tesseract-robotics / tesseract

Motion Planning Environment
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Incorrect octree collision geometry display/representation #994

Open marip8 opened 6 months ago

marip8 commented 6 months ago

I'm working with a surface mesh that I turn into an octree (sphere outside type) for motion planning collision detection, and I noticed some strange behavior in the visual representation of the octree. It looks a bit like aliasing due to the repeated lines where no voxels are present. This issue also appears for square octree voxel types.

Is this an issue with the actual representation of the collision geometry or just an issue with the rendering of the octree in Rviz?

Screenshot_2024-03-13_10-11-54

rjoomen commented 4 months ago

Weird. I'm also working with octrees, but haven't encountered this yet.