Hi Nate and everybody,

I am using gzbuilder and DEMs (got them from internet) to create an outdoor map. Everything works fine, now I need to be able to pre-load this map into the robot so i need a clear ascii file that will hold (x,y,z) coordinates for each point on the map.

So far I tried modifying gzbuilder so beside creating a *.gzb file (which is in network byte order) I am also creating a file that is readable. So I am getting Easting, Northing, X,Y,Z-offsets, Vertex/Index counts, etc.

This is a small output of the file:
############
Gazebo Version : 0.700
Easting: 68079.718750  Northing 4161663.500000
X offset: 0.000000 Y offset: 0.000000 Z offset: 0.000000
Vertex Count: 207249
Index Count: 464255
ODE Index Count: 1238016
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
0
15000
1000
0
0
1000
0
0
1000
0
30000
......
// and here it goes for next 250,000  lines
############

My question is what these Vertex, Index and ODE Index counts represent?? (I read some documentation but I still fully dont understand it)  And how (if possible) from them I can construct (X,Y,Z) coordinates for each point on the map?
Also, I am using SDTS format of DEM so if anyone knows any other way of converting this format to something that would be easy to represent as (X,Y,Z) please let me know.
(I dont need to use gazebo/gzbuilder to extract this map so if anyone knows any software that can convert SDTS to (x,y,z) also would help)

Any suggestion is very appreciated !