aaaaaaa ok ..
i will have to check that ..

i was checking /utils/builder/Terrain.cc

Thanks

On 3/2/07, Nate Koenig <nkoenig@robotics.usc.edu> wrote:
Hello,

OdeLoad is in server/models/Terrain/Terrain.cc.

The x,y,z values are not the original. They are the values computed
from gzbuilder, meaning they have been modified according to the
parameters to passed into gzbuilder.

-nate

On 3/2/07, Rasko Pjesivac <rpjesiva@gmail.com> wrote:
> Thanks for fast replys Nate and Sylvain,
>
>  Before I was trying to "steal" the code from the terrain model (and thats
> how i was getting the output from my first email, ie. northing, easting,
> etc)
>  However I guess ODELoad function was part of Terrain model in some older
> versions of gazebo since it is not in gazebo 0.6 or 0.7 or in CVS version.
> (or at least I could not find them?? there is Load, Write, etc.. )
>  Anyway, I finally understood what vertices meant so I think now I have a
> part of the code that would print out all the X,Y and Z coordinates/
>
>    for (i = 0; i <
> (int)(this->dataSizeModX*this->dataSizeModY*12); i = i +
> 12) {
>        printf("X: %0.3f,\t Y: %0.3f,\t Z:%0.3f\n", this->vertices[i+9],
>                this->vertices[i+10], this->vertices[i+11]);
>
>    }
>
>  So this should be correct right?
>  I have put this part of code into the Terrain::Write function and it seams
> I got it right :)) YEAHHH :)
>  so thanks for your help!
>
>  But just to make sure these values for x,y and z are in meters right? and
> these are original values? before normalization, or setting the error rate??
>
>  Thanks again for your help (both Nate and Sylvain)
>
>
>  Rasko
>
>
>
>
> On 3/1/07, Nate Koenig <nkoenig@robotics.usc.edu> wrote:
> > Hello,
> >
> > If you want to use the XYZ data of a terrain map, then I would suggest
> > stealing the code from the Terrain Model. The ODELoad function
> > contains all the necessary code to read the data from the gzbuilder
> > file, and it is commented - mostly.
> >
> > The vertices are the XYZ locations in world coordinates (minus the
> > offsets). The indices are used for opengl rendering efficency, and the
> > ODE indices are used to generate collision planes.
> >
> > Hope that helps.
> >
> > -nate
> >
> > On 2/28/07, Sylvain Joyeux <sylvain.joyeux@m4x.org> wrote:
> > > > 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.
> > > To get this kind of information, try ou GDAL ( http://www.gdal.org).
> This is
> > > what gzbuilder uses internally.
> > >
> > > > 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?
> > > OpenGL and ODE use trimeshes (meshes based on set of triangles). To
> reduce the
> > > memory taken by the structure, you can specify them as a set of vertices
> and
> > > a set of indexes. Then, in the index set, each consecutive 3-index tuple
> is
> > > the index of each corner of one triangle.
> > >
> > > > 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.
> > > There are ASCII-based DEM formats (sorry, don't know them), so you can
> even
> > > try gdal_translate to convert your SDTS dem into a readable format.
> > >
> > > Note that gzbuilder modifies the DEM to fit gazebo's needs. So, it may
> not be
> > > a good idea to base yourself on it to do what you're doing.
> > > --
> > > Sylvain Joyeux
> http://www.laas.fr/~sjoyeux
> > >
> > >
> ==========================================================
> > >   PhD student, Robotics and Interactions group, LAAS/CNRS
> > >   7 Av. du Colonel Roche
> > >   31077 Toulouse Cedex 4
> > >   Tel: +33 (0)5 61 33 64 51
> > >
> ==========================================================
> > >
> > >
> > >
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> --
> Rasko Pjesivac
> pjesivac@cs.utk.edu
> http://www.yumetal.net
> UTK
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--
Rasko Pjesivac
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http://www.yumetal.net
UTK