# sdf_tools

**Repository Path**: lqcg111/sdf_tools

## Basic Information

- **Project Name**: sdf_tools
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: BSD-2-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-12-29
- **Last Updated**: 2021-12-29

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

Builds 2D signed distance fields from images, 3D signed distance fields from pointclouds, 3D signed distance fields from Octomap, provides a lightweight signed distance field library, message types for signed distance fields, and tools to compress signed distance fields for transport.

A simple example/tutorial is provided, see the [Wiki](https://github.com/UM-ARM-Lab/sdf_tools/wiki).

# Python Bindings

These will build by default, and require `ros-{distro}-pybind11-catkin` to be installed. You can disabled them with `catkin config --append --cmake-args -DSDF_TOOLS_PYTHON_BINDINGS=OFF`.
To test that the python bindings are working, you can run `./test/test_bindings.py`


# Implementation details

The low level distance field calculation can be found in sdf_generation.hpp, `BuildDistanceField`. The SDF is created by first creating two distance fields, one to free voxel and one to filled voxels, then combining them.