Merge pull request #103 from leggedrobotics/fix/nan_in_color

Only checking isnan for xyz layers.
leggedrobotics · Sep 5, 2024 · 00bbe01 · 00bbe01
2 parents 968458a + 494ab5f
commit 00bbe01
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py
@@ -455,7 +455,7 @@ def input_pointcloud(
         """
         raw_points = cp.asarray(raw_points, dtype=self.data_type)
         additional_channels = channels[3:]
-        raw_points = raw_points[~cp.isnan(raw_points).any(axis=1)]
+        raw_points = raw_points[~cp.isnan(raw_points[:, :3]).any(axis=1)]
         self.update_map_with_kernel(
             raw_points,
             additional_channels,