Class SimulationServer¶

Defined in File simulation_server.h

Class Documentation¶

class SimulationServer¶

Public Functions

SimulationServer(const ros::NodeHandle &nh, const ros::NodeHandle &nh_private)¶

SimulationServer(const ros::NodeHandle &nh, const ros::NodeHandle &nh_private, const EsdfMap::Config &esdf_config, const EsdfIntegrator::Config &esdf_integrator_config, const TsdfMap::Config &tsdf_config, const TsdfIntegratorBase::Config &tsdf_integrator_config)¶

virtual ~SimulationServer()¶

void run()¶: Runs all of the below functions in the correct order:

virtual void prepareWorld() = 0¶: Creates a new world, and prepares ground truth SDF(s).

void generateSDF()¶: Generates a SDF by generating random poses and putting them into an SDF.

void evaluate()¶: Evaluate errors…

void visualize()¶: Visualize results. :)

Protected Functions

void getServerConfigFromRosParam(const ros::NodeHandle &nh_private)¶

bool generatePlausibleViewpoint(FloatingPoint min_distance, Point *ray_origin, Point *ray_direction) const¶: Convenience function to generate valid viewpoints.

Protected Attributes

ros::NodeHandle nh_¶

ros::NodeHandle nh_private_¶

ros::Publisher sim_pub_¶

ros::Publisher tsdf_gt_pub_¶

ros::Publisher esdf_gt_pub_¶

ros::Publisher tsdf_gt_mesh_pub_¶

ros::Publisher tsdf_test_pub_¶

ros::Publisher esdf_test_pub_¶

ros::Publisher tsdf_test_mesh_pub_¶

ros::Publisher view_ptcloud_pub_¶

FloatingPoint voxel_size_¶

int voxels_per_side_¶

std::string world_frame_¶

bool generate_occupancy_¶

bool visualize_¶

FloatingPoint visualization_slice_level_¶

bool generate_mesh_¶

bool incremental_¶

bool add_robot_pose_¶

FloatingPoint truncation_distance_¶

FloatingPoint esdf_max_distance_¶

size_t max_attempts_to_generate_viewpoint_¶

Eigen::Vector2i depth_camera_resolution_¶

FloatingPoint fov_h_rad_¶

FloatingPoint max_dist_¶

FloatingPoint min_dist_¶

int num_viewpoints_¶

SimulationWorld world_¶

std::unique_ptr<Layer<TsdfVoxel>> tsdf_gt_¶

std::unique_ptr<Layer<EsdfVoxel>> esdf_gt_¶

std::unique_ptr<Layer<TsdfVoxel>> tsdf_test_¶

std::unique_ptr<Layer<EsdfVoxel>> esdf_test_¶

std::unique_ptr<Layer<OccupancyVoxel>> occ_test_¶

std::unique_ptr<TsdfIntegratorBase> tsdf_integrator_¶

std::unique_ptr<EsdfIntegrator> esdf_integrator_¶

std::unique_ptr<OccupancyIntegrator> occ_integrator_¶

std::unique_ptr<EsdfOccIntegrator> esdf_occ_integrator_¶