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<div class="moz-cite-prefix">On 10/22/2012 09:53 AM, Jakob
Schwendner wrote:<br>
</div>
<blockquote cite="mid:5084FB97.7040306@dfki.de" type="cite">
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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>
</blockquote>
Small updates from Jakob's description ... As it is not entirely
accurate.<br>
<blockquote cite="mid:5084FB97.7040306@dfki.de" type="cite"> -
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>
</blockquote>
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
(<a class="moz-txt-link-freetext" href="http://www.rock-robotics.org/master/pkg/planning/orogen/corridor_planner/index.html">http://www.rock-robotics.org/master/pkg/planning/orogen/corridor_planner/index.html</a>)
to see how it is done<br>
<br>
2. Connect your newly created point cloud generator to the
traversability task mentioned above ;-)<br>
<br>
Behind the scenes, the complete (envire-based) processing chain is:<br>
<br>
Pointcloud -> MLSProjection -> MLS -> MLSSlope ->
Grid<float> -> SimpleTraversability ->
Grid<uint8_t><br>
<pre class="moz-signature" cols="72">--
Sylvain Joyeux (Dr.Ing.)
Senior Researcher
Space & Security Robotics
Underwater Robotics
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