search

siyandong / NeuralCoMapping

[CVPR 2022] Multi-Robot Active Mapping via Neural Bipartite Graph Matching.
MIT License
82 stars 7 forks source link

Frontier comutation and cluster #4

Closed vincent341 closed 2 years ago

vincent341 commented 2 years ago

Hi. Thanks so much for sharing the code. Would you mind letting me know where the codes for computing frontiers and clustering them are? Appreciate it very much.

illusive-chase commented 2 years ago

Thanks for your attention.

Here we compute frontiers: https://github.com/siyandong/NeuralCoMapping/blob/9edd0cd9db7687752813c50fa88f4dcf44eed42a/env/gibson_api/exploration_env.py#L467

And we downsample them in https://github.com/siyandong/NeuralCoMapping/blob/9edd0cd9db7687752813c50fa88f4dcf44eed42a/utils/map_manager.py.

vincent341 commented 2 years ago

Thanks for your attention.

Here we compute frontiers:

https://github.com/siyandong/NeuralCoMapping/blob/9edd0cd9db7687752813c50fa88f4dcf44eed42a/env/gibson_api/exploration_env.py#L467

And we downsample them in https://github.com/siyandong/NeuralCoMapping/blob/9edd0cd9db7687752813c50fa88f4dcf44eed42a/utils/map_manager.py.

Thanks very much for your quick reply.