update file voxel_layer
This commit is contained in:
parent
49a72383c8
commit
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@ -135,24 +135,24 @@ find_package(PCL REQUIRED COMPONENTS common io)
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set(TF2_LIBRARY /usr/lib/libtf2.so)
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# --- Include other message packages if needed ---
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if (NOT TARGET sensor_msgs)
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/sensor_msgs ${CMAKE_BINARY_DIR}/sensor_msgs_build)
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endif()
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if (NOT TARGET geometry_msgs)
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
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endif()
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if (NOT TARGET nav_msgs)
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/nav_msgs ${CMAKE_BINARY_DIR}/nav_msgs_build)
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endif()
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if (NOT TARGET map_msgs)
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../map_msgs ${CMAKE_BINARY_DIR}/map_msgs_build)
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endif()
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if (NOT TARGET laser_geometry)
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../laser_geometry ${CMAKE_BINARY_DIR}/laser_geometry_build)
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endif()
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if (NOT TARGET voxel_grid)
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../voxel_grid ${CMAKE_BINARY_DIR}/voxel_grid_build)
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endif()
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# if (NOT TARGET sensor_msgs)
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# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/sensor_msgs ${CMAKE_BINARY_DIR}/sensor_msgs_build)
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# endif()
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# if (NOT TARGET geometry_msgs)
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# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
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# endif()
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# if (NOT TARGET nav_msgs)
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# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/nav_msgs ${CMAKE_BINARY_DIR}/nav_msgs_build)
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# endif()
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# if (NOT TARGET map_msgs)
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# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../map_msgs ${CMAKE_BINARY_DIR}/map_msgs_build)
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# endif()
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# if (NOT TARGET laser_geometry)
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# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../laser_geometry ${CMAKE_BINARY_DIR}/laser_geometry_build)
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# endif()
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# if (NOT TARGET voxel_grid)
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# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../voxel_grid ${CMAKE_BINARY_DIR}/voxel_grid_build)
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# endif()
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include_directories(
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include
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32
include/costmap_2d/voxel_grid.h
Normal file
32
include/costmap_2d/voxel_grid.h
Normal file
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@ -0,0 +1,32 @@
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// Header header
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// uint32[] data
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// geometry_msgs/Point32 origin
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// geometry_msgs/Vector3 resolutions
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// uint32 size_x
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// uint32 size_y
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// uint32 size_z
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#ifndef VOXEL_GRID_COSTMAP_2D_H
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#define VOXEL_GRID_COSTMAP_2D_H
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#include <vector>
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#include <std_msgs/Header.h>
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#include <geometry_msgs/Point32.h>
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#include <geometry_msgs/Vector3.h>
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namespace costmap_2d
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{
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struct VoxelGrid
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{
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std_msgs::Header header;
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std::vector<uint32_t> data;
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geometry_msgs::Point32 origin;
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geometry_msgs::Vector3 resolutions;
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uint32_t size_x;
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uint32_t size_y;
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uint32_t size_z;
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};
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}
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#endif // VOXEL_GRID_COSTMAP_2D_H
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@ -38,11 +38,13 @@
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#ifndef COSTMAP_2D_VOXEL_LAYER_H_
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#define COSTMAP_2D_VOXEL_LAYER_H_
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// #include <ros/ros.h>
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#include <costmap_2d/layer.h>
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#include <costmap_2d/layered_costmap.h>
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#include <costmap_2d/observation_buffer.h>
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// #include <costmap_2d/voxel_grid.h>
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#include <costmap_2d/voxel_grid.h>
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#include <costmap_2d/obstacle_layer.h>
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#include <costmap_2d/utils.h>
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#include <nav_msgs/OccupancyGrid.h>
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#include <sensor_msgs/LaserScan.h>
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// #include <laser_geometry/laser_geometry.h>
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@ -52,16 +54,16 @@
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// #include <message_filters/subscriber.h>
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// #include <dynamic_reconfigure/server.h>
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// #include <costmap_2d/VoxelPluginConfig.h>
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#include <costmap_2d/obstacle_layer.h>
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#include <voxel_grid/voxel_grid.h>
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namespace costmap_2d
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{
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class VoxelLayer : public ObstacleLayer
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{
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public:
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VoxelLayer() //: voxel_grid_(0, 0, 0)
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VoxelLayer() : voxel_grid_(0, 0, 0)
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{
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costmap_ = NULL; // this is the unsigned char* member of parent class's parent class Costmap2D.
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}
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@ -77,29 +79,23 @@ public:
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{
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return true;
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}
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virtual void matchSize();
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virtual void reset();
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protected:
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// virtual void setupDynamicReconfigure(ros::NodeHandle& nh);
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virtual void resetMaps();
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private:
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// void reconfigureCB(costmap_2d::VoxelPluginConfig &config, uint32_t level);
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void clearNonLethal(double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info);
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virtual void raytraceFreespace(const costmap_2d::Observation& clearing_observation, double* min_x, double* min_y,
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double* max_x, double* max_y);
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// dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig> *voxel_dsrv_;
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bool publish_voxel_;
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// ros::Publisher voxel_pub_;
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// voxel_grid::VoxelGrid voxel_grid_;
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voxel_grid::VoxelGrid voxel_grid_;
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double z_resolution_, origin_z_;
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unsigned int unknown_threshold_, mark_threshold_, size_z_;
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// ros::Publisher clearing_endpoints_pub_;
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sensor_msgs::PointCloud clearing_endpoints_;
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inline bool worldToMap3DFloat(double wx, double wy, double wz, double& mx, double& my, double& mz)
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@ -142,6 +138,7 @@ private:
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{
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return sqrt((x1 - x0) * (x1 - x0) + (y1 - y0) * (y1 - y0) + (z1 - z0) * (z1 - z0));
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}
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bool getParams();
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};
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} // namespace costmap_2d
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@ -35,7 +35,7 @@ void StaticLayer::onInitialize()
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bool StaticLayer::getParams()
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{
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try {
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YAML::Node config = YAML::LoadFile("/home/duongtd/robotics_core/costmap_2d/config/config.yaml");
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YAML::Node config = YAML::LoadFile("../costmap_2d/config/config.yaml");
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YAML::Node layer = config["static_layer"];
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@ -56,136 +56,141 @@ namespace costmap_2d
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void VoxelLayer::onInitialize()
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{
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ObstacleLayer::onInitialize();
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// ros::NodeHandle private_nh("~/" + name_);
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// private_nh.param("publish_voxel_map", publish_voxel_, false);
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// if (publish_voxel_)
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// voxel_pub_ = private_nh.advertise < costmap_2d::VoxelGrid > ("voxel_grid", 1);
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// clearing_endpoints_pub_ = private_nh.advertise<sensor_msgs::PointCloud>("clearing_endpoints", 1);
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getParams();
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}
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// void VoxelLayer::setupDynamicReconfigure(ros::NodeHandle& nh)
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// {
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// voxel_dsrv_ = new dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig>(nh);
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// dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig>::CallbackType cb =
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// [this](auto& config, auto level){ reconfigureCB(config, level); };
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// voxel_dsrv_->setCallback(cb);
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// }
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bool VoxelLayer::getParams()
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{
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try {
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YAML::Node config = YAML::LoadFile("/home/duongtd/robotics_core/costmap_2d/config/config.yaml");
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YAML::Node layer = config["voxel_layer"];
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publish_voxel_ = loadParam(layer, "publish_voxel_map", false);
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enabled_ = loadParam(layer, "enabled", true);
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footprint_clearing_enabled_ = loadParam(layer, "footprint_clearing_enabled", true);
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max_obstacle_height_ = loadParam(layer, "max_obstacle_height", true);
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size_z_ = loadParam(layer, "z_voxels", true);
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origin_z_ = loadParam(layer, "origin_z", true);
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z_resolution_ = loadParam(layer, "z_resolution", true);
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unknown_threshold_ = loadParam(layer, "max_obstacle_height", true);
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mark_threshold_ = loadParam(layer, "mark_threshold", true);
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combination_method_ = loadParam(layer, "combination_method", true);
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this->matchSize();
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}
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catch (const YAML::BadFile& e) {
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std::cerr << "Cannot open YAML file: " << e.what() << std::endl;
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return false;
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}
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return true;
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}
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VoxelLayer::~VoxelLayer()
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{}
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// void VoxelLayer::reconfigureCB(costmap_2d::VoxelPluginConfig &config, uint32_t level)
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// {
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// enabled_ = config.enabled;
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// footprint_clearing_enabled_ = config.footprint_clearing_enabled;
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// max_obstacle_height_ = config.max_obstacle_height;
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// size_z_ = config.z_voxels;
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// origin_z_ = config.origin_z;
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// z_resolution_ = config.z_resolution;
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// unknown_threshold_ = config.unknown_threshold + (VOXEL_BITS - size_z_);
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// mark_threshold_ = config.mark_threshold;
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// combination_method_ = config.combination_method;
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// matchSize();
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// }
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void VoxelLayer::matchSize()
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{
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ObstacleLayer::matchSize();
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// voxel_grid_.resize(size_x_, size_y_, size_z_);
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// ROS_ASSERT(voxel_grid_.sizeX() == size_x_ && voxel_grid_.sizeY() == size_y_);
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voxel_grid_.resize(size_x_, size_y_, size_z_);
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if (!(voxel_grid_.sizeX() == size_x_ && voxel_grid_.sizeY() == size_y_))
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{
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std::cerr << "[FATAL] Voxel grid size mismatch: "
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<< "voxel(" << voxel_grid_.sizeX() << ", " << voxel_grid_.sizeY()
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<< ") but costmap(" << size_x_ << ", " << size_y_ << ")\n";
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std::abort(); // dừng chương trình
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}
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}
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// void VoxelLayer::reset()
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// {
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// deactivate();
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// resetMaps();
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// voxel_grid_.reset();
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// activate();
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// }
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void VoxelLayer::reset()
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{
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deactivate();
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resetMaps();
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voxel_grid_.reset();
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activate();
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}
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// void VoxelLayer::resetMaps()
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// {
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// Costmap2D::resetMaps();
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// voxel_grid_.reset();
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// }
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void VoxelLayer::resetMaps()
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{
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Costmap2D::resetMaps();
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voxel_grid_.reset();
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}
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// void VoxelLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x,
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// double* min_y, double* max_x, double* max_y)
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// {
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// if (rolling_window_)
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// updateOrigin(robot_x - getSizeInMetersX() / 2, robot_y - getSizeInMetersY() / 2);
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// useExtraBounds(min_x, min_y, max_x, max_y);
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void VoxelLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x,
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double* min_y, double* max_x, double* max_y)
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{
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if (rolling_window_)
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updateOrigin(robot_x - getSizeInMetersX() / 2, robot_y - getSizeInMetersY() / 2);
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useExtraBounds(min_x, min_y, max_x, max_y);
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// bool current = true;
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// std::vector<Observation> observations, clearing_observations;
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bool current = true;
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std::vector<Observation> observations, clearing_observations;
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// // get the marking observations
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// current = getMarkingObservations(observations) && current;
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// get the marking observations
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current = getMarkingObservations(observations) && current;
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// // get the clearing observations
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// current = getClearingObservations(clearing_observations) && current;
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// get the clearing observations
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current = getClearingObservations(clearing_observations) && current;
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// // update the global current status
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// current_ = current;
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// update the global current status
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current_ = current;
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// // raytrace freespace
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// for (unsigned int i = 0; i < clearing_observations.size(); ++i)
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// {
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// raytraceFreespace(clearing_observations[i], min_x, min_y, max_x, max_y);
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// }
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// raytrace freespace
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for (unsigned int i = 0; i < clearing_observations.size(); ++i)
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{
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raytraceFreespace(clearing_observations[i], min_x, min_y, max_x, max_y);
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}
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// // place the new obstacles into a priority queue... each with a priority of zero to begin with
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// for (std::vector<Observation>::const_iterator it = observations.begin(); it != observations.end(); ++it)
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// {
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// const Observation& obs = *it;
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// place the new obstacles into a priority queue... each with a priority of zero to begin with
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for (std::vector<Observation>::const_iterator it = observations.begin(); it != observations.end(); ++it)
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{
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const Observation& obs = *it;
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// const sensor_msgs::PointCloud2& cloud = *(obs.cloud_);
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const sensor_msgs::PointCloud2& cloud = *(obs.cloud_);
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// double sq_obstacle_range = obs.obstacle_range_ * obs.obstacle_range_;
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double sq_obstacle_range = obs.obstacle_range_ * obs.obstacle_range_;
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// sensor_msgs::PointCloud2ConstIterator<float> iter_x(cloud, "x");
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// sensor_msgs::PointCloud2ConstIterator<float> iter_y(cloud, "y");
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// sensor_msgs::PointCloud2ConstIterator<float> iter_z(cloud, "z");
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sensor_msgs::PointCloud2ConstIterator<float> iter_x(cloud, "x");
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sensor_msgs::PointCloud2ConstIterator<float> iter_y(cloud, "y");
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sensor_msgs::PointCloud2ConstIterator<float> iter_z(cloud, "z");
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// for (unsigned int i = 0; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z)
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// {
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// // if the obstacle is too high or too far away from the robot we won't add it
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// if (*iter_z > max_obstacle_height_)
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// continue;
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for (unsigned int i = 0; iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z)
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{
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// if the obstacle is too high or too far away from the robot we won't add it
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if (*iter_z > max_obstacle_height_)
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continue;
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// // compute the squared distance from the hitpoint to the pointcloud's origin
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// double sq_dist = (*iter_x - obs.origin_.x) * (*iter_x - obs.origin_.x)
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// + (*iter_y - obs.origin_.y) * (*iter_y - obs.origin_.y)
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// + (*iter_z - obs.origin_.z) * (*iter_z - obs.origin_.z);
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// compute the squared distance from the hitpoint to the pointcloud's origin
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double sq_dist = (*iter_x - obs.origin_.x) * (*iter_x - obs.origin_.x)
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+ (*iter_y - obs.origin_.y) * (*iter_y - obs.origin_.y)
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+ (*iter_z - obs.origin_.z) * (*iter_z - obs.origin_.z);
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// // if the point is far enough away... we won't consider it
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// if (sq_dist >= sq_obstacle_range)
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// continue;
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// if the point is far enough away... we won't consider it
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if (sq_dist >= sq_obstacle_range)
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continue;
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// // now we need to compute the map coordinates for the observation
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// unsigned int mx, my, mz;
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// if (*iter_z < origin_z_)
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// {
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// if (!worldToMap3D(*iter_x, *iter_y, origin_z_, mx, my, mz))
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// continue;
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// }
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// else if (!worldToMap3D(*iter_x, *iter_y, *iter_z, mx, my, mz))
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// {
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// continue;
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// }
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// now we need to compute the map coordinates for the observation
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unsigned int mx, my, mz;
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if (*iter_z < origin_z_)
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{
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if (!worldToMap3D(*iter_x, *iter_y, origin_z_, mx, my, mz))
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continue;
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}
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else if (!worldToMap3D(*iter_x, *iter_y, *iter_z, mx, my, mz))
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{
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continue;
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}
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// // mark the cell in the voxel grid and check if we should also mark it in the costmap
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// if (voxel_grid_.markVoxelInMap(mx, my, mz, mark_threshold_))
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// {
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// unsigned int index = getIndex(mx, my);
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// mark the cell in the voxel grid and check if we should also mark it in the costmap
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if (voxel_grid_.markVoxelInMap(mx, my, mz, mark_threshold_))
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{
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unsigned int index = getIndex(mx, my);
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// costmap_[index] = LETHAL_OBSTACLE;
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// touch(double(*iter_x), double(*iter_y), min_x, min_y, max_x, max_y);
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// }
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// }
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// }
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costmap_[index] = LETHAL_OBSTACLE;
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touch(double(*iter_x), double(*iter_y), min_x, min_y, max_x, max_y);
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}
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}
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}
|
||||
|
||||
// if (publish_voxel_)
|
||||
// {
|
||||
|
|
@ -205,244 +210,255 @@ void VoxelLayer::matchSize()
|
|||
// grid_msg.resolutions.y = resolution_;
|
||||
// grid_msg.resolutions.z = z_resolution_;
|
||||
// grid_msg.header.frame_id = global_frame_;
|
||||
// grid_msg.header.stamp = ros::Time::now();
|
||||
// voxel_pub_.publish(grid_msg);
|
||||
// grid_msg.header.stamp = robot::Time::now();
|
||||
|
||||
// ///////////////////////////////////////////
|
||||
// ////////////THAY THẾ PUBLISH NÀY///////////
|
||||
// ///////////////////////////////////////////
|
||||
// // voxel_pub_.publish(grid_msg);
|
||||
// ///////////////////////////////////////////
|
||||
// ///////////////////////////////////////////
|
||||
// ///////////////////////////////////////////
|
||||
// }
|
||||
|
||||
// updateFootprint(robot_x, robot_y, robot_yaw, min_x, min_y, max_x, max_y);
|
||||
// }
|
||||
updateFootprint(robot_x, robot_y, robot_yaw, min_x, min_y, max_x, max_y);
|
||||
}
|
||||
|
||||
// void VoxelLayer::clearNonLethal(double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info)
|
||||
// {
|
||||
// // get the cell coordinates of the center point of the window
|
||||
// unsigned int mx, my;
|
||||
// if (!worldToMap(wx, wy, mx, my))
|
||||
// return;
|
||||
void VoxelLayer::clearNonLethal(double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info)
|
||||
{
|
||||
// get the cell coordinates of the center point of the window
|
||||
unsigned int mx, my;
|
||||
if (!worldToMap(wx, wy, mx, my))
|
||||
return;
|
||||
|
||||
// // compute the bounds of the window
|
||||
// double start_x = wx - w_size_x / 2;
|
||||
// double start_y = wy - w_size_y / 2;
|
||||
// double end_x = start_x + w_size_x;
|
||||
// double end_y = start_y + w_size_y;
|
||||
// compute the bounds of the window
|
||||
double start_x = wx - w_size_x / 2;
|
||||
double start_y = wy - w_size_y / 2;
|
||||
double end_x = start_x + w_size_x;
|
||||
double end_y = start_y + w_size_y;
|
||||
|
||||
// // scale the window based on the bounds of the costmap
|
||||
// start_x = std::max(origin_x_, start_x);
|
||||
// start_y = std::max(origin_y_, start_y);
|
||||
// scale the window based on the bounds of the costmap
|
||||
start_x = std::max(origin_x_, start_x);
|
||||
start_y = std::max(origin_y_, start_y);
|
||||
|
||||
// end_x = std::min(origin_x_ + getSizeInMetersX(), end_x);
|
||||
// end_y = std::min(origin_y_ + getSizeInMetersY(), end_y);
|
||||
end_x = std::min(origin_x_ + getSizeInMetersX(), end_x);
|
||||
end_y = std::min(origin_y_ + getSizeInMetersY(), end_y);
|
||||
|
||||
// // get the map coordinates of the bounds of the window
|
||||
// unsigned int map_sx, map_sy, map_ex, map_ey;
|
||||
// get the map coordinates of the bounds of the window
|
||||
unsigned int map_sx, map_sy, map_ex, map_ey;
|
||||
|
||||
// // check for legality just in case
|
||||
// if (!worldToMap(start_x, start_y, map_sx, map_sy) || !worldToMap(end_x, end_y, map_ex, map_ey))
|
||||
// return;
|
||||
// check for legality just in case
|
||||
if (!worldToMap(start_x, start_y, map_sx, map_sy) || !worldToMap(end_x, end_y, map_ex, map_ey))
|
||||
return;
|
||||
|
||||
// // we know that we want to clear all non-lethal obstacles in this window to get it ready for inflation
|
||||
// unsigned int index = getIndex(map_sx, map_sy);
|
||||
// unsigned char* current = &costmap_[index];
|
||||
// for (unsigned int j = map_sy; j <= map_ey; ++j)
|
||||
// {
|
||||
// for (unsigned int i = map_sx; i <= map_ex; ++i)
|
||||
// {
|
||||
// // if the cell is a lethal obstacle... we'll keep it and queue it, otherwise... we'll clear it
|
||||
// if (*current != LETHAL_OBSTACLE)
|
||||
// {
|
||||
// if (clear_no_info || *current != NO_INFORMATION)
|
||||
// {
|
||||
// *current = FREE_SPACE;
|
||||
// voxel_grid_.clearVoxelColumn(index);
|
||||
// }
|
||||
// }
|
||||
// current++;
|
||||
// index++;
|
||||
// }
|
||||
// current += size_x_ - (map_ex - map_sx) - 1;
|
||||
// index += size_x_ - (map_ex - map_sx) - 1;
|
||||
// }
|
||||
// }
|
||||
// we know that we want to clear all non-lethal obstacles in this window to get it ready for inflation
|
||||
unsigned int index = getIndex(map_sx, map_sy);
|
||||
unsigned char* current = &costmap_[index];
|
||||
for (unsigned int j = map_sy; j <= map_ey; ++j)
|
||||
{
|
||||
for (unsigned int i = map_sx; i <= map_ex; ++i)
|
||||
{
|
||||
// if the cell is a lethal obstacle... we'll keep it and queue it, otherwise... we'll clear it
|
||||
if (*current != LETHAL_OBSTACLE)
|
||||
{
|
||||
if (clear_no_info || *current != NO_INFORMATION)
|
||||
{
|
||||
*current = FREE_SPACE;
|
||||
voxel_grid_.clearVoxelColumn(index);
|
||||
}
|
||||
}
|
||||
current++;
|
||||
index++;
|
||||
}
|
||||
current += size_x_ - (map_ex - map_sx) - 1;
|
||||
index += size_x_ - (map_ex - map_sx) - 1;
|
||||
}
|
||||
}
|
||||
|
||||
// void VoxelLayer::raytraceFreespace(const Observation& clearing_observation, double* min_x, double* min_y,
|
||||
// double* max_x, double* max_y)
|
||||
// {
|
||||
// size_t clearing_observation_cloud_size = clearing_observation.cloud_->height * clearing_observation.cloud_->width;
|
||||
// if (clearing_observation_cloud_size == 0)
|
||||
// return;
|
||||
void VoxelLayer::raytraceFreespace(const Observation& clearing_observation, double* min_x, double* min_y,
|
||||
double* max_x, double* max_y)
|
||||
{
|
||||
size_t clearing_observation_cloud_size = clearing_observation.cloud_->height * clearing_observation.cloud_->width;
|
||||
if (clearing_observation_cloud_size == 0)
|
||||
return;
|
||||
|
||||
// double sensor_x, sensor_y, sensor_z;
|
||||
// double ox = clearing_observation.origin_.x;
|
||||
// double oy = clearing_observation.origin_.y;
|
||||
// double oz = clearing_observation.origin_.z;
|
||||
double sensor_x, sensor_y, sensor_z;
|
||||
double ox = clearing_observation.origin_.x;
|
||||
double oy = clearing_observation.origin_.y;
|
||||
double oz = clearing_observation.origin_.z;
|
||||
|
||||
// if (!worldToMap3DFloat(ox, oy, oz, sensor_x, sensor_y, sensor_z))
|
||||
// {
|
||||
// ROS_WARN_THROTTLE(
|
||||
// 1.0,
|
||||
// "The origin for the sensor at (%.2f, %.2f, %.2f) is out of map bounds. So, the costmap cannot raytrace for it.",
|
||||
// ox, oy, oz);
|
||||
// return;
|
||||
// }
|
||||
if (!worldToMap3DFloat(ox, oy, oz, sensor_x, sensor_y, sensor_z))
|
||||
{
|
||||
printf("The origin for the sensor at (%.2f, %.2f, %.2f) is out of map bounds. So, the costmap cannot raytrace for it.\n",
|
||||
ox, oy, oz);
|
||||
return;
|
||||
}
|
||||
|
||||
///////////////////////////////////////////
|
||||
////////////THAY THẾ PUBLISH NÀY///////////
|
||||
///////////////////////////////////////////
|
||||
// bool publish_clearing_points = (clearing_endpoints_pub_.getNumSubscribers() > 0);
|
||||
// if (publish_clearing_points)
|
||||
// {
|
||||
// clearing_endpoints_.points.clear();
|
||||
// clearing_endpoints_.points.reserve(clearing_observation_cloud_size);
|
||||
clearing_endpoints_.points.clear();
|
||||
clearing_endpoints_.points.reserve(clearing_observation_cloud_size);
|
||||
// }
|
||||
///////////////////////////////////////////
|
||||
///////////////////////////////////////////
|
||||
///////////////////////////////////////////
|
||||
|
||||
// // we can pre-compute the enpoints of the map outside of the inner loop... we'll need these later
|
||||
// double map_end_x = origin_x_ + getSizeInMetersX();
|
||||
// double map_end_y = origin_y_ + getSizeInMetersY();
|
||||
// we can pre-compute the enpoints of the map outside of the inner loop... we'll need these later
|
||||
double map_end_x = origin_x_ + getSizeInMetersX();
|
||||
double map_end_y = origin_y_ + getSizeInMetersY();
|
||||
|
||||
// sensor_msgs::PointCloud2ConstIterator<float> iter_x(*(clearing_observation.cloud_), "x");
|
||||
// sensor_msgs::PointCloud2ConstIterator<float> iter_y(*(clearing_observation.cloud_), "y");
|
||||
// sensor_msgs::PointCloud2ConstIterator<float> iter_z(*(clearing_observation.cloud_), "z");
|
||||
sensor_msgs::PointCloud2ConstIterator<float> iter_x(*(clearing_observation.cloud_), "x");
|
||||
sensor_msgs::PointCloud2ConstIterator<float> iter_y(*(clearing_observation.cloud_), "y");
|
||||
sensor_msgs::PointCloud2ConstIterator<float> iter_z(*(clearing_observation.cloud_), "z");
|
||||
|
||||
// for (;iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z)
|
||||
// {
|
||||
// double wpx = *iter_x;
|
||||
// double wpy = *iter_y;
|
||||
// double wpz = *iter_z;
|
||||
for (;iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z)
|
||||
{
|
||||
double wpx = *iter_x;
|
||||
double wpy = *iter_y;
|
||||
double wpz = *iter_z;
|
||||
|
||||
// double distance = dist(ox, oy, oz, wpx, wpy, wpz);
|
||||
// double scaling_fact = 1.0;
|
||||
// scaling_fact = std::max(std::min(scaling_fact, (distance - 2 * resolution_) / distance), 0.0);
|
||||
// wpx = scaling_fact * (wpx - ox) + ox;
|
||||
// wpy = scaling_fact * (wpy - oy) + oy;
|
||||
// wpz = scaling_fact * (wpz - oz) + oz;
|
||||
double distance = dist(ox, oy, oz, wpx, wpy, wpz);
|
||||
double scaling_fact = 1.0;
|
||||
scaling_fact = std::max(std::min(scaling_fact, (distance - 2 * resolution_) / distance), 0.0);
|
||||
wpx = scaling_fact * (wpx - ox) + ox;
|
||||
wpy = scaling_fact * (wpy - oy) + oy;
|
||||
wpz = scaling_fact * (wpz - oz) + oz;
|
||||
|
||||
// double a = wpx - ox;
|
||||
// double b = wpy - oy;
|
||||
// double c = wpz - oz;
|
||||
// double t = 1.0;
|
||||
double a = wpx - ox;
|
||||
double b = wpy - oy;
|
||||
double c = wpz - oz;
|
||||
double t = 1.0;
|
||||
|
||||
// // we can only raytrace to a maximum z height
|
||||
// if (wpz > max_obstacle_height_)
|
||||
// {
|
||||
// // we know we want the vector's z value to be max_z
|
||||
// t = std::max(0.0, std::min(t, (max_obstacle_height_ - 0.01 - oz) / c));
|
||||
// }
|
||||
// // and we can only raytrace down to the floor
|
||||
// else if (wpz < origin_z_)
|
||||
// {
|
||||
// // we know we want the vector's z value to be 0.0
|
||||
// t = std::min(t, (origin_z_ - oz) / c);
|
||||
// }
|
||||
// we can only raytrace to a maximum z height
|
||||
if (wpz > max_obstacle_height_)
|
||||
{
|
||||
// we know we want the vector's z value to be max_z
|
||||
t = std::max(0.0, std::min(t, (max_obstacle_height_ - 0.01 - oz) / c));
|
||||
}
|
||||
// and we can only raytrace down to the floor
|
||||
else if (wpz < origin_z_)
|
||||
{
|
||||
// we know we want the vector's z value to be 0.0
|
||||
t = std::min(t, (origin_z_ - oz) / c);
|
||||
}
|
||||
|
||||
// // the minimum value to raytrace from is the origin
|
||||
// if (wpx < origin_x_)
|
||||
// {
|
||||
// t = std::min(t, (origin_x_ - ox) / a);
|
||||
// }
|
||||
// if (wpy < origin_y_)
|
||||
// {
|
||||
// t = std::min(t, (origin_y_ - oy) / b);
|
||||
// }
|
||||
// the minimum value to raytrace from is the origin
|
||||
if (wpx < origin_x_)
|
||||
{
|
||||
t = std::min(t, (origin_x_ - ox) / a);
|
||||
}
|
||||
if (wpy < origin_y_)
|
||||
{
|
||||
t = std::min(t, (origin_y_ - oy) / b);
|
||||
}
|
||||
|
||||
// // the maximum value to raytrace to is the end of the map
|
||||
// if (wpx > map_end_x)
|
||||
// {
|
||||
// t = std::min(t, (map_end_x - ox) / a);
|
||||
// }
|
||||
// if (wpy > map_end_y)
|
||||
// {
|
||||
// t = std::min(t, (map_end_y - oy) / b);
|
||||
// }
|
||||
// the maximum value to raytrace to is the end of the map
|
||||
if (wpx > map_end_x)
|
||||
{
|
||||
t = std::min(t, (map_end_x - ox) / a);
|
||||
}
|
||||
if (wpy > map_end_y)
|
||||
{
|
||||
t = std::min(t, (map_end_y - oy) / b);
|
||||
}
|
||||
|
||||
// wpx = ox + a * t;
|
||||
// wpy = oy + b * t;
|
||||
// wpz = oz + c * t;
|
||||
wpx = ox + a * t;
|
||||
wpy = oy + b * t;
|
||||
wpz = oz + c * t;
|
||||
|
||||
// double point_x, point_y, point_z;
|
||||
// if (worldToMap3DFloat(wpx, wpy, wpz, point_x, point_y, point_z))
|
||||
// {
|
||||
// unsigned int cell_raytrace_range = cellDistance(clearing_observation.raytrace_range_);
|
||||
double point_x, point_y, point_z;
|
||||
if (worldToMap3DFloat(wpx, wpy, wpz, point_x, point_y, point_z))
|
||||
{
|
||||
unsigned int cell_raytrace_range = cellDistance(clearing_observation.raytrace_range_);
|
||||
|
||||
// // voxel_grid_.markVoxelLine(sensor_x, sensor_y, sensor_z, point_x, point_y, point_z);
|
||||
// voxel_grid_.clearVoxelLineInMap(sensor_x, sensor_y, sensor_z, point_x, point_y, point_z, costmap_,
|
||||
// unknown_threshold_, mark_threshold_, FREE_SPACE, NO_INFORMATION,
|
||||
// cell_raytrace_range);
|
||||
voxel_grid_.markVoxelLine(sensor_x, sensor_y, sensor_z, point_x, point_y, point_z);
|
||||
voxel_grid_.clearVoxelLineInMap(sensor_x, sensor_y, sensor_z, point_x, point_y, point_z, costmap_,
|
||||
unknown_threshold_, mark_threshold_, FREE_SPACE, NO_INFORMATION,
|
||||
cell_raytrace_range);
|
||||
|
||||
// updateRaytraceBounds(ox, oy, wpx, wpy, clearing_observation.raytrace_range_, min_x, min_y, max_x, max_y);
|
||||
updateRaytraceBounds(ox, oy, wpx, wpy, clearing_observation.raytrace_range_, min_x, min_y, max_x, max_y);
|
||||
|
||||
// if (publish_clearing_points)
|
||||
// {
|
||||
// geometry_msgs::Point32 point;
|
||||
// point.x = wpx;
|
||||
// point.y = wpy;
|
||||
// point.z = wpz;
|
||||
// clearing_endpoints_.points.push_back(point);
|
||||
// }
|
||||
// }
|
||||
geometry_msgs::Point32 point;
|
||||
point.x = wpx;
|
||||
point.y = wpy;
|
||||
point.z = wpz;
|
||||
clearing_endpoints_.points.push_back(point);
|
||||
// }
|
||||
}
|
||||
}
|
||||
|
||||
// if (publish_clearing_points)
|
||||
// {
|
||||
// clearing_endpoints_.header.frame_id = global_frame_;
|
||||
// clearing_endpoints_.header.stamp = clearing_observation.cloud_->header.stamp;
|
||||
// clearing_endpoints_.header.seq = clearing_observation.cloud_->header.seq;
|
||||
clearing_endpoints_.header.frame_id = global_frame_;
|
||||
clearing_endpoints_.header.stamp = clearing_observation.cloud_->header.stamp;
|
||||
clearing_endpoints_.header.seq = clearing_observation.cloud_->header.seq;
|
||||
|
||||
// clearing_endpoints_pub_.publish(clearing_endpoints_);
|
||||
// }
|
||||
// }
|
||||
}
|
||||
|
||||
// void VoxelLayer::updateOrigin(double new_origin_x, double new_origin_y)
|
||||
// {
|
||||
// // project the new origin into the grid
|
||||
// int cell_ox, cell_oy;
|
||||
// cell_ox = int((new_origin_x - origin_x_) / resolution_);
|
||||
// cell_oy = int((new_origin_y - origin_y_) / resolution_);
|
||||
void VoxelLayer::updateOrigin(double new_origin_x, double new_origin_y)
|
||||
{
|
||||
// project the new origin into the grid
|
||||
int cell_ox, cell_oy;
|
||||
cell_ox = int((new_origin_x - origin_x_) / resolution_);
|
||||
cell_oy = int((new_origin_y - origin_y_) / resolution_);
|
||||
|
||||
// // compute the associated world coordinates for the origin cell
|
||||
// // beacuase we want to keep things grid-aligned
|
||||
// double new_grid_ox, new_grid_oy;
|
||||
// new_grid_ox = origin_x_ + cell_ox * resolution_;
|
||||
// new_grid_oy = origin_y_ + cell_oy * resolution_;
|
||||
// compute the associated world coordinates for the origin cell
|
||||
// beacuase we want to keep things grid-aligned
|
||||
double new_grid_ox, new_grid_oy;
|
||||
new_grid_ox = origin_x_ + cell_ox * resolution_;
|
||||
new_grid_oy = origin_y_ + cell_oy * resolution_;
|
||||
|
||||
// // To save casting from unsigned int to int a bunch of times
|
||||
// int size_x = size_x_;
|
||||
// int size_y = size_y_;
|
||||
// To save casting from unsigned int to int a bunch of times
|
||||
int size_x = size_x_;
|
||||
int size_y = size_y_;
|
||||
|
||||
// // we need to compute the overlap of the new and existing windows
|
||||
// int lower_left_x, lower_left_y, upper_right_x, upper_right_y;
|
||||
// lower_left_x = std::min(std::max(cell_ox, 0), size_x);
|
||||
// lower_left_y = std::min(std::max(cell_oy, 0), size_y);
|
||||
// upper_right_x = std::min(std::max(cell_ox + size_x, 0), size_x);
|
||||
// upper_right_y = std::min(std::max(cell_oy + size_y, 0), size_y);
|
||||
// we need to compute the overlap of the new and existing windows
|
||||
int lower_left_x, lower_left_y, upper_right_x, upper_right_y;
|
||||
lower_left_x = std::min(std::max(cell_ox, 0), size_x);
|
||||
lower_left_y = std::min(std::max(cell_oy, 0), size_y);
|
||||
upper_right_x = std::min(std::max(cell_ox + size_x, 0), size_x);
|
||||
upper_right_y = std::min(std::max(cell_oy + size_y, 0), size_y);
|
||||
|
||||
// unsigned int cell_size_x = upper_right_x - lower_left_x;
|
||||
// unsigned int cell_size_y = upper_right_y - lower_left_y;
|
||||
unsigned int cell_size_x = upper_right_x - lower_left_x;
|
||||
unsigned int cell_size_y = upper_right_y - lower_left_y;
|
||||
|
||||
// // we need a map to store the obstacles in the window temporarily
|
||||
// unsigned char* local_map = new unsigned char[cell_size_x * cell_size_y];
|
||||
// unsigned int* local_voxel_map = new unsigned int[cell_size_x * cell_size_y];
|
||||
// unsigned int* voxel_map = voxel_grid_.getData();
|
||||
// we need a map to store the obstacles in the window temporarily
|
||||
unsigned char* local_map = new unsigned char[cell_size_x * cell_size_y];
|
||||
unsigned int* local_voxel_map = new unsigned int[cell_size_x * cell_size_y];
|
||||
unsigned int* voxel_map = voxel_grid_.getData();
|
||||
|
||||
// // copy the local window in the costmap to the local map
|
||||
// copyMapRegion(costmap_, lower_left_x, lower_left_y, size_x_, local_map, 0, 0, cell_size_x, cell_size_x, cell_size_y);
|
||||
// copyMapRegion(voxel_map, lower_left_x, lower_left_y, size_x_, local_voxel_map, 0, 0, cell_size_x, cell_size_x,
|
||||
// cell_size_y);
|
||||
// copy the local window in the costmap to the local map
|
||||
copyMapRegion(costmap_, lower_left_x, lower_left_y, size_x_, local_map, 0, 0, cell_size_x, cell_size_x, cell_size_y);
|
||||
copyMapRegion(voxel_map, lower_left_x, lower_left_y, size_x_, local_voxel_map, 0, 0, cell_size_x, cell_size_x,
|
||||
cell_size_y);
|
||||
|
||||
// // we'll reset our maps to unknown space if appropriate
|
||||
// resetMaps();
|
||||
// we'll reset our maps to unknown space if appropriate
|
||||
resetMaps();
|
||||
|
||||
// // update the origin with the appropriate world coordinates
|
||||
// origin_x_ = new_grid_ox;
|
||||
// origin_y_ = new_grid_oy;
|
||||
// update the origin with the appropriate world coordinates
|
||||
origin_x_ = new_grid_ox;
|
||||
origin_y_ = new_grid_oy;
|
||||
|
||||
// // compute the starting cell location for copying data back in
|
||||
// int start_x = lower_left_x - cell_ox;
|
||||
// int start_y = lower_left_y - cell_oy;
|
||||
// compute the starting cell location for copying data back in
|
||||
int start_x = lower_left_x - cell_ox;
|
||||
int start_y = lower_left_y - cell_oy;
|
||||
|
||||
// // now we want to copy the overlapping information back into the map, but in its new location
|
||||
// copyMapRegion(local_map, 0, 0, cell_size_x, costmap_, start_x, start_y, size_x_, cell_size_x, cell_size_y);
|
||||
// copyMapRegion(local_voxel_map, 0, 0, cell_size_x, voxel_map, start_x, start_y, size_x_, cell_size_x, cell_size_y);
|
||||
// now we want to copy the overlapping information back into the map, but in its new location
|
||||
copyMapRegion(local_map, 0, 0, cell_size_x, costmap_, start_x, start_y, size_x_, cell_size_x, cell_size_y);
|
||||
copyMapRegion(local_voxel_map, 0, 0, cell_size_x, voxel_map, start_x, start_y, size_x_, cell_size_x, cell_size_y);
|
||||
|
||||
// // make sure to clean up
|
||||
// delete[] local_map;
|
||||
// delete[] local_voxel_map;
|
||||
// }
|
||||
// make sure to clean up
|
||||
delete[] local_map;
|
||||
delete[] local_voxel_map;
|
||||
}
|
||||
|
||||
// Export factory function
|
||||
static PluginLayerPtr create_voxel_plugin() {
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user