Hi Matthew,





On Sun, Nov 21, 2010 at 8:28 PM, Matthew Jacob Klingensmith


<matthewk1989@aol.com> wrote:


> I should expect to get a distance field which has a line of zeroes along


> the y axis, with increasing distances from there. However, the distance


> field I actually get has a line of zeroes along a line roughly where y=0,


> and both x and z are set to what should be y.





I'm not sure how you're calling the visualization function. I just


wrote a test similar to what you described and it seems to work


correctly. The visualize function publishes markers for points that


are in between a min and max distance field value. The way I would use


it is to set the min and max close to each other, so that you see an


iso-surface of points that are a certain distance away.





I'm including a test that you can try by putting it into


test/test_distance_field.cpp (or use within your program). It


publishes an animation of iso-surfaces of increasing distances from


the y axis. I tested this on all three axes and got the intended


results. Let me know if you have further troubles.





Hope this helps,


Mrinal





TEST(TestPropDistanceField, VisualizeAxes)


{


  PropagationDistanceField df(5.0,5.0,5.0,0.05,-2.5,-2.5,-2.5,10.0);


  df.reset();





  ros::Duration(2.0).sleep(); // hack: wait for rviz to subscribe





  std::vector<btVector3> points;


  for (double y=-2.5; y<2.5; y+=0.05)


  {


    points.push_back(btVector3(0.0,y,0.0));


  }





  df.addPointsToField(points);





  btTransform cur = btTransform::getIdentity();


  for (double d=0.00; d<2.5; d+=0.05)


  {


    df.visualize(d, d+0.04, "/BASE", cur, ros::Time::now());


    ros::Duration(0.1).sleep();


  }


}


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