any parameters here that you should change. However maybe you could lower
You could also increase z_thresh as well:
Maybe 0.20 or 0.30 at the highest. |
Thank you very much ! I will have a try ! |
Hi , Traceback (most recent call last): |
@JeremyBYU As you mention, L515 cannot work in the sunlight as well. Do you have the number of the detecting range based on your experience? Thanks. |
I think you are asking me to estimate the depth range of the L515 sensor. In bright sun -> 0-0.5 meters Inside basement -> 0 to 6 These are just estimates from a foggy memory. |
Hello,I use polylidar-realsense to detect ground at outdoor, but it not work.when I am at indoor , it work very well. My device is D435.Thank you !.
The text was updated successfully, but these errors were encountered: