search

ethz-asl / wavemap

Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping
https://ethz-asl.github.io/wavemap/
BSD 3-Clause "New" or "Revised" License
457 stars 41 forks source link

RViz plugin does not render in topdownortho correctly #51

Closed astumpf closed 11 months ago

astumpf commented 11 months ago

Describe the bug RViz plugin does not render min cell size in topdownortho view.

To Reproduce Steps to reproduce the behavior: Set RViz camera view to topdownortho

Expected behavior The octree should be rendered in min cell size.

Observed outcome The octree is not rendered in min cell size.

Screenshots Rendering min cell size: Screenshot from 2023-12-12 13-00-12 Not rendering min cell size: Screenshot from 2023-12-12 13-07-38

System information (please complete if relevant):

Runtime information (please complete if relevant):

Additional context

victorreijgwart commented 11 months ago

Hey! The bug is reproducible. It seems to be related to the LoD rendering we use to get Rviz to run at a reasonable frame rate. This depends on the camera position, which apparently glitches in topdownortho mode. I'll push a fix later today.

victorreijgwart commented 11 months ago

You can now try the fix by cherry-picking commit b6e1336 or checking out the feature/plugin_system branch.

astumpf commented 11 months ago

Can verify, that this fix solves the issue. Thank you!

victorreijgwart commented 11 months ago

Great. Thanks for letting me know!