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Extend PclConverter for loading a color layer from a textured mesh #374

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@Jaeyoung-Lim Jaeyoung-Lim commented Sep 12, 2022

Problem Description
When loading a gridmap from a polygon mesh, only the geometry was being read on the grid map.

This commit extends the gird map pcl coverter for loading a color layer from a textured mesh

This is useful when loading colored pointclouds or reconstructions on the grid map for visualization purposes

Testing
A mesh can be read and added with a color layer with the two sequences

  grid_map::GridMapPclConverter::addLayerFromPolygonMesh(mesh, "elevation", grid_map_);
  grid_map::GridMapPclConverter::addColorLayerFromPolygonMesh(mesh, "color", grid_map_);

gridmap-mesh

This commit extends the gird map pcl coverter for loading a color layer from a textured mesh
@Jaeyoung-Lim
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@maximilianwulf The CI Build failure doesn't seem to be related to this PR?

@Jaeyoung-Lim Jaeyoung-Lim changed the title Add method for loading a color layer from a textured mesh Extend PclConverter for loading a color layer from a textured mesh Sep 12, 2022
@Ryanf55 Ryanf55 added the ros1 Affects ROS 1 label Feb 12, 2024
@Jaeyoung-Lim
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@Ryanf55 Could we get this in?

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Ryanf55 commented Mar 24, 2024

@Ryanf55 Could we get this in?

Sorry, I only have merge authority for ROS2 branches. Let's kindly ask @maximilianwulf to take a look.

@Jaeyoung-Lim
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Jaeyoung-Lim commented Jun 30, 2024

@maximilianwulf Any updates? or If you are not maintaining the package anymore, could you forward me to somebody who is?

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