Hi,
Thank you for sharing your code. We are aiming to develop path-planning algorithms for robotic navigation in 3D environments (e.g. forest). I read your papers (since 2016) on 3D navigation and found your work interesting. To get the proof-of-concept, I'm trying to replicate path planning in a simple environment (i.e. playpen) using ROS noetic and Gazebo. I used 10 pcd files (recorded using HDL-32E lidar) to create the mesh environment by using the following steps:
1- Filter pcd files using filter_cloud.py (with default params except filter_radius = 0.8) and save as ply files
2- Register ply files using register_scans.py (with default params except filter_radius = 0.8)
3- Combine ply files using combine_scans.py (with default params except filter_radius = 0.8). Moreover, I didn't down sample the combined cloud because the original pcds are very small. Apparently, the combined cloud looks good (see combined_plys.png).
4- Reconstruct the mesh environment using reconstruct.py (with default params except filter_radius = 0.8). The resultant mesh file shows a black rectangle (see front.png). The flipped side show a kind of playpen environment but in bad look (see flipped.png). It is observed that the construction process generate a warning "Extract bad average roots: 21". I can see a very nice mesh file for botanical garden and other environments in your experiments.
It would be a great favor if you can guide me how to fix this issue? Thanks in advance.
Combined Plys
Front Mesh
Flipped Mesh
Original pcds
pcds.zip
Hi,
Thank you for sharing your code. We are aiming to develop path-planning algorithms for robotic navigation in 3D environments (e.g. forest). I read your papers (since 2016) on 3D navigation and found your work interesting. To get the proof-of-concept, I'm trying to replicate path planning in a simple environment (i.e. playpen) using ROS noetic and Gazebo. I used 10 pcd files (recorded using HDL-32E lidar) to create the mesh environment by using the following steps:
1- Filter pcd files using filter_cloud.py (with default params except filter_radius = 0.8) and save as ply files
2- Register ply files using register_scans.py (with default params except filter_radius = 0.8)
3- Combine ply files using combine_scans.py (with default params except filter_radius = 0.8). Moreover, I didn't down sample the combined cloud because the original pcds are very small. Apparently, the combined cloud looks good (see combined_plys.png).
4- Reconstruct the mesh environment using reconstruct.py (with default params except filter_radius = 0.8). The resultant mesh file shows a black rectangle (see front.png). The flipped side show a kind of playpen environment but in bad look (see flipped.png). It is observed that the construction process generate a warning "Extract bad average roots: 21". I can see a very nice mesh file for botanical garden and other environments in your experiments.
It would be a great favor if you can guide me how to fix this issue? Thanks in advance.
Combined Plys
Front Mesh
Flipped Mesh
Original pcds
pcds.zip