Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add method for loading a color layer from a textured mesh #1

Merged
merged 1 commit into from
Nov 17, 2023

Conversation

Jaeyoung-Lim
Copy link
Member

@Jaeyoung-Lim Jaeyoung-Lim commented Nov 15, 2023

Problem Description
This PR was originally proposed in ANYbotics#374, but being backported to this fork due to the upstream PR not being reviewed

When loading a gridmap from a polygon mesh, only the geometry was being read on the grid map.

This commit extends the gird map pcl coverter for loading a color layer from a textured mesh

This is useful when loading colored pointclouds or reconstructions on the grid map for visualization purposes

Testing
A mesh can be read and added with a color layer with the two sequences

  grid_map::GridMapPclConverter::addLayerFromPolygonMesh(mesh, "elevation", grid_map_);
  grid_map::GridMapPclConverter::addColorLayerFromPolygonMesh(mesh, "color", grid_map_);

gridmap-mesh

This commit extends the gird map pcl coverter for loading a color layer from a textured mesh
@Jaeyoung-Lim Jaeyoung-Lim merged commit 43cb510 into master Nov 17, 2023
@Jaeyoung-Lim Jaeyoung-Lim deleted the pr-colored-mesh-upstream branch November 17, 2023 14:19
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

Successfully merging this pull request may close these issues.

1 participant