Robotics StackExchange | Archived questions

why are heightmaps subsampled?

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?

Asked by tve on 2017-09-09 11:44:59 UTC

Comments

Answers

It looks like the sampling is configurable on Gazebo 7:

https://bitbucket.org/osrf/gazebo/pull-requests/2519/support-configuring-heightmap-sampling/diff

Asked by chapulina on 2017-09-09 12:02:52 UTC

Comments

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

Asked by tve on 2017-09-09 13:26:37 UTC

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

Asked by tve on 2017-09-09 19:16:28 UTC

Nice catch, ticketed an issue: https://bitbucket.org/osrf/sdformat/issues/167/continuous-documentation

Asked by chapulina on 2017-09-10 12:34:50 UTC