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HKUST-Aerial-Robotics / FC-Planner

[ICRA'24 Best UAV Paper Award Finalist] An Efficient Gloabl Planner for Aerial Coverage
https://hkust-aerial-robotics.github.io/FC-Planner/
GNU General Public License v3.0
187 stars 8 forks source link

Viewpoint_manager for indoor environment #15

Open ruomingzhai opened 6 days ago

ruomingzhai commented 6 days ago

Hi, really appreciate your extraordinary work. I have some problem when runing the plugin package of viewpoint_manager. There is a note saying "Important notice: this package only supports surface point cloud, which means interior should be clear." But the 2.5D map illustrated is containing interior walls, which also runs successfully in my device. When I run my own point clouds with both walls and furnitures, all the furnitures are missing in the rviz map. I hope get some clues from you and make it consider these furnitures while generating viewpoints.

Chen-Albert-FENG commented 1 day ago

Sorry for the late reply. Actually, the surface point cloud means the objectives that we want the robot to see. For 2.5D map, we firstly use an exploration framework get the surface points then we use these points as input to viewpoint_manager pkg. As for your case, could you obtain the surface of the map not the interior by some operations? Afterwards, you can use these surface points as input to use our viewpoint_manager pkg.