<div>Hi again,</div><div><br></div><div>First: </div><div>Thanks for the good hints, I could create the traversability map without any bigger problems.</div><div><br></div><div>Second (just some questions):</div><div>1. Do you have a short-one-sentence explanation what's controlled by the following parameters:</div>
<div>- MLSProjection::use_uncertainty</div><div>- MLSProjection::use_negative_informations</div><div>- MLSSlope::<span style="color:rgb(0,0,0);font-family:Verdana,Arial,'Bitstream Vera Sans',Helvetica,sans-serif;font-size:13px">corrected_step_threshold</span></div>
<div><span style="color:rgb(0,0,0);font-family:Verdana,Arial,'Bitstream Vera Sans',Helvetica,sans-serif;font-size:13px">- MLSSlope::use_stddev (generates quite useless traversability maps if set to true)</span></div>
<div><span style="color:rgb(0,0,0);font-family:Verdana,Arial,'Bitstream Vera Sans',Helvetica,sans-serif;font-size:13px"><br></span></div><div><span style="color:rgb(0,0,0);font-family:Verdana,Arial,'Bitstream Vera Sans',Helvetica,sans-serif;font-size:13px">2. slam/envire/viz/ </span><font color="#000000" face="Verdana, Arial, Bitstream Vera Sans, Helvetica, sans-serif">TraversabilityGridVisualization uses the constant band name 'grid_data' (empty in my case) instead of 'traversability' (contains the required data).</font></div>
<div><font color="#000000" face="Verdana, Arial, Bitstream Vera Sans, Helvetica, sans-serif">What's wrong here?</font></div>
<div> </div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left-width:1px;border-left-color:rgb(204,204,204);border-left-style:solid;padding-left:1ex">void TraversabilityGridVisualization::updateNode(envire::EnvironmentItem* item, osg::Group* node) const<br>
{<br> //LOG_INFO("updateNode");<br> osg::ref_ptr<osg::Geode> geode = node->getChild(0)->asGeode();<br> envire::Grid<uint8_t> *trGrid = dynamic_cast<envire::Grid<uint8_t> *>(item);<br>
<br> assert(trGrid);<br> //const std::string bandName("grid_data");<br> const std::string bandName("traversability");<br> const envire::TraversabilityGrid::ArrayType &trGridData = trGrid->getGridData(bandName);<br>
showGridAsImage(geode, trGrid, boost::bind(colorForCoordinate, _1, _2, _3, trGridData));<br>}</blockquote><div><br></div><div>Best regards,</div><div>Stefan </div>
<div class="gmail_extra"><br><br><div class="gmail_quote">2012/10/22 Sylvain Joyeux <span dir="ltr"><<a href="mailto:sylvain.joyeux@dfki.de" target="_blank">sylvain.joyeux@dfki.de</a>></span><br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
<div bgcolor="#FFFFFF" text="#000000"><div class="im">
<div>On 10/22/2012 09:53 AM, Jakob
Schwendner wrote:<br>
</div>
<blockquote type="cite">
On 10/21/2012 04:34 PM, Stefan Haase wrote:
<blockquote type="cite">
<div><span style="color:rgb(34,34,34);font-size:13px;font-family:arial,sans-serif">Hi
Rock-Developer,</span></div>
<div><span style="color:rgb(34,34,34);font-size:13px;font-family:arial,sans-serif"><br>
</span></div>
<div><span style="color:rgb(34,34,34);font-size:13px;font-family:arial,sans-serif">I
have to create/update a </span><span style="color:rgb(34,34,34);font-size:13px;font-family:arial,sans-serif">TraversabilityMap
using the informations of a </span><span style="color:rgb(34,34,34);font-size:13px;font-family:arial,sans-serif">base::samples::Pointcloud.</span></div>
<div><span style="color:rgb(34,34,34);font-size:13px;font-family:arial,sans-serif">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-size:13px;font-family:arial,sans-serif">
<div><span style="color:rgb(34,34,34);font-size:13px;font-family:arial,sans-serif"><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></div>
Small updates from Jakob's description ... As it is not entirely
accurate.<div class="im"><br>
<blockquote 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></div>
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 href="http://www.rock-robotics.org/master/pkg/planning/orogen/corridor_planner/index.html" target="_blank">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 cols="72">--
Sylvain Joyeux (Dr.Ing.)
Senior Researcher
Space & Security Robotics
Underwater Robotics
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<br></blockquote></div><br><br clear="all"><div><br></div>-- <br> Dipl.-Inf. Stefan Haase<br> Space Robotics and Animation<br> <br>Standort Bremen:<br> DFKI GmbH<br> Robotics Innovation Center<br> Robert-Hooke-Straße 5<br>
28359 Bremen, Germany<br> <br> Phone: +49 (0)421 178 45-4108<br> Fax: +49 (0)421 178 45-4150<br> E-Mail: <a href="mailto:Stefan.Haase@dfki.de" target="_blank">Stefan.Haase@dfki.de</a><br> <br> Weitere Informationen: <a href="http://www.dfki.de/robotik" target="_blank">http://www.dfki.de/robotik</a><br>
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(Vorsitzender) Dr. Walter Olthoff<br> Vorsitzender des Aufsichtsrats: Prof. Dr. h.c. Hans A. Aukes<br> Amtsgericht Kaiserslautern, HRB 2313<br> Sitz der Gesellschaft: Kaiserslautern (HRB 2313)<br> USt-Id.Nr.: DE 148646973<br>
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