How do you use OGRE2 for Level of Detail decrease in far-ranged heightmaps?

asked 2022-12-22 23:26:14 -0600

SeungJooHan gravatar image

I have currently a .tif file for Heightmap, but the Heightmap is quite huge and I think it is impossible to load all the scenes into camera sensor. I want to use OGRE2 to get low-quality mesh visualizations for far-ranged heightmaps. I've searched and it looks like there was a HeightmapLODPlugin feature in gazebo-classic but there aren't any tutorials or example on how to use it. Is there anybody who can help? My Gazebo Version is Gazebo Garden7.1 on Ubuntu 20.04. The .sdf file I'm launching is:

<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="heightmap">
    <physics name="1ms" type="ignored">
      <dart>
         <collision_detector>bullet</collision_detector>
      </dart>
    </physics>

    <light type="directional" name="sun">
       <cast_shadows>true</cast_shadows>
       <pose>0 0 10 0 0 0</pose>
       <diffuse>0.8 0.8 0.8 1</diffuse>
       <specular>0.2 0.2 0.2 1</specular>
       <attenuation>
         <range>1000</range>
         <constant>0.9</constant>
         <linear>0.01</linear>
         <quadratic>0.001</quadratic>
       </attenuation>
       <direction>-0.5 0.1 -0.9</direction>
     </light>

     <include>
       <uri>
       /home/dxt/Gazebo/heightmap/1
       </uri>
     </include>
   </world>
 </sdf>

I've tried to launch it with render engine as ogre2:

gz sim --render-engine ogre2 test3.sdf

But I don't think that's the answer to what I was trying to do.

edit retag flag offensive close merge delete