Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning

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>