Proper way to query the created ESDF map?

[gsznaier]

Hi, very cool work!

I am looking to run some comparisons using your approach but I am running into a bit of an issue when running my metrics. I have already learned a map using your approach on a novel scene which I can visualize with rviz. However, I do not know the correct way to query it for an arbitrary point so that I can get its corresponding ESDF value.

I have tried using the functions getDistanceAtPosition or getDistanceAndGradientAtPosition , however they do not give a distance value for an arbitrary point unless the clear_sphere_for_planning flag is set. unfortunately, this is not useful for me because it assigns SDF sign values based on where the robot's pose currently is and I would like to ideally compare the completed maps after the robot has finished moving.

What would be the correct way to query the learned map at an arbitrary point in space?

Thanks in advance!!