Publishes TSDF and ESDF pointclouds and slices. publish_pointclouds This service has an empty request and response. Publishes any TSDF and ESDF layers on the tsdf_map_out and esdf_map_out topics. publish_map This service has an empty request and response. The service call loads the tsdf layer from a.By default TSDF is used in which the distance (to the closest occupied voxel) of a voxel is truncated to a fixed value. Voxblox can be used with two mapping modes, Euclidean Signed Distance Fields (ESDF) and Truncated Signed Distance Fields (TSDF). By default, the planner is compiled with Voxblox.
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