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duongtd
2026-07-23 16:12:55 +07:00
parent 0e84ac53cb
commit c888af3b7c
7 changed files with 170 additions and 132 deletions
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15
src/observation_buffer.cpp
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@@ -60,19 +60,19 @@ ObservationBuffer::ObservationBuffer(string topic_name, double observation_keep_
ObservationBuffer::ObservationBuffer(string topic_name, double observation_keep_time, double expected_update_rate,
double min_obstacle_height, double max_obstacle_height, double obstacle_range,
double raytrace_range, unsigned int frustum_pixel_step,
double frustum_min_range, double frustum_max_range,
double raytrace_range, const DepthFrustumConfig& frustum_config,
tf3::BufferCore& tf3_buffer, string global_frame,
string sensor_frame, double tf_tolerance) :
tf3_buffer_(tf3_buffer), observation_keep_time_(observation_keep_time), expected_update_rate_(expected_update_rate),
last_updated_(robot::Time::now()), global_frame_(global_frame), sensor_frame_(sensor_frame), topic_name_(topic_name),
min_obstacle_height_(min_obstacle_height), max_obstacle_height_(max_obstacle_height),
obstacle_range_(obstacle_range), raytrace_range_(raytrace_range),
frustum_pixel_step_(std::max(1u, frustum_pixel_step)),
frustum_min_range_(std::max(0.0, frustum_min_range)),
frustum_max_range_(std::max(frustum_max_range, frustum_min_range_)),
tf_tolerance_(tf_tolerance)
tf_tolerance_(tf_tolerance),
frustum_config_(frustum_config)
{
frustum_config_.pixel_step = std::max(1u, frustum_config_.pixel_step);
frustum_config_.min_range = std::max(0.0, frustum_config_.min_range);
frustum_config_.max_range = std::max(frustum_config_.max_range, frustum_config_.min_range);
}
ObservationBuffer::~ObservationBuffer()
@@ -240,8 +240,7 @@ void ObservationBuffer::bufferDepthCamera(robot_sensor_msgs::DepthCameraData::Co
return;
DepthCameraObservation observation(
std::move(depth_camera_data), topic_name_, robot::Time::now(),
frustum_pixel_step_, frustum_min_range_, frustum_max_range_);
std::move(depth_camera_data), topic_name_, robot::Time::now(), frustum_config_);
if (observation_keep_time_ == robot::Duration(0.0) && !depth_observation_list_.empty())
{