Use default value in max_layer_filter if the layer does not exist.

leggedrobotics · Aug 11, 2024 · 968458a · 968458a
1 parent c6f1f32
commit 968458a
Showing 1 changed file with 7 additions and 2 deletions.
diff --git a/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py b/elevation_mapping_cupy/script/elevation_mapping_cupy/plugins/max_layer_filter.py
@@ -93,8 +93,13 @@ def __call__(
             layers.append(layer)
         if len(layers) == 0:
             print("No layers are found, returning traversability!")
-            idx = layer_names.index("traversability")
-            return elevation_map[idx]
+            if isinstance(self.default_value, float):
+                layer = cp.ones_like(elevation_map[0])
+                layer *= float(self.default_value)
+                return layer
+            else:
+                idx = layer_names.index("traversability")
+                return elevation_map[idx]
         result = cp.stack(layers, axis=0)
         if self.min_or_max == "min":
             result = cp.min(result, axis=0)