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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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73
include/robot_costmap_2d/observation.h
View File

@@ -48,16 +48,37 @@ namespace robot_costmap_2d
* The message is shared so returning buffered observations does not copy the
* full depth image on every costmap update.
*/
/// Per-observation-source configuration of the depth-image frustum clearing,
/// loaded by ObstacleLayer from the source's YAML/ROS params and carried with
/// each DepthCameraObservation.
struct DepthFrustumConfig
{
unsigned int pixel_step = 0;
double min_range = 0.0;
double max_range = 0.0;
/// 3D clearing rays stop this far [m] before the measured surface.
/// Negative: legacy 2 * costmap resolution.
double skip_distance = -1.0;
/// Full-column clearing from the per-pixel-column nearest in-band return.
bool column_clearing = false;
/// Height band [m] used for the in-band test; floor returns below min do
/// not shorten the beam. max < 0: use the layer max_obstacle_height.
double column_min_height = 0.10;
double column_max_height = -1.0;
/// Column beams stop this far [m] before the nearest in-band return.
double column_skip_distance = 0.02;
/// Full columns are only cleared beyond this distance [m]. Negative:
/// derive each frame from the camera intrinsics and mounting pose.
double column_cover_distance = -1.0;
};
class DepthCameraObservation
{
public:
DepthCameraObservation()
: data_handle_(),
data_(nullptr),
topic_(),
pixel_step_(0),
min_range_(0.0),
max_range_(0.0)
topic_()
{
}
@@ -65,16 +86,12 @@ public:
const robot_sensor_msgs::DepthCameraData& data,
std::string topic,
const robot::Time& received_time,
unsigned int pixel_step,
double min_range,
double max_range)
const DepthFrustumConfig& frustum)
: data_handle_(boost::make_shared<robot_sensor_msgs::DepthCameraData>(data)),
data_(data_handle_.get()),
topic_(std::move(topic)),
received_time_(received_time),
pixel_step_(pixel_step),
min_range_(min_range),
max_range_(max_range)
frustum_(frustum)
{
}
@@ -82,16 +99,12 @@ public:
robot_sensor_msgs::DepthCameraData::ConstPtr data,
std::string topic,
const robot::Time& received_time,
unsigned int pixel_step,
double min_range,
double max_range)
const DepthFrustumConfig& frustum)
: data_handle_(std::move(data)),
data_(data_handle_.get()),
topic_(std::move(topic)),
received_time_(received_time),
pixel_step_(pixel_step),
min_range_(min_range),
max_range_(max_range)
frustum_(frustum)
{
}
@@ -100,9 +113,7 @@ public:
data_(data_handle_.get()),
topic_(other.topic_),
received_time_(other.received_time_),
pixel_step_(other.pixel_step_),
min_range_(other.min_range_),
max_range_(other.max_range_)
frustum_(other.frustum_)
{
}
@@ -111,14 +122,10 @@ public:
data_(data_handle_.get()),
topic_(std::move(other.topic_)),
received_time_(other.received_time_),
pixel_step_(other.pixel_step_),
min_range_(other.min_range_),
max_range_(other.max_range_)
frustum_(other.frustum_)
{
other.data_ = nullptr;
other.pixel_step_ = 0;
other.min_range_ = 0.0;
other.max_range_ = 0.0;
other.frustum_ = DepthFrustumConfig();
}
DepthCameraObservation& operator=(const DepthCameraObservation& other)
@@ -130,9 +137,7 @@ public:
data_ = data_handle_.get();
topic_ = other.topic_;
received_time_ = other.received_time_;
pixel_step_ = other.pixel_step_;
min_range_ = other.min_range_;
max_range_ = other.max_range_;
frustum_ = other.frustum_;
return *this;
}
@@ -145,14 +150,10 @@ public:
data_ = data_handle_.get();
topic_ = std::move(other.topic_);
received_time_ = other.received_time_;
pixel_step_ = other.pixel_step_;
min_range_ = other.min_range_;
max_range_ = other.max_range_;
frustum_ = other.frustum_;
other.data_ = nullptr;
other.pixel_step_ = 0;
other.min_range_ = 0.0;
other.max_range_ = 0.0;
other.frustum_ = DepthFrustumConfig();
return *this;
}
@@ -163,9 +164,7 @@ public:
const robot_sensor_msgs::DepthCameraData* data_;
std::string topic_;
robot::Time received_time_;
unsigned int pixel_step_;
double min_range_;
double max_range_;
DepthFrustumConfig frustum_;
};
/**

8
include/robot_costmap_2d/observation_buffer.h
View File

@@ -78,8 +78,8 @@ public:
ObservationBuffer(std::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, tf3::BufferCore& tf3_buffer, std::string global_frame,
double raytrace_range, const DepthFrustumConfig& frustum_config,
tf3::BufferCore& tf3_buffer, std::string global_frame,
std::string sensor_frame, double tf_tolerance);
@@ -171,9 +171,7 @@ private:
boost::recursive_mutex lock_; ///< @brief A lock for accessing data in callbacks safely
double obstacle_range_, raytrace_range_;
double tf_tolerance_;
unsigned int frustum_pixel_step_;
double frustum_min_range_;
double frustum_max_range_;
DepthFrustumConfig frustum_config_;
};
} // namespace robot_costmap_2d
#endif // ROBOT_COSTMAP_2D_OBSERVATION_BUFFER_H_

27
include/robot_costmap_2d/voxel_layer.h
View File

@@ -114,25 +114,12 @@ private:
bool publish_voxel_;
robot_voxel_grid::VoxelGrid robot_voxel_grid_;
double z_resolution_, origin_z_;
/// Clearing rays stop this far [m] before the measured surface.
/// Negative keeps the legacy 2 * resolution behaviour.
double frustum_skip_distance_ = -1.0;
/// Full-column clearing: per depth-image pixel column, the nearest return
/// inside the obstacle height band certifies "no obstacle in this direction
/// closer than d". Cells along that 2D beam get their whole voxel column
/// cleared, removing marked voxels the per-pixel 3D rays cannot reach
/// (above the vertical FOV at close range).
bool frustum_column_clearing_ = false;
/// Height band [m] used to detect the nearest in-band return. Points below
/// the band (floor) do not shorten the beam. max < 0: use max_obstacle_height.
double column_clear_min_height_ = 0.10;
double column_clear_max_height_ = -1.0;
/// Full columns are only cleared beyond this distance [m], where the
/// vertical FOV covers the whole height band. Negative: derive each frame
/// from the camera intrinsics and mounting pose.
double column_cover_distance_ = -1.0;
/// Scratch for the full-column clearing pass (config lives per observation
/// source in DepthFrustumConfig): per depth-image pixel column, the nearest
/// return inside the obstacle height band certifies "no obstacle in this
/// direction closer than d". Cells along that 2D beam get their whole voxel
/// column cleared, removing marked voxels the per-pixel 3D rays cannot
/// reach (above the vertical FOV at close range).
struct DepthColumnStat
{
double min_band_dist = -1.0; ///< horizontal distance of nearest in-band return; < 0 = none
@@ -150,11 +137,13 @@ private:
{
unsigned int u;
unsigned int v;
unsigned int col; ///< pixel-column index in the cache (border column included)
double x;
double y;
double z;
};
std::vector<DepthRay> depth_ray_cache_;
unsigned int cached_column_count_ = 0;
unsigned int cached_depth_width_ = 0;
unsigned int cached_depth_height_ = 0;
unsigned int cached_depth_pixel_step_ = 0;

60
plugins/obstacle_layer.cpp
View File

@@ -133,8 +133,7 @@ bool ObstacleLayer::getParams(const std::string& config_file_name, robot::NodeHa
bool inf_is_valid = false, clearing=false, marking=true;
bool frustum_clearing_enabled = false;
int frustum_pixel_step = 8;
double frustum_min_range = 0.2;
double frustum_max_range = 3.0;
DepthFrustumConfig frustum_config;
robot::NodeHandle priv_nh(nh, source);
topic = loadParam(layer[source],"topic", topic);
@@ -147,10 +146,28 @@ bool ObstacleLayer::getParams(const std::string& config_file_name, robot::NodeHa
inf_is_valid = loadParam(layer[source],"inf_is_valid", false);
clearing = loadParam(layer[source],"clearing", false);
marking = loadParam(layer[source],"marking", true);
frustum_clearing_enabled = loadParam(layer, "frustum_clearing_enabled", false);
frustum_pixel_step = loadParam(layer, "frustum_clearing_pixel_step", 8);
frustum_min_range = loadParam(layer, "frustum_min_range", 0.2);
frustum_max_range = loadParam(layer, "frustum_max_range", 3.0);
// frustum params are per-source; the layer-level key is kept as a
// fallback for older YAMLs
frustum_clearing_enabled = loadParam(layer[source], "frustum_clearing_enabled",
loadParam(layer, "frustum_clearing_enabled", false));
frustum_pixel_step = loadParam(layer[source], "frustum_clearing_pixel_step",
loadParam(layer, "frustum_clearing_pixel_step", 8));
frustum_config.min_range = loadParam(layer[source], "frustum_min_range",
loadParam(layer, "frustum_min_range", 0.2));
frustum_config.max_range = loadParam(layer[source], "frustum_max_range",
loadParam(layer, "frustum_max_range", 3.0));
frustum_config.skip_distance =
loadParam(layer[source], "frustum_skip_distance", frustum_config.skip_distance);
frustum_config.column_clearing =
loadParam(layer[source], "frustum_column_clearing", frustum_config.column_clearing);
frustum_config.column_min_height =
loadParam(layer[source], "column_clear_min_height", frustum_config.column_min_height);
frustum_config.column_max_height =
loadParam(layer[source], "column_clear_max_height", frustum_config.column_max_height);
frustum_config.column_skip_distance =
loadParam(layer[source], "column_skip_distance", frustum_config.column_skip_distance);
frustum_config.column_cover_distance =
loadParam(layer[source], "column_cover_distance", frustum_config.column_cover_distance);
if (priv_nh.hasParam("topic"))
priv_nh.getParam("topic", topic);
@@ -180,13 +197,34 @@ bool ObstacleLayer::getParams(const std::string& config_file_name, robot::NodeHa
frustum_pixel_step = std::max(1, frustum_pixel_step);
}
if (priv_nh.hasParam("frustum_min_range"))
priv_nh.getParam("frustum_min_range", frustum_min_range);
priv_nh.getParam("frustum_min_range", frustum_config.min_range);
if (priv_nh.hasParam("frustum_max_range"))
priv_nh.getParam("frustum_max_range", frustum_max_range);
priv_nh.getParam("frustum_max_range", frustum_config.max_range);
if (priv_nh.hasParam("frustum_skip_distance"))
priv_nh.getParam("frustum_skip_distance", frustum_config.skip_distance);
if (priv_nh.hasParam("frustum_column_clearing"))
priv_nh.getParam("frustum_column_clearing", frustum_config.column_clearing);
if (priv_nh.hasParam("column_clear_min_height"))
priv_nh.getParam("column_clear_min_height", frustum_config.column_min_height);
if (priv_nh.hasParam("column_clear_max_height"))
priv_nh.getParam("column_clear_max_height", frustum_config.column_max_height);
if (priv_nh.hasParam("column_skip_distance"))
priv_nh.getParam("column_skip_distance", frustum_config.column_skip_distance);
if (priv_nh.hasParam("column_cover_distance"))
priv_nh.getParam("column_cover_distance", frustum_config.column_cover_distance);
if (priv_nh.hasParam("frustum_depth_camera_topic"))
priv_nh.getParam("frustum_depth_camera_topic", depth_camera_data_topic_);
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_pixel_step, frustum_min_range, frustum_max_range);
frustum_config.pixel_step = static_cast<unsigned int>(std::max(1, frustum_pixel_step));
robot::log_info("source %s: frustum_clearing_enabled: %s, pixel_step: %u, range: [%.2f, %.2f] m, "
"skip: %.3f m, column_clearing: %s, column_band: [%.2f, %.2f] m, "
"column_skip: %.3f m, column_cover: %.2f m\n",
source.c_str(), frustum_clearing_enabled ? "true" : "false",
frustum_config.pixel_step, frustum_config.min_range, frustum_config.max_range,
frustum_config.skip_distance, frustum_config.column_clearing ? "true" : "false",
frustum_config.column_min_height, frustum_config.column_max_height,
frustum_config.column_skip_distance, frustum_config.column_cover_distance);
double obstacle_range = 2.5;
obstacle_range = loadParam(layer[source],"obstacle_range", obstacle_range);
@@ -244,8 +282,8 @@ bool ObstacleLayer::getParams(const std::string& config_file_name, robot::NodeHa
depth_observation_buffers_.push_back(
boost::shared_ptr < ObservationBuffer
> (new ObservationBuffer(topic, observation_keep_time, expected_update_rate, min_obstacle_height,
max_obstacle_height, obstacle_range, raytrace_range, frustum_pixel_step,
frustum_min_range, frustum_max_range, *tf_, global_frame_,
max_obstacle_height, obstacle_range, raytrace_range, frustum_config,
*tf_, global_frame_,
sensor_frame, transform_tolerance)));
}

97
plugins/voxel_layer.cpp
View File

@@ -98,11 +98,6 @@ bool VoxelLayer::getParams(const std::string& config_file_name, robot::NodeHandl
unknown_threshold_ = loadParam(layer, "unknown_threshold", 15.0) + (VOXEL_BITS - size_z_);
mark_threshold_ = loadParam(layer, "mark_threshold", 0);
combination_method_ = loadParam(layer, "combination_method", 0.0);
frustum_skip_distance_ = loadParam(layer, "frustum_skip_distance", -1.0);
frustum_column_clearing_ = loadParam(layer, "frustum_column_clearing", false);
column_clear_min_height_ = loadParam(layer, "column_clear_min_height", 0.10);
column_clear_max_height_ = loadParam(layer, "column_clear_max_height", -1.0);
column_cover_distance_ = loadParam(layer, "column_cover_distance", -1.0);
int size_z, unknown_threshold, mark_threshold, frustum_pixel_step;
if (nh.hasParam("enabled"))
@@ -130,26 +125,6 @@ bool VoxelLayer::getParams(const std::string& config_file_name, robot::NodeHandl
}
if (nh.hasParam("combination_method"))
nh.getParam("combination_method", combination_method_);
if (nh.hasParam("frustum_skip_distance"))
nh.getParam("frustum_skip_distance", frustum_skip_distance_);
if (nh.hasParam("frustum_column_clearing"))
nh.getParam("frustum_column_clearing", frustum_column_clearing_);
if (nh.hasParam("column_clear_min_height"))
nh.getParam("column_clear_min_height", column_clear_min_height_);
if (nh.hasParam("column_clear_max_height"))
nh.getParam("column_clear_max_height", column_clear_max_height_);
if (nh.hasParam("column_cover_distance"))
nh.getParam("column_cover_distance", column_cover_distance_);
robot::log_info("VoxelLayer frustum_skip_distance: %.3f m%s\n",
frustum_skip_distance_ >= 0.0 ? frustum_skip_distance_ : 2.0 * resolution_,
frustum_skip_distance_ >= 0.0 ? "" : " (legacy 2 * resolution)");
robot::log_info("VoxelLayer frustum_column_clearing: %s, band: [%.2f, %.2f] m, cover_distance: %.2f m%s\n",
frustum_column_clearing_ ? "true" : "false",
column_clear_min_height_,
column_clear_max_height_ >= 0.0 ? column_clear_max_height_ : max_obstacle_height_,
column_cover_distance_,
column_cover_distance_ >= 0.0 ? "" : " (auto from camera pose)");
this->matchSize();
}
@@ -500,20 +475,35 @@ void VoxelLayer::updateDepthRayCache(unsigned int width, unsigned int height,
cached_cx_ = cx;
cached_cy_ = cy;
const std::size_t rows = (height + pixel_step - 1) / pixel_step;
const std::size_t columns = (width + pixel_step - 1) / pixel_step;
depth_ray_cache_.clear();
depth_ray_cache_.reserve(rows * columns);
for (unsigned int v = 0; v < height; v += pixel_step)
{
// Sample every pixel_step-th row/column and always include the last image
// row/column, so cells marked from border pixels stay inside the swept
// clearing fan.
std::vector<unsigned int> u_samples, v_samples;
u_samples.reserve(width / pixel_step + 2);
v_samples.reserve(height / pixel_step + 2);
for (unsigned int u = 0; u < width; u += pixel_step)
u_samples.push_back(u);
if (width > 0 && u_samples.back() != width - 1)
u_samples.push_back(width - 1);
for (unsigned int v = 0; v < height; v += pixel_step)
v_samples.push_back(v);
if (height > 0 && v_samples.back() != height - 1)
v_samples.push_back(height - 1);
cached_column_count_ = static_cast<unsigned int>(u_samples.size());
depth_ray_cache_.clear();
depth_ray_cache_.reserve(u_samples.size() * v_samples.size());
for (const unsigned int v : v_samples)
{
for (unsigned int col = 0; col < u_samples.size(); ++col)
{
const unsigned int u = u_samples[col];
const double x = (static_cast<double>(u) - cx) / fx;
const double y = (static_cast<double>(v) - cy) / fy;
const double inverse_norm = 1.0 / std::sqrt(x * x + y * y + 1.0);
depth_ray_cache_.push_back(
DepthRay{u, v, x * inverse_norm, y * inverse_norm, inverse_norm});
DepthRay{u, v, col, x * inverse_norm, y * inverse_norm, inverse_norm});
}
}
}
@@ -640,11 +630,12 @@ bool VoxelLayer::raytraceDepthFrustum(const DepthCameraObservation& observation,
return false;
}
const unsigned int step = std::max(1u, observation.pixel_step_);
const double min_range = observation.min_range_;
const double max_range = observation.max_range_;
const DepthFrustumConfig& frustum = observation.frustum_;
const unsigned int step = std::max(1u, frustum.pixel_step);
const double min_range = frustum.min_range;
const double max_range = frustum.max_range;
const double skip_dist =
frustum_skip_distance_ >= 0.0 ? frustum_skip_distance_ : 2.0 * resolution_;
frustum.skip_distance >= 0.0 ? frustum.skip_distance : 2.0 * resolution_;
const unsigned int width = std::min(depth.width, camera_info.width == 0 ? depth.width : camera_info.width);
const unsigned int height = std::min(depth.height, camera_info.height == 0 ? depth.height : camera_info.height);
updateDepthRayCache(width, height, step, fx, fy, cx, cy);
@@ -677,12 +668,12 @@ bool VoxelLayer::raytraceDepthFrustum(const DepthCameraObservation& observation,
// window [cover, far] where the vertical FOV spans the whole height band.
// Outside that window a real obstacle could sit above/below the FOV, so only
// the per-pixel 3D rays may clear there.
const double band_min_h = column_clear_min_height_;
const double band_min_h = frustum.column_min_height;
const double band_max_h =
column_clear_max_height_ >= 0.0 ? column_clear_max_height_ : max_obstacle_height_;
double cover_dist = column_cover_distance_;
frustum.column_max_height >= 0.0 ? frustum.column_max_height : max_obstacle_height_;
double cover_dist = frustum.column_cover_distance;
double far_dist = std::numeric_limits<double>::infinity();
bool column_pass = frustum_column_clearing_ && band_max_h > band_min_h;
bool column_pass = frustum.column_clearing && band_max_h > band_min_h;
if (column_pass && cover_dist < 0.0)
{
@@ -728,9 +719,8 @@ bool VoxelLayer::raytraceDepthFrustum(const DepthCameraObservation& observation,
}
}
const unsigned int column_count = (width + step - 1) / step;
if (column_pass)
depth_column_stats_.assign(column_count, DepthColumnStat());
depth_column_stats_.assign(cached_column_count_, DepthColumnStat());
for (const DepthRay& local_ray : depth_ray_cache_)
{
@@ -739,18 +729,21 @@ bool VoxelLayer::raytraceDepthFrustum(const DepthCameraObservation& observation,
if (!readDepthMeters(depth, local_ray.u, local_ray.v, depth_m, valid))
continue;
// depth images store z-depth; local_ray.z is the unit ray's optical axis
// component, so depth / z is the Euclidean range
const double euclid_range = valid ? depth_m / local_ray.z : 0.0;
robot_geometry_msgs::Vector3 global_ray;
global_ray.x = r00 * local_ray.x + r01 * local_ray.y + r02 * local_ray.z;
global_ray.y = r10 * local_ray.x + r11 * local_ray.y + r12 * local_ray.z;
global_ray.z = r20 * local_ray.x + r21 * local_ray.y + r22 * local_ray.z;
if (column_pass)
if (column_pass && local_ray.col < depth_column_stats_.size())
{
const double horiz_norm = std::hypot(global_ray.x, global_ray.y);
const unsigned int col = local_ray.u / step;
if (horiz_norm > 1e-6 && col < column_count)
if (horiz_norm > 1e-6)
{
DepthColumnStat& stat = depth_column_stats_[col];
DepthColumnStat& stat = depth_column_stats_[local_ray.col];
const double row_delta = std::fabs(static_cast<double>(local_ray.v) - cy);
if (stat.min_band_dist < 0.0 && row_delta < stat.best_row_delta)
{
@@ -763,9 +756,6 @@ bool VoxelLayer::raytraceDepthFrustum(const DepthCameraObservation& observation,
if (valid)
{
// depth images store z-depth; local_ray.z is the unit ray's optical
// axis component, so depth / z is the Euclidean range
const double euclid_range = depth_m / local_ray.z;
const double pz = oz + global_ray.z * euclid_range;
if (pz >= band_min_h && pz <= band_max_h)
{
@@ -781,8 +771,8 @@ bool VoxelLayer::raytraceDepthFrustum(const DepthCameraObservation& observation,
}
double ray_len = max_range;
if (valid && depth_m < max_range)
ray_len = std::max(0.0, depth_m - skip_dist);
if (valid && euclid_range < max_range)
ray_len = std::max(0.0, euclid_range - skip_dist);
if (ray_len <= min_range)
continue;
@@ -801,7 +791,8 @@ bool VoxelLayer::raytraceDepthFrustum(const DepthCameraObservation& observation,
if (column_pass)
{
cleared_any = clearDepthColumns(ox, oy, cover_dist, far_dist, min_range, max_range,
skip_dist, min_x, min_y, max_x, max_y) ||
std::max(0.0, frustum.column_skip_distance),
min_x, min_y, max_x, max_y) ||
cleared_any;
}

24
src/costmap_2d_robot.cpp
View File

@@ -400,6 +400,12 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
int frustum_clearing_pixel_step = 8;
double frustum_min_range = 0.2;
double frustum_max_range = 3.0;
double frustum_skip_distance = -1.0;
bool frustum_column_clearing = false;
double column_clear_min_height = 0.10;
double column_clear_max_height = -1.0;
double column_skip_distance = 0.02;
double column_cover_distance = -1.0;
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "topic", topic);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "sensor_frame", sensor_frame);
@@ -417,6 +423,12 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
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);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_skip_distance", frustum_skip_distance);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_column_clearing", frustum_column_clearing);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "column_clear_min_height", column_clear_min_height);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "column_clear_max_height", column_clear_max_height);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "column_skip_distance", column_skip_distance);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "column_cover_distance", column_cover_distance);
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);
}
@@ -459,6 +471,12 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
int frustum_clearing_pixel_step = 8;
double frustum_min_range = 0.2;
double frustum_max_range = 3.0;
double frustum_skip_distance = -1.0;
bool frustum_column_clearing = false;
double column_clear_min_height = 0.10;
double column_clear_max_height = -1.0;
double column_skip_distance = 0.02;
double column_cover_distance = -1.0;
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "topic", topic);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "sensor_frame", sensor_frame);
@@ -476,6 +494,12 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
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);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_skip_distance", frustum_skip_distance);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "frustum_column_clearing", frustum_column_clearing);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "column_clear_min_height", column_clear_min_height);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "column_clear_max_height", column_clear_max_height);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "column_skip_distance", column_skip_distance);
move_parameter(plugin_nh_element, costmap_plugin_nh_element, "column_cover_distance", column_cover_distance);
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);
}

15
src/observation_buffer.cpp
View File

@@ -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())
{