作者: 19届 lz
日期:2022-3-2
论文:《Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MA V Planning》
整个系统功能分为两部分:
将传入的传感器数据合并到 TSDF 中(第 IV 节),
从 TSDF 传播更新的体素以更新 ESDF(第 V 节)。
voxblox:动态增长的地图上实时在线增量构建欧几里德符号距离场
tsdf
esdf_server
<launch>
<arg name="play_bag" default="true" />
<arg name="bag_file" default="/home/lz/data.bag"/>
<arg name="voxel_size" default="0.05"/>
<arg name="voxels_per_side" default="16" />
<arg name="world_frame" default="t265_odom_frame" />
<node name="player" pkg="rosbag" type="play" output="screen" args="-r 1.0 --clock $(arg bag_file)" if="$(arg play_bag)"/>
<node name="voxblox_node" pkg="voxblox_ros" type="esdf_server" output="screen" args="-alsologtostderr" clear_params="true">
<remap from="pointcloud" to="/d400/depth/color/points"/>
<remap from="voxblox_node/esdf_map_out" to="esdf_map" />
<param name="tsdf_voxel_size" value="$(arg voxel_size)" />
<param name="tsdf_voxels_per_side" value="$(arg voxels_per_side)" />
<param name="publish_esdf_map" value="true" />
<param name="publish_pointclouds" value="true" />
<param name="use_tf_transforms" value="true" />
<param name="update_mesh_every_n_sec" value="0.5" />
<param name="clear_sphere_for_planning" value="true" />
<param name="world_frame" value="$(arg world_frame)" />
<param name="voxels_per_side" value="16" />
</node>
</launch>