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why are heightmaps subsampled?

asked 2017-09-09 11:44:59 -0600

tve gravatar image

I'm using a terrain heightmap and I notice that there's a fixed 2x subsampling built into gazebo. The subsampling is done using simple linear interpolation. Why is this done? I mean, if I wanted to subsample I could do that myself too before loading the heightmap (an image in my case) into gazebo... If the subsampling could be controlled then maybe it would be a nice feature, but as-is it just quadruples the number of vertices for what gain?

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answered 2017-09-09 12:02:52 -0600

It looks like the sampling is configurable on Gazebo 7:

https://bitbucket.org/osrf/gazebo/pul...

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Thanks for pointing this out. For some odd reason I was browsing Gazebo 6 sources, grrr.

tve gravatar imagetve ( 2017-09-09 13:26:37 -0600 )edit

Ha, the SDF 1.6 docs don't mention the <sampling> parameter in http://sdformat.org/spec?ver=1.6&elem=geometry

tve gravatar imagetve ( 2017-09-09 19:16:28 -0600 )edit
chapulina gravatar imagechapulina ( 2017-09-10 12:34:50 -0600 )edit
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Asked: 2017-09-09 11:44:59 -0600

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Last updated: Sep 09