MRSL Decomputil Library

Fast convex decomposition utils. In the basic pipeline, it implements ellipsoid based regional inflation to model free space from a given path inside a point cloud. Detials of the algorithm is proposed in "S. Liu, M. Watterson, K. Mohta, K. Sun, S. Bhattacharya, C.J. Taylor and V. Kumar. Planning Dynamically Feasible Trajectories for Quadrotors using Safe Flight Corridors in 3-D Complex Environments. ICRA 2017".

Compilation

A) Simple cmake

$ mkdir build && cd build && cmake .. && make

B) Using CATKIN

$ cd mv decomp_util ~/catkin_ws/src
$ cd ~/catkin_ws & catkin_make -DCMAKE_BUILD_TYPE=Release

Example

The output from EllipseDecomp or IterativeDecomp can be visualized with ROS Rviz:

Doxygen

For more details, please refer to https://sikang.github.io/DecompUtil/index.html

ROS

The ROS wrapper for easier use of this package can be found in DecompROS.