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SCVP-Simulation

This is a repository for supporting our paper "SCVP: Learning One-shot View Planning via Set Covering for Unknown Object Reconstruction" (DOI: 10.1109/LRA.2022.3140449).

File structure

The repository has four folders. Set_covering_data_generator contains c++ codes of data generation and configuration files. VP_simulation_system contains c++ codes of view planning simulation system for object reconstruction and configuration files. nbv-net-master contains python codes of our re-trained NBV-Net network and its interface. sc-net contains python codes of our SCVP network and its interface.

Questions

Please contact [email protected] ([email protected]) or [email protected].

scvp-simulation's People

Contributors

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Stargazers

avatar Shiyu Xing avatar Yue Pan avatar 汪涛 avatar

Watchers

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scvp-simulation's Issues

Question about input octomap

Hi! I am wondering how to get the input Octomap (M). Should it be created from the obtained pointcloud with respect to the sensor frame, or should they be transformed to the global frame (e.g. robot base frame)?

Question about the position of the object center with respect to the global frame 

          Thanks for your question. The point cloud obtained from the sensor should be transformed to the global frame (where Z+ is the normal vector of the horizontal plane, e.g., the tabletop or the ground) since the output from our pre-trained network is constrained to a predefined view space in the global frame.

Originally posted by @psc0628 in #2 (comment)

Taking into account that the pointcloud should be transformed to the global frame. Does it matter where the object center (which is the same as the hemisphere center) is with respect to global frame?

no CMakeList.txt?

There is no CMakeList.txt file in the project, how to download it and then open it in VS？

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