basic_next_best_view | ROS node implementation of a simple Next Best View

basic_next_best_view is a C++ library. basic_next_best_view has no bugs, it has no vulnerabilities and it has low support. You can download it from GitHub.

This is a ROS package. Compile it with catkin. -- BASIC USAGE --. Set the parameters: voxel_resolution (float): resolution of the voxel grid (edge of each voxel) sensor_range_max (float): max range of the sensor sphere_radius (float): radius of the view sphere horizontal_resolution (uint): horizontal resolution of the sensor (lower to increase speed) vertical_resolution (uint): vertical resolution of the sensor (lower to increase speed) half_fov_horizontal (float): horizontal HFOV of the sensor half_fov_vertical (float): vertical HFOV of the sensor latitude_max, latitude_min (float): latitude range when sampling the view sphere (deg) longitude_max, longitude_min (float): longitude range when sampling the view sphere (deg) zrotation_max, zrotation_min (float): range of the camera rotation around the z-axis when sampling the view sphere (deg) latitude_step, longitude_step, zrotation_step (float): steps when sampling the view sphere (deg) occupied_voxel_weight, unknown_voxel_weight (float): weight of unknown and occupied voxels in the objective function.