Hi Brian, I had a method for creating efficient maps from 2D maps in an older version of gazebo. It essentially created boxes to fit the occupied space. I haven't put this functionality back into the current version of Gazebo.
I still have the code kicking around, so I guess now is a good time. I'll see what I can do tonight, and I'll get back to you tomorrow with either something that works or at least a starting point that you can run with. -nate On Mon, Jul 14, 2008 at 2:17 PM, Brian Gerkey <[EMAIL PROTECTED]> wrote: > hi, > > Is there a way to create a compact 3D world for Gazebo by extruding a > 2D map? Specifically, I have a 2D bitmap that represents free and > occupied space, and I want the 3D extruded version of it to appear in > Gazebo. The input map is what you'd expect from a SLAM system. > > I've tried using a 'geom:heightmap' tag. This appears to work, but > results in a *lot* of polygons, so many that it nearly halts the > simulator when it comes time to raytrace laser hits. Also, the laser > sometimes sees through walls, which I believe is caused by the fact > that the extrusion contains lots of really really skinny triangles. > > In the wireframe view, it looks Gazebo is converting each pixel in my > bitmap into a vertically oriented rectangular polygon, comprising 12 > triangles: 8 skinny ones around the sides, and 4 others on the top and > bottom. > > Is there a way to get Gazebo to produce a more compact model than > this? While one could get arbitrarily sophisticated in make the model > compact, my first cut would be to find axis-aligned rectangular > obstacles in the 2D map and extrude the rectangle, in place of the > constituent pixels. > > I went to implement this in Gazebo, but found that Gazebo is actually > handing off the heightmap construction to OGRE (server/physics/ > HeightmapGeom.cc, HeightmapGeom::LoadChild). > > Any ideas? > > brian. > > ------------------------------------------------------------------------- > Sponsored by: SourceForge.net Community Choice Awards: VOTE NOW! > Studies have shown that voting for your favorite open source project, > along with a healthy diet, reduces your potential for chronic lameness > and boredom. Vote Now at http://www.sourceforge.net/community/cca08 > _______________________________________________ > Playerstage-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ------------------------------------------------------------------------- Sponsored by: SourceForge.net Community Choice Awards: VOTE NOW! Studies have shown that voting for your favorite open source project, along with a healthy diet, reduces your potential for chronic lameness and boredom. Vote Now at http://www.sourceforge.net/community/cca08 _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
