From 494ab5fac1dd03a9fa698d984549960ac689e6be Mon Sep 17 00:00:00 2001 From: Takahiro Date: Mon, 2 Sep 2024 18:16:01 +0200 Subject: [PATCH] Only checking isnan for xyz layers. --- .../script/elevation_mapping_cupy/elevation_mapping.py | 2 +- 1 file changed, 1 insertion(+), 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 index 43cbe884..b78aeb45 100644 --- 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,