DuongTD/costmap_2d
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

optimal voxel layer

Browse Source
This commit is contained in:
duongtd
2026-07-23 11:39:03 +07:00
parent 28a32ee67c
commit f0390fcc67
2 changed files with 28 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
include/robot_costmap_2d/voxel_layer.h
View File

@@ -97,7 +97,8 @@ private:
bool readDepthMeters(const robot_sensor_msgs::Image& depth, unsigned int u, unsigned int v,
double& depth_m, bool& is_valid) const;
void updateDepthRayCache(unsigned int width, unsigned int height, unsigned int pixel_step,
double fx, double fy, double cx, double cy);
double fx, double fy, double cx, double cy,
unsigned int u_offset, unsigned int v_offset);
bool clipRaytraceEndpoint(double ox, double oy, double oz, double& wx, double& wy, double& wz);
bool clearVoxelRay(double ox, double oy, double oz, double wx, double wy, double wz,
double raytrace_range, unsigned int cell_raytrace_range,
@@ -144,6 +145,14 @@ private:
double cached_fy_ = 0.0;
double cached_cx_ = 0.0;
double cached_cy_ = 0.0;
unsigned int cached_u_offset_ = 0;
unsigned int cached_v_offset_ = 0;
/// Advances every frustum pass to dither the sampled pixel grid. A static
/// camera otherwise re-traces the same fixed pixel_step subgrid each frame,
/// so cells between adjacent rays (angular gap pixel_step / fx) are never
/// crossed and stay marked until the robot moves. Cycling the grid phase
/// sweeps every pixel over pixel_step^2 frames at unchanged per-frame cost.
unsigned int frustum_phase_ = 0;
inline bool worldToMap3DFloat(double wx, double wy, double wz, double& mx, double& my, double& mz)
{

23
plugins/voxel_layer.cpp
View File

@@ -519,11 +519,13 @@ bool VoxelLayer::readDepthMeters(const robot_sensor_msgs::Image& depth, unsigned
void VoxelLayer::updateDepthRayCache(unsigned int width, unsigned int height,
unsigned int pixel_step, double fx, double fy,
double cx, double cy)
double cx, double cy,
unsigned int u_offset, unsigned int v_offset)
{
if (cached_depth_width_ == width && cached_depth_height_ == height &&
cached_depth_pixel_step_ == pixel_step && cached_fx_ == fx && cached_fy_ == fy &&
cached_cx_ == cx && cached_cy_ == cy)
cached_cx_ == cx && cached_cy_ == cy &&
cached_u_offset_ == u_offset && cached_v_offset_ == v_offset)
{
return;
}
@@ -535,15 +537,17 @@ void VoxelLayer::updateDepthRayCache(unsigned int width, unsigned int height,
cached_fy_ = fy;
cached_cx_ = cx;
cached_cy_ = cy;
cached_u_offset_ = u_offset;
cached_v_offset_ = v_offset;
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)
for (unsigned int v = v_offset; v < height; v += pixel_step)
{
for (unsigned int u = 0; u < width; u += pixel_step)
for (unsigned int u = u_offset; u < width; u += pixel_step)
{
const double x = (static_cast<double>(u) - cx) / fx;
const double y = (static_cast<double>(v) - cy) / fy;
@@ -683,7 +687,16 @@ bool VoxelLayer::raytraceDepthFrustum(const DepthCameraObservation& observation,
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);
// Dither the sampled pixel grid every pass. With a fixed subgrid a static
// camera re-traces identical rays each frame; cells between adjacent rays
// (angular gap step / fx, ~5 cm at 2.5 m for step 8) are never crossed and
// stay marked until the robot moves. Cycling the phase sweeps every pixel
// column/row over step^2 frames at the same per-frame ray count.
const unsigned int u_offset = step > 1 ? frustum_phase_ % step : 0;
const unsigned int v_offset = step > 1 ? (frustum_phase_ / step) % step : 0;
++frustum_phase_;
updateDepthRayCache(width, height, step, fx, fy, cx, cy, u_offset, v_offset);
double qx = tfm.transform.rotation.x;
double qy = tfm.transform.rotation.y;