Inquiry About Code Usage for Sensor or Camera Placement Optimization in a 2D Grid Map

[han-kyung-min]

Dear authors

I am reaching out to ask if I may use your code for a 2D scanning sensor placement optimization task in indoor environment inspection. My scenario is similar to the one described in the third case (aquamarine) of Fig. 1 in your ICRA 2021 paper.

I successfully compiled the code but encountered some challenges in correctly running the generated binaries, namely build_graph and search_graph. Could you kindly clarify the following points?

1. What do the input parameters mean? Which binary should I run first—build_graph or search_graph?
2. What is the required format of the input data? Can I simply provide a 2D map image? Does it have to be an obj format?
3. Could you provide an example command to find out the viewpoints to inspect the bridge?

Thank you in advance for your guidance.

Best regards,