DuongTD/costmap_2d
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add multi camera depth

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duongtd
2026-07-14 09:42:35 +07:00
parent a2a021c114
commit 6a9834d3a8
9 changed files with 711 additions and 1374 deletions
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20
src/costmap_2d_robot.cpp
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@@ -385,6 +385,11 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
double max_obstacle_height;
double obstacle_range;
double raytrace_range;
bool frustum_clearing_enabled = false;
int frustum_clearing_pixel_step = 8;
double frustum_min_range = 0.2;
double frustum_max_range = 3.0;
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "topic", topic);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "sensor_frame", sensor_frame);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "observation_persistence", observation_persistence);
@@ -397,7 +402,12 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "max_obstacle_height", max_obstacle_height);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "obstacle_range", obstacle_range);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "raytrace_range", raytrace_range);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_clearing_enabled", frustum_clearing_enabled);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_clearing_pixel_step", frustum_clearing_pixel_step);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_min_range", frustum_min_range);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_max_range", frustum_max_range);
robot::log_info("topic: %s data_type: %s clearing: %d marking: %d inf_is_valid: %d min_obstacle_height: %f max_obstacle_height: %f", topic.c_str(), data_type.c_str(), clearing, marking, inf_is_valid, min_obstacle_height, max_obstacle_height);
robot::log_info("frustum_clearing_enabled: %s, frustum_clearing_pixel_step: %d, frustum_min_range: %f, frustum_max_range: %f", frustum_clearing_enabled ? "true" : "false", frustum_clearing_pixel_step, frustum_min_range, frustum_max_range);
}
}
}
@@ -434,6 +444,11 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
double max_obstacle_height;
double obstacle_range;
double raytrace_range;
bool frustum_clearing_enabled = false;
int frustum_clearing_pixel_step = 8;
double frustum_min_range = 0.2;
double frustum_max_range = 3.0;
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "topic", topic);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "sensor_frame", sensor_frame);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "observation_persistence", observation_persistence);
@@ -446,7 +461,12 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "max_obstacle_height", max_obstacle_height);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "obstacle_range", obstacle_range);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "raytrace_range", raytrace_range);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_clearing_enabled", frustum_clearing_enabled);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_clearing_pixel_step", frustum_clearing_pixel_step);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_min_range", frustum_min_range);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_max_range", frustum_max_range);
robot::log_info("topic: %s data_type: %s clearing: %d marking: %d inf_is_valid: %d min_obstacle_height: %f max_obstacle_height: %f", topic.c_str(), data_type.c_str(), clearing, marking, inf_is_valid, min_obstacle_height, max_obstacle_height);
robot::log_info("frustum_clearing_enabled: %s, frustum_clearing_pixel_step: %d, frustum_min_range: %f, frustum_max_range: %f", frustum_clearing_enabled ? "true" : "false", frustum_clearing_pixel_step, frustum_min_range, frustum_max_range);
}
}
}

981
src/observation_buffer.cpp
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