CHAD TSDF

CHAD TSDF structure for SLAM

Description

TODO: link to ros implementation

Getting Started

CMake options

TODO: set(CHAD_POPCOUNT_INSTRUCTION std::popcount<uint8_t>) set(CHAD_NORM_NEIGH_UPPER 20) set(CHAD_NORM_NEIGH_LOWER 2) set(CHAD_NORM_MIN_NEIGH 3) set(CHAD_NORM_RADIUS_MOD 1.5) set(CHAD_LEAF_RESOLUTION 0.1) set(CHAD_LEAF_BITS 8)

CMake Build

1. CMake local build

cmake -B build
cmake --build build
TODO: install
TODO: CMake find()

2. CMake subdirectory

add_subdirectory(${CHAD_DIRECTORY})
target_link_libraries(${PROJECT_NAME} PUBLIC chad::tsdf)

3. CMake FetchContent

include(FetchContent)
FetchContent_Declare(chad_tsdf
    GIT_REPOSITORY "https://github.com/M2-TE/chad_tsdf.git"
    GIT_TAG "main"
    GIT_SHALLOW ON)
FetchContent_MakeAvailable(chad_tsdf)
target_link_libraries(${PROJECT_NAME} PUBLIC chad::tsdf)

Authors

Jan Kuhlmann

Version History

• 0.1
  • Initial Release

Acknowledgments

• parallel-hashmap