[Rock-dev] base::samples::Pointcloud -> TraversabilityMap

[Stefan Haase]

Hi again,

First:
Thanks for the good hints, I could create the traversability map without
any bigger problems.

Second (just some questions):
1. Do you have a short-one-sentence explanation what's controlled by the
following parameters:
- MLSProjection::use_uncertainty
- MLSProjection::use_negative_informations
- MLSSlope::corrected_step_threshold
- MLSSlope::use_stddev (generates quite useless traversability maps if set
to true)

2. slam/envire/viz/ TraversabilityGridVisualization uses the constant band
name 'grid_data' (empty in my case) instead of 'traversability' (contains
the required data).
What's wrong here?


> void TraversabilityGridVisualization::updateNode(envire::EnvironmentItem*
> item, osg::Group* node) const
> {
>     //LOG_INFO("updateNode");
>     osg::ref_ptr<osg::Geode> geode = node->getChild(0)->asGeode();
>     envire::Grid<uint8_t> *trGrid = dynamic_cast<envire::Grid<uint8_t>
> *>(item);
>
>     assert(trGrid);
>     //const std::string bandName("grid_data");
>     const std::string bandName("traversability");
>     const envire::TraversabilityGrid::ArrayType &trGridData =
> trGrid->getGridData(bandName);
>     showGridAsImage(geode, trGrid, boost::bind(colorForCoordinate, _1, _2,
> _3, trGridData));
> }


Best regards,
Stefan


2012/10/22 Sylvain Joyeux <sylvain.joyeux at dfki.de>

>  On 10/22/2012 09:53 AM, Jakob Schwendner wrote:
>
> On 10/21/2012 04:34 PM, Stefan Haase wrote:
>
> Hi Rock-Developer,
>
>  I have to create/update a TraversabilityMap using the informations of a
> base::samples::Pointcloud.
> There is a possibility to load TraversabilityMaps from
> envire::Grid<uint8_t>, but the envire::Grid has to be created manually?
>
>  Maybe I missed sth, so I am thankful for any hint,
> Stefan
>
>  --
>
> Currently the steps would be as follows (all from the top of my head, so
> there might be some mistakes):
>
> Small updates from Jakob's description ... As it is not entirely accurate.
>
>  - Generate an empty envire::Environment
> - Generate envire::Pointcloud and Frame for it
> - copy base::samples::Pointcloud into envire::Pointcloud (never used the
> base::samples type, so not sure which method to use there)
>
> 1. The pointcloud then needs to be converted to an MLS using the
> MLSProjection operator. At this stage, I would suggest creating a
> slam/orogen/pointcloud_generator orogen project with a
> "pointcloud_generator::Task" component or something like that that would
> export the envire environment. You can have a look at the
> corridor_planner::Traversability task from the
> planning/orogen/corridor_planner package (
> http://www.rock-robotics.org/master/pkg/planning/orogen/corridor_planner/index.html)
> to see how it is done
>
> 2. Connect your newly created point cloud generator to the traversability
> task mentioned above ;-)
>
> Behind the scenes, the complete (envire-based) processing chain is:
>
>   Pointcloud -> MLSProjection -> MLS -> MLSSlope -> Grid<float> ->
> SimpleTraversability -> Grid<uint8_t>
>
> --
> Sylvain Joyeux (Dr.Ing.)
> Senior Researcher
>
> Space & Security Robotics
> Underwater Robotics
>
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>
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-- 
 Dipl.-Inf. Stefan Haase
 Space Robotics and Animation

Standort Bremen:
 DFKI GmbH
 Robotics Innovation Center
 Robert-Hooke-Straße 5
 28359 Bremen, Germany

 Phone: +49 (0)421 178 45-4108
 Fax:   +49 (0)421 178 45-4150
 E-Mail: Stefan.Haase at dfki.de

 Weitere Informationen: http://www.dfki.de/robotik
 -----------------------------------------------------------------------
 Deutsches Forschungszentrum fuer Kuenstliche Intelligenz GmbH
 Firmensitz: Trippstadter Straße 122, D-67663 Kaiserslautern
 Geschaeftsfuehrung: Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster
 (Vorsitzender) Dr. Walter Olthoff
 Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes
 Amtsgericht Kaiserslautern, HRB 2313
 Sitz der Gesellschaft: Kaiserslautern (HRB 2313)
 USt-Id.Nr.:    DE 148646973
 Steuernummer:  19/673/0060/3
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