From 31b40548ece1b7b85fb43f9bca701b582e2d1e4c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Michael=20G=C3=B6rner?= Date: Fri, 16 Apr 2021 14:13:35 +0200 Subject: [PATCH] correct explanation of padding parameters --- doc/perception_pipeline/perception_pipeline_tutorial.rst | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/doc/perception_pipeline/perception_pipeline_tutorial.rst b/doc/perception_pipeline/perception_pipeline_tutorial.rst index b6847da6f..6acc9b8a7 100644 --- a/doc/perception_pipeline/perception_pipeline_tutorial.rst +++ b/doc/perception_pipeline/perception_pipeline_tutorial.rst @@ -52,9 +52,9 @@ Save this file in the config folder in the robot's moveit_config package with na * *point_subsample*: Choose one of every *point_subsample* points. -* *padding_offset*: The size of the padding (in cm). +* *padding_scale*: Should always be >= 1.0. Scale up collision shapes in the scene before excluding them from the octomap. -* *padding_scale*: The scale of the padding. +* *padding_offset*: Absolute padding (in m) around scaled collision shapes when excluding them from the octomap. * *filtered_cloud_topic*: The topic on which the filtered cloud will be published (mainly for debugging). The filtering cloud is the resultant cloud after self-filtering has been performed. @@ -94,9 +94,9 @@ Save this file in the config folder in the robot's moveit_config package with na * *shadow_threshold*: The minimum brightness of the shadow map below an entity for its dynamic shadow to be visible -* *padding_offset*: The size of the padding (in cm). +* *padding_scale*: Should always be >= 1.0. Scale up collision shapes in the scene before excluding them from the octomap. -* *padding_scale*: The scale of the padding. +* *padding_offset*: Absolute padding (in m) around scaled collision shapes when excluding them from the octomap. * *filtered_cloud_topic*: The topic on which the filtered cloud will be published (mainly for debugging). The filtering cloud is the resultant cloud after self-filtering has been performed.