Magnusgaertner

2D ESDF Generation for Ground Based Robots

1

Hi, wouldn't it be nice to be able to generate only 2 dimensional esdf maps out of a 3D tsdf map, e.g. for ground based robots. The idea is to...

Hi, I experienced the following: clear_sphere_for_planning is done in addNewRobotPose on every new integrated scan, on every such update previously hallucinated obstacles are raised to default distance in the ESDF....

True euclidean distance

2

I compared the distance errors in simulation using a cummulative histogram on the errors generated in simulation:  https://plot.ly/~magnusgaertner/5/voxblox-euclidean-vs-voxblox/ Using the params: ``` add_robot_pose: false esdf_euclidean_distance: true/false (see graph) esdf_min_distance_m:...

Tagging a specific timespan

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Hey, would it be possible to adapt the tagging framework such that one can not only annotate a whole bag file as such but a specific timespan within the bag?...

landmark based map support on all algorithms

3

Hi, the ekf_slam_2d wrapper already supports landmarks (2d points, no image landmarks, but identified objects with a large distance ~3meters from each other) as input, but other wrappers e.g rbpf_slam...

Description: find almost any c++ method and add swri_profile() to method start if there is not already some swri code at the start. Find pattern: `(([a-zA-Z_][a-zA-Z0-9_]*)([\n\r\s]+)([a-zA-Z_][a-zA-Z0-9_]*)::([a-zA-Z_][a-zA-Z0-9_]*)\(([^\)]*)\)([\n\r\s]*)(const)?([\n\r\s]*)\{)(([\n\r\s]*))([^\s])(?!WRI)` Replace pattern: `$1SWRI_PROFILE("$5");$10$12` :)

**Describe the bug** Constructing a sparse tensor with with 0 features on the gpu causes the first subsequent torch tensor creation on the gpu to fail. The same creation works...

Hi, thank you for the project. I am using it to have a convenient shell history that is synced instantly over all open terminals. However, I have not found /...