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M2-TE merged 1 commit into from
Jun 20, 2025
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Update README.md #2

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84 changes: 36 additions & 48 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -3,45 +3,11 @@
CHAD TSDF structure for SLAM

## Description

TODO: link to ros implementation
TSDF mapping backend with real-time capabilities and high compression.
It is tailored towards large-scale maps, while still being able to handle smaller voxel sizes (~0.05).

## Getting Started

<details>
<summary>CMake options</summary>

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)
</details>

<details>
<summary>CMake Build</summary>

#### 1. CMake local build

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

#### 2. CMake subdirectory

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

#### 3. CMake FetchContent

### CMake
```cmake
include(FetchContent)
FetchContent_Declare(chad_tsdf
Expand All @@ -51,18 +17,40 @@ FetchContent_Declare(chad_tsdf
FetchContent_MakeAvailable(chad_tsdf)
target_link_libraries(${PROJECT_NAME} PUBLIC chad::tsdf)
```
</details>


## Authors

Jan Kuhlmann

## Version History
### C++

```cpp
#include <chad/tsdf.hpp>

int main() {
float sdf_size = 0.05f;
float sdf_trunc = 0.10f;
chad::TSDFMap map(sdf_size, sdf_trunc);

// insert glm points
std::vector<glm::vec3> points_glm;
glm::vec3 position_glm;
map.insert(points_glm, position_glm);

// insert eigen points
std::vector<Eigen::Vector3f> points_eigen;
Eigen::Vector3f position_eigen;
map.insert(points_eigen, position_eigen);

// reconstruct 3D mesh
map.save("mesh.ply");
return 0;
}
```

* 0.1
* Initial Release
## Roadmap
* [x] Compressed sparse TSDF map
* [x] Submapping
* [ ] Loop closure
* [ ] Space carving

## Acknowledgments

* [parallel-hashmap](https://github.com/greg7mdp/parallel-hashmap)
* [gtl](https://github.com/greg7mdp/gtl)
* [libmorton](https://github.com/Forceflow/libmorton)
* [lvr2](https://github.com/uos/lvr2)