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Creating Octomap from Blender file

asked 2013-01-17 21:48:17 -0600

Felix Messmer gravatar image

updated 2014-01-28 17:14:54 -0600

ngrennan gravatar image

Dear all,

I would like to use dynamicEDT3D that comes with octomap for distance computation. For the moment this question is not necessarily a ROS issue, but I hope to get an answer to my problem here as well.

I am using the latest source code from the octomap github repository and built it. I created a simple environment within blender (2.61) only consisting of a wall spanning from 0,05..x..0,15 -0,5..y..0,5 0,0..z..1,0 (Blender coordinates) and a point lamp. Then, I followed the tutorial to generate a binary tree to initialize the octomap structure.

I used the following commands:

  • Export as X3D Extensible 3D file with 'Y forward' and 'Z up'
  • xsltproc -o collision_test_envYZ.vrml X3dToVrml97.xslt collision_test_envYZ.x3d

    [Info] <x3d profile="Immersive"> differs from computed profile='Interactive' [Hint] preferred Dublin Core Metadata Term is name='title' (vice filename) <meta name="filename" content="collision_test_envYZ.x3d"/> [Hint] Recommended: add <meta name="description" content="..."/> for documentation [check X3D source or VRML output to find pertinent head] [Hint] Recommended: add <meta name="created"/> date content for documentation [check X3D source or VRML output to find pertinent head] [Hint] Recommended: add <meta name="modified"/> date content for documentation [check X3D source or VRML output to find pertinent head] [Warning] PointLight node location and radius are affected by translation and scaling of parent <transform def="Point_TRANSFORM" translation="0.000000 0.000000 1.500000" scale="1.000000 1.000000 1.000000"/> [PointLight DEF='LA_Point']

  • ./binvox64 -bb -1.0 -1.0 -1.0 1.0 1.0 1.0 -d 200 ~/octomap/data/collision_test_envYZ.vrml

    --- [binvox] mesh voxelizer, version 1.08, build #445 on 2011/08/02 18:49:00 --- written by Patrick Min, 2004-2011

    will force bounding box to be [-1, -1, -1, 1] - [1, 1, 1, 1] loading model file... MeshFileIdentifier::*create_mesh_file(/home/fxm/octomap/data/collision_test_envYZ.vrml) VrmlMeshFile::load(/home/fxm/octomap/data/collision_test_envYZ.vrml) Timer [load_vrml] started VRML version 2.0 75 lines read, and 4 top level nodes Mesh::add_def_name_group(Point_TRANSFORM, 0, -1, 0) Mesh::add_def_name_group(group_ME_Cube, 0, 5, 2) Mesh::add_def_name_group(Cube_ifs_TRANSFORM, 0, 5, 1) Mesh::add_def_name_group(Cube_TRANSFORM, 0, 5, 0) freeing VRML memory Timer [load_vrml] stopped at 0.000439 seconds bounding box: [0.05, -0.5, 0, 1] - [0.15, 0.5, 1, 1] normalization transform: (1) translate [-0.05, 0.5, -0, 1], (2) scale 1, (3) translate [0, 0, 0] removed 0 faces before rendering

    voxel model dimension: 200 Graphics card and driver information: Vendor: NVIDIA Corporation Renderer: GeForce GT 330M/PCI/SSE2 Version: 3.3.0 NVIDIA 270.41.06 Voxels::init(200, 200, 200) calling set clip box SimpleMeshView::set_clip_box Voxelizer::carve_voxelize doing x direction doing y direction doing z direction Voxelizer::parity_vote_voxelize doing x direction doing y direction doing z direction Voxels::process_votes Voxelizer::voxelize took 0.680941 seconds area filled: 20 x 200 x 200 integer bounding box: [0,0,0] - [19,199,199]

    writing voxel file... VoxelFile::write_file(/home/fxm/octomap ...

(more)
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I agree that maybe ROS answers is not the best for issues related directly to OctoMap (not in ROS). If there is enough demand, I can create a mailing list or OctoMap-related questions and issues...

AHornung gravatar imageAHornung ( 2013-01-18 03:23:22 -0600 )edit
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The new mailing list for OctoMap is here: https://groups.google.com/d/forum/octomap This should be used in the future for general (non-ROS related) questions.

AHornung gravatar imageAHornung ( 2013-01-23 03:43:53 -0600 )edit

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answered 2013-01-18 03:21:48 -0600

AHornung gravatar image

binvox sometimes behaves strange, maybe it ignores the bounding box in a later step. As a first measure, I would get the latest version from the author's homepage (future versions of OctoMap will no longer contain binvox binaries anyways) and see if the problem is resolved with it.

I usually had good results with binvox using the -v or -e options, ignoring -bb. Instead, try using the --bb and --offset parameters of binvox2bt, that worked more reliable.

To verify whether the intermediate binvox file is OK you can use viewvox, and then octovis to verify the final .bt output.

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Asked: 2013-01-17 21:48:17 -0600

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Last updated: Jan 18 '13