<html>
<head>
<meta content="text/html; charset=ISO-8859-1"
http-equiv="Content-Type">
</head>
<body bgcolor="#FFFFFF" text="#000000">
On 10/21/2012 04:34 PM, Stefan Haase wrote:
<blockquote
cite="mid:CAKHP_R8sf1xYSF--wt3Z=33F-JmqOdO5L3F3APStM36wTbSeFA@mail.gmail.com"
type="cite">
<div><span
style="color:rgb(34,34,34);font-family:arial,sans-serif;font-size:13px;background-color:rgb(255,255,255)">Hi
Rock-Developer,</span></div>
<div><span
style="color:rgb(34,34,34);font-family:arial,sans-serif;font-size:13px;background-color:rgb(255,255,255)"><br>
</span></div>
<div><span
style="color:rgb(34,34,34);font-family:arial,sans-serif;font-size:13px;background-color:rgb(255,255,255)">I
have to create/update a </span><span
style="background-color:rgb(255,255,255);color:rgb(34,34,34);font-family:arial,sans-serif;font-size:13px">TraversabilityMap
using the informations of a </span><span
style="background-color:rgb(255,255,255);color:rgb(34,34,34);font-family:arial,sans-serif;font-size:13px">base::samples::Pointcloud.</span></div>
<div><span
style="color:rgb(34,34,34);font-family:arial,sans-serif;font-size:13px;background-color:rgb(255,255,255)">There
is a possibility to load TraversabilityMaps from
envire::Grid<uint8_t>, but the envire::Grid has to be
created manually?</span></div>
<span
style="color:rgb(34,34,34);font-family:arial,sans-serif;font-size:13px;background-color:rgb(255,255,255)">
<div><span
style="color:rgb(34,34,34);font-family:arial,sans-serif;font-size:13px;background-color:rgb(255,255,255)"><br>
</span></div>
</span>
<div>Maybe I missed sth, so I am thankful for any hint,</div>
<div>Stefan</div>
<div><br>
</div>
-- <br>
</blockquote>
Currently the steps would be as follows (all from the top of my
head, so there might be some mistakes): <br>
- Generate an empty envire::Environment<br>
- Generate envire::Pointcloud and Frame for it<br>
- copy base::samples::Pointcloud into envire::Pointcloud (never used
the base::samples type, so not sure which method to use there)<br>
- Generate an ElevationGrid and a TraversibilityGrid<br>
- Generate a Projection operator linking the pointcloud and the
ElevationGrid<br>
- Generate a Traversability operator (?) linking the ElevationGrid
and the TraversabilityGrid<br>
- run updateAll on the operators<br>
<br>
cheers,<br>
<br>
Jakob<br>
</body>
</html>