1008 lines
36 KiB
C++
Executable File
1008 lines
36 KiB
C++
Executable File
/*********************************************************************
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*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, 2013, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* Author: Eitan Marder-Eppstein
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* David V. Lu!!
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*********************************************************************/
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#include <robot_costmap_2d/voxel_layer.h>
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#include <robot_sensor_msgs/point_cloud2_iterator.h>
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#include <robot_tf3_geometry_msgs/tf3_geometry_msgs.h>
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#include <robot_geometry_msgs/Vector3.h>
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#include <tf3/exceptions.h>
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#include <boost/dll/alias.hpp>
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#include <algorithm>
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#include <cmath>
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#include <cstdint>
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#include <cstring>
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#define VOXEL_BITS 16
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using robot_costmap_2d::NO_INFORMATION;
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using robot_costmap_2d::LETHAL_OBSTACLE;
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using robot_costmap_2d::FREE_SPACE;
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using robot_costmap_2d::ObservationBuffer;
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using robot_costmap_2d::Observation;
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namespace robot_costmap_2d
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{
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void VoxelLayer::onInitialize()
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{
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robot::NodeHandle nh("~");
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robot::NodeHandle priv_nh(nh, name_);
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ObstacleLayer::onInitialize();
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std::string config_file_name = "voxel_layer_params.yaml";
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getParams(config_file_name, priv_nh);
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}
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VoxelLayer::~VoxelLayer()
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{}
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bool VoxelLayer::getParams(const std::string& config_file_name, robot::NodeHandle &nh)
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{
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try
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{
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const char *env_config = std::getenv("PNKX_NAV_CORE_CONFIG_DIR");
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std::string folder;
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if (env_config && std::filesystem::exists(env_config))
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{
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folder = std::string(env_config);
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// robot::log_error("config_directory: %s", folder.c_str());
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}
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std::string path_source = getSourceFile(folder,config_file_name);
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YAML::Node config = YAML::LoadFile(path_source);
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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", 2.0);
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size_z_ = loadParam(layer, "z_voxels", 10);
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origin_z_ = loadParam(layer, "origin_z", 0.0);
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z_resolution_ = loadParam(layer, "z_resolution", 0.2);
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unknown_threshold_ = loadParam(layer, "unknown_threshold", 15.0) + (VOXEL_BITS - size_z_);
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mark_threshold_ = loadParam(layer, "mark_threshold", 0);
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combination_method_ = loadParam(layer, "combination_method", 0.0);
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int size_z, unknown_threshold, mark_threshold, frustum_pixel_step;
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if (nh.hasParam("enabled"))
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nh.getParam("enabled", enabled_);
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if (nh.hasParam("footprint_clearing_enabled"))
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nh.getParam("footprint_clearing_enabled", footprint_clearing_enabled_);
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if (nh.hasParam("max_obstacle_height"))
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nh.getParam("max_obstacle_height", max_obstacle_height_);
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if (nh.hasParam("z_voxels"))
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{
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nh.getParam("z_voxels", size_z);
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size_z_ = size_z;
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}
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if (nh.hasParam("origin_z"))
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nh.getParam("origin_z", origin_z_);
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if (nh.hasParam("unknown_threshold"))
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{
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nh.getParam("unknown_threshold", unknown_threshold);
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unknown_threshold_ = unknown_threshold + (VOXEL_BITS - size_z_);
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}
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if (nh.hasParam("mark_threshold"))
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{
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nh.getParam("mark_threshold", mark_threshold);
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mark_threshold_ = mark_threshold;
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}
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if (nh.hasParam("combination_method"))
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nh.getParam("combination_method", combination_method_);
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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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void VoxelLayer::matchSize()
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{
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ObstacleLayer::matchSize();
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robot_voxel_grid_.resize(size_x_, size_y_, size_z_);
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if (!(robot_voxel_grid_.sizeX() == size_x_ && robot_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(" << robot_voxel_grid_.sizeX() << ", " << robot_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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robot_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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robot_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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bool current = true;
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std::vector<Observation> observations, clearing_observations;
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std::vector<DepthCameraObservation> depth_observations;
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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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current = getFrustumClearingObservations(depth_observations) && current;
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// update the global current status
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current_ = current;
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for (const DepthCameraObservation& depth_observation : depth_observations)
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{
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raytraceDepthFrustum(depth_observation, 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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const robot_sensor_msgs::PointCloud2& cloud = *(obs.cloud_);
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double sq_obstacle_range = obs.obstacle_range_ * obs.obstacle_range_;
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robot_sensor_msgs::PointCloud2ConstIterator<float> iter_x(cloud, "x");
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robot_sensor_msgs::PointCloud2ConstIterator<float> iter_y(cloud, "y");
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robot_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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// 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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// 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 (robot_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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updateFootprint(robot_x, robot_y, robot_yaw, min_x, min_y, max_x, max_y);
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}
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void VoxelLayer::clearNonLethal(double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info)
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{
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// get the cell coordinates of the center point of the window
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unsigned int mx, my;
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if (!worldToMap(wx, wy, mx, my))
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return;
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// compute the bounds of the window
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double start_x = wx - w_size_x / 2;
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double start_y = wy - w_size_y / 2;
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double end_x = start_x + w_size_x;
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double end_y = start_y + w_size_y;
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// scale the window based on the bounds of the costmap
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start_x = std::max(origin_x_, start_x);
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start_y = std::max(origin_y_, start_y);
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end_x = std::min(origin_x_ + getSizeInMetersX(), end_x);
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end_y = std::min(origin_y_ + getSizeInMetersY(), end_y);
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// get the map coordinates of the bounds of the window
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unsigned int map_sx, map_sy, map_ex, map_ey;
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// check for legality just in case
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if (!worldToMap(start_x, start_y, map_sx, map_sy) || !worldToMap(end_x, end_y, map_ex, map_ey))
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return;
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// we know that we want to clear all non-lethal obstacles in this window to get it ready for inflation
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unsigned int index = getIndex(map_sx, map_sy);
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unsigned char* current = &costmap_[index];
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for (unsigned int j = map_sy; j <= map_ey; ++j)
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{
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for (unsigned int i = map_sx; i <= map_ex; ++i)
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{
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// if the cell is a lethal obstacle... we'll keep it and queue it, otherwise... we'll clear it
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if (*current != LETHAL_OBSTACLE)
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{
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if (clear_no_info || *current != NO_INFORMATION)
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{
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*current = FREE_SPACE;
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robot_voxel_grid_.clearVoxelColumn(index);
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}
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}
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current++;
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index++;
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}
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current += size_x_ - (map_ex - map_sx) - 1;
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index += size_x_ - (map_ex - map_sx) - 1;
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}
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}
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void VoxelLayer::raytraceFreespace(const Observation& clearing_observation, double* min_x, double* min_y,
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double* max_x, double* max_y)
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{
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size_t clearing_observation_cloud_size = clearing_observation.cloud_->height * clearing_observation.cloud_->width;
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if (clearing_observation_cloud_size == 0)
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return;
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double sensor_x, sensor_y, sensor_z;
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double ox = clearing_observation.origin_.x;
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double oy = clearing_observation.origin_.y;
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double oz = clearing_observation.origin_.z;
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if (!worldToMap3DFloat(ox, oy, oz, sensor_x, sensor_y, sensor_z))
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{
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robot::log_error(
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"The origin for the sensor at (%.2f, %.2f, %.2f) is out of map bounds. So, the costmap cannot raytrace for it.\n",
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ox, oy, oz);
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return;
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}
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// we can pre-compute the enpoints of the map outside of the inner loop... we'll need these later
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double map_end_x = origin_x_ + getSizeInMetersX();
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double map_end_y = origin_y_ + getSizeInMetersY();
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robot_sensor_msgs::PointCloud2ConstIterator<float> iter_x(*(clearing_observation.cloud_), "x");
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robot_sensor_msgs::PointCloud2ConstIterator<float> iter_y(*(clearing_observation.cloud_), "y");
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robot_sensor_msgs::PointCloud2ConstIterator<float> iter_z(*(clearing_observation.cloud_), "z");
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for (;iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z)
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{
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double wpx = *iter_x;
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double wpy = *iter_y;
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double wpz = *iter_z;
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double distance = dist(ox, oy, oz, wpx, wpy, wpz);
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double scaling_fact = 1.0;
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scaling_fact = std::max(std::min(scaling_fact, (distance - 2 * resolution_) / distance), 0.0);
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wpx = scaling_fact * (wpx - ox) + ox;
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wpy = scaling_fact * (wpy - oy) + oy;
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wpz = scaling_fact * (wpz - oz) + oz;
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double a = wpx - ox;
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double b = wpy - oy;
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double c = wpz - oz;
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double t = 1.0;
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// we can only raytrace to a maximum z height
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if (wpz > max_obstacle_height_)
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{
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// we know we want the vector's z value to be max_z
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t = std::max(0.0, std::min(t, (max_obstacle_height_ - 0.01 - oz) / c));
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}
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// and we can only raytrace down to the floor
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else if (wpz < origin_z_)
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{
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// we know we want the vector's z value to be 0.0
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t = std::min(t, (origin_z_ - oz) / c);
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}
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// the minimum value to raytrace from is the origin
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if (wpx < origin_x_)
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{
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t = std::min(t, (origin_x_ - ox) / a);
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}
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if (wpy < origin_y_)
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{
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t = std::min(t, (origin_y_ - oy) / b);
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}
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// the maximum value to raytrace to is the end of the map
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if (wpx > map_end_x)
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{
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t = std::min(t, (map_end_x - ox) / a);
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}
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if (wpy > map_end_y)
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{
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t = std::min(t, (map_end_y - oy) / b);
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}
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wpx = ox + a * t;
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wpy = oy + b * t;
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wpz = oz + c * t;
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double point_x, point_y, point_z;
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if (worldToMap3DFloat(wpx, wpy, wpz, point_x, point_y, point_z))
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{
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unsigned int cell_raytrace_range = cellDistance(clearing_observation.raytrace_range_);
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// robot_voxel_grid_.markVoxelLine(sensor_x, sensor_y, sensor_z, point_x, point_y, point_z);
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robot_voxel_grid_.clearVoxelLineInMap(sensor_x, sensor_y, sensor_z, point_x, point_y, point_z, costmap_,
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unknown_threshold_, mark_threshold_, FREE_SPACE, NO_INFORMATION,
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cell_raytrace_range);
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updateRaytraceBounds(ox, oy, wpx, wpy, clearing_observation.raytrace_range_, min_x, min_y, max_x, max_y);
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}
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}
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}
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bool VoxelLayer::readDepthMeters(const robot_sensor_msgs::Image& depth, unsigned int u, unsigned int v,
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double& depth_m, bool& is_valid) const
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{
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depth_m = 0.0;
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is_valid = false;
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if (u >= depth.width || v >= depth.height)
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return false;
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if (depth.encoding == "16UC1" || depth.encoding == "mono16")
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{
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const std::size_t offset = static_cast<std::size_t>(v) * depth.step + static_cast<std::size_t>(u) * 2;
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if (offset + sizeof(std::uint16_t) > depth.data.size())
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return false;
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std::uint16_t raw = 0;
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if (depth.is_bigendian)
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raw = static_cast<std::uint16_t>((depth.data[offset] << 8) | depth.data[offset + 1]);
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else
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raw = static_cast<std::uint16_t>(depth.data[offset] | (depth.data[offset + 1] << 8));
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if (raw == 0)
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return true;
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depth_m = static_cast<double>(raw) * 0.001;
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is_valid = true;
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return true;
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}
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if (depth.encoding == "32FC1")
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{
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const std::size_t offset = static_cast<std::size_t>(v) * depth.step + static_cast<std::size_t>(u) * 4;
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if (offset + sizeof(float) > depth.data.size())
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return false;
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float raw = 0.0f;
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if (depth.is_bigendian)
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{
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unsigned char bytes[sizeof(float)] = {
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depth.data[offset + 3], depth.data[offset + 2], depth.data[offset + 1], depth.data[offset]};
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std::memcpy(&raw, bytes, sizeof(float));
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}
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else
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{
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std::memcpy(&raw, &depth.data[offset], sizeof(float));
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}
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if (!std::isfinite(raw) || raw <= 0.0f)
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return true;
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depth_m = static_cast<double>(raw);
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is_valid = true;
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return true;
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}
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|
|
robot::log_error("VoxelLayer unsupported depth encoding for frustum clearing: %s\n", depth.encoding.c_str());
|
|
return false;
|
|
}
|
|
|
|
void VoxelLayer::updateDepthRayCache(unsigned int width, unsigned int height,
|
|
unsigned int pixel_step, double fx, double fy,
|
|
double cx, double cy)
|
|
{
|
|
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)
|
|
{
|
|
return;
|
|
}
|
|
|
|
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;
|
|
|
|
// 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, col, x * inverse_norm, y * inverse_norm, inverse_norm});
|
|
}
|
|
}
|
|
}
|
|
|
|
bool VoxelLayer::clipRaytraceEndpoint(double ox, double oy, double oz, double& wx, double& wy, double& wz)
|
|
{
|
|
double a = wx - ox;
|
|
double b = wy - oy;
|
|
double c = wz - oz;
|
|
double t = 1.0;
|
|
constexpr double kEpsilon = 1e-9;
|
|
|
|
if (std::fabs(a) < kEpsilon && std::fabs(b) < kEpsilon && std::fabs(c) < kEpsilon)
|
|
return false;
|
|
|
|
if (wz > max_obstacle_height_ && std::fabs(c) > kEpsilon)
|
|
t = std::max(0.0, std::min(t, (max_obstacle_height_ - 0.01 - oz) / c));
|
|
else if (wz < origin_z_ && std::fabs(c) > kEpsilon)
|
|
t = std::min(t, (origin_z_ - oz) / c);
|
|
|
|
const double map_end_x = origin_x_ + getSizeInMetersX();
|
|
const double map_end_y = origin_y_ + getSizeInMetersY();
|
|
|
|
if (wx < origin_x_ && std::fabs(a) > kEpsilon)
|
|
t = std::min(t, (origin_x_ - ox) / a);
|
|
if (wy < origin_y_ && std::fabs(b) > kEpsilon)
|
|
t = std::min(t, (origin_y_ - oy) / b);
|
|
if (wx > map_end_x && std::fabs(a) > kEpsilon)
|
|
t = std::min(t, (map_end_x - ox) / a);
|
|
if (wy > map_end_y && std::fabs(b) > kEpsilon)
|
|
t = std::min(t, (map_end_y - oy) / b);
|
|
|
|
if (!std::isfinite(t) || t <= 0.0)
|
|
return false;
|
|
|
|
wx = ox + a * t;
|
|
wy = oy + b * t;
|
|
wz = oz + c * t;
|
|
return true;
|
|
}
|
|
|
|
bool VoxelLayer::clearVoxelRay(double ox, double oy, double oz, double wx, double wy, double wz,
|
|
double raytrace_range, unsigned int cell_raytrace_range,
|
|
double* min_x, double* min_y, double* max_x, double* max_y)
|
|
{
|
|
double sensor_x, sensor_y, sensor_z;
|
|
if (!worldToMap3DFloat(ox, oy, oz, sensor_x, sensor_y, sensor_z))
|
|
return false;
|
|
|
|
if (!clipRaytraceEndpoint(ox, oy, oz, wx, wy, wz))
|
|
return false;
|
|
|
|
double point_x, point_y, point_z;
|
|
if (!worldToMap3DFloat(wx, wy, wz, point_x, point_y, point_z))
|
|
return false;
|
|
|
|
robot_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, wx, wy, raytrace_range, min_x, min_y, max_x, max_y);
|
|
return true;
|
|
}
|
|
|
|
bool VoxelLayer::raytraceDepthFrustum(const DepthCameraObservation& observation,
|
|
double* min_x, double* min_y, double* max_x, double* max_y)
|
|
{
|
|
if (!observation.data_)
|
|
return false;
|
|
|
|
const robot_sensor_msgs::DepthCameraData& depth_camera_data = *observation.data_;
|
|
const robot_sensor_msgs::Image& depth = depth_camera_data.depth;
|
|
const robot_sensor_msgs::CameraInfo& camera_info = depth_camera_data.camera_info;
|
|
|
|
if (depth.width == 0 || depth.height == 0 || depth.data.empty())
|
|
return false;
|
|
|
|
const double fx = camera_info.K[0];
|
|
const double fy = camera_info.K[4];
|
|
const double cx = camera_info.K[2];
|
|
const double cy = camera_info.K[5];
|
|
if (fx <= 0.0 || fy <= 0.0)
|
|
return false;
|
|
|
|
std::string depth_frame = depth.header.frame_id.empty() ? depth_camera_data.header.frame_id : depth.header.frame_id;
|
|
if (depth_frame.empty())
|
|
depth_frame = camera_info.header.frame_id;
|
|
if (depth_frame.empty() || tf_ == nullptr)
|
|
return false;
|
|
|
|
robot_geometry_msgs::PointStamped local_origin;
|
|
local_origin.header = depth.header;
|
|
local_origin.header.frame_id = depth_frame;
|
|
if (local_origin.header.stamp.isZero())
|
|
local_origin.header.stamp = depth_camera_data.header.stamp;
|
|
local_origin.point.x = 0.0;
|
|
local_origin.point.y = 0.0;
|
|
local_origin.point.z = 0.0;
|
|
|
|
// Look up the sensor pose at the depth image's CAPTURE time, not the latest
|
|
// transform. The costmap update runs later than the frame was captured, so
|
|
// during rotation the latest pose orients the clearing frustum where the depth
|
|
// pixels were never measured from; the fan's free rays then sweep across and
|
|
// erase freshly marked cells, and the trailing side that gets erased flips
|
|
// with rotation direction. A stamped lookup keeps the frustum geometrically
|
|
// consistent with its own pixels. If the transform at that stamp is
|
|
// unavailable (stale / would extrapolate), skip clearing this cycle instead of
|
|
// clearing from a wrong pose. Falls back to latest only when the frame carries
|
|
// no stamp.
|
|
const robot::Time& depth_stamp = local_origin.header.stamp;
|
|
const tf3::Time query_time =
|
|
depth_stamp.isZero() ? tf3::Time() : tf3::Time(depth_stamp.sec, depth_stamp.nsec);
|
|
|
|
robot_geometry_msgs::PointStamped global_origin;
|
|
tf3::TransformStampedMsg tfm;
|
|
try
|
|
{
|
|
tfm = tf_->lookupTransform(global_frame_, depth_frame, query_time);
|
|
tf3::doTransform(local_origin, global_origin, tfm);
|
|
}
|
|
catch (tf3::TransformException& ex)
|
|
{
|
|
robot::log_error_throttle(
|
|
5.0, "VoxelLayer depth topic [%s] TF exception from %s to %s at t=%.3f: %s\n",
|
|
observation.topic_.c_str(), depth_frame.c_str(), global_frame_.c_str(),
|
|
query_time.toSec(), ex.what());
|
|
return false;
|
|
}
|
|
|
|
const double ox = global_origin.point.x;
|
|
const double oy = global_origin.point.y;
|
|
const double oz = global_origin.point.z;
|
|
|
|
double sensor_x, sensor_y, sensor_z;
|
|
if (!worldToMap3DFloat(ox, oy, oz, sensor_x, sensor_y, sensor_z))
|
|
{
|
|
robot::log_error_throttle(
|
|
5.0, "VoxelLayer depth topic [%s] origin at (%.2f, %.2f, %.2f) is outside the voxel map\n",
|
|
observation.topic_.c_str(), ox, oy, oz);
|
|
return false;
|
|
}
|
|
|
|
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_;
|
|
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);
|
|
|
|
double qx = tfm.transform.rotation.x;
|
|
double qy = tfm.transform.rotation.y;
|
|
double qz = tfm.transform.rotation.z;
|
|
double qw = tfm.transform.rotation.w;
|
|
const double quaternion_norm = std::sqrt(qx * qx + qy * qy + qz * qz + qw * qw);
|
|
if (quaternion_norm <= 0.0)
|
|
return false;
|
|
qx /= quaternion_norm;
|
|
qy /= quaternion_norm;
|
|
qz /= quaternion_norm;
|
|
qw /= quaternion_norm;
|
|
|
|
const double r00 = 1.0 - 2.0 * (qy * qy + qz * qz);
|
|
const double r01 = 2.0 * (qx * qy - qz * qw);
|
|
const double r02 = 2.0 * (qx * qz + qy * qw);
|
|
const double r10 = 2.0 * (qx * qy + qz * qw);
|
|
const double r11 = 1.0 - 2.0 * (qx * qx + qz * qz);
|
|
const double r12 = 2.0 * (qy * qz - qx * qw);
|
|
const double r20 = 2.0 * (qx * qz - qy * qw);
|
|
const double r21 = 2.0 * (qy * qz + qx * qw);
|
|
const double r22 = 1.0 - 2.0 * (qx * qx + qy * qy);
|
|
const unsigned int cell_raytrace_range = cellDistance(max_range);
|
|
bool cleared_any = false;
|
|
|
|
// Column clearing: certify the beam length per pixel column and the distance
|
|
// 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 = frustum.column_min_height;
|
|
const double band_max_h =
|
|
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;
|
|
|
|
if (column_pass && cover_dist < 0.0)
|
|
{
|
|
const double up_half = std::atan2(cy, fy);
|
|
const double down_half = std::atan2(static_cast<double>(height) - 1.0 - cy, fy);
|
|
const double axis_elev = std::atan2(r22, std::hypot(r02, r12));
|
|
const double alpha_top = axis_elev + up_half;
|
|
const double alpha_bot = axis_elev - down_half;
|
|
const double band_top = band_max_h - oz;
|
|
const double band_bot = band_min_h - oz;
|
|
constexpr double kMinSlope = 1e-3;
|
|
|
|
cover_dist = 0.0;
|
|
if (band_top > 0.0)
|
|
{
|
|
if (alpha_top <= kMinSlope)
|
|
column_pass = false; // camera can never look up to the band top
|
|
else
|
|
cover_dist = std::max(cover_dist, band_top / std::tan(alpha_top));
|
|
}
|
|
else if (alpha_top < -kMinSlope)
|
|
{
|
|
far_dist = std::min(far_dist, band_top / std::tan(alpha_top));
|
|
}
|
|
if (band_bot < 0.0)
|
|
{
|
|
if (alpha_bot >= -kMinSlope)
|
|
column_pass = false; // camera can never look down to the band bottom
|
|
else
|
|
cover_dist = std::max(cover_dist, band_bot / std::tan(alpha_bot));
|
|
}
|
|
else if (alpha_bot > kMinSlope)
|
|
{
|
|
far_dist = std::min(far_dist, band_bot / std::tan(alpha_bot));
|
|
}
|
|
|
|
if (!column_pass)
|
|
{
|
|
robot::log_warning_throttle(
|
|
10.0, "VoxelLayer column clearing disabled: vertical FOV [%.1f, %.1f] deg at camera "
|
|
"height %.2f m never covers band [%.2f, %.2f] m\n",
|
|
alpha_bot * 180.0 / M_PI, alpha_top * 180.0 / M_PI, oz, band_min_h, band_max_h);
|
|
}
|
|
}
|
|
|
|
if (column_pass)
|
|
depth_column_stats_.assign(cached_column_count_, DepthColumnStat());
|
|
|
|
for (const DepthRay& local_ray : depth_ray_cache_)
|
|
{
|
|
// Skip the left-edge stereo no-disparity strip: those columns are
|
|
// permanently invalid, so clearing through them erases obstacles rotating
|
|
// out of the FOV on that side. Marking has no data there either, so nothing
|
|
// is lost. Invalid pixels ELSEWHERE still clear to max_range (ghost removal
|
|
// when an obstacle leaves and only far / open space remains behind it).
|
|
if (local_ray.u < frustum.clear_left_border_px)
|
|
continue;
|
|
|
|
double depth_m = 0.0;
|
|
bool valid = false;
|
|
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 && local_ray.col < depth_column_stats_.size())
|
|
{
|
|
const double horiz_norm = std::hypot(global_ray.x, global_ray.y);
|
|
if (horiz_norm > 1e-6)
|
|
{
|
|
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)
|
|
{
|
|
// no in-band return yet: aim the beam along the ray nearest the
|
|
// principal row
|
|
stat.azimuth = std::atan2(global_ray.y, global_ray.x);
|
|
stat.best_row_delta = row_delta;
|
|
}
|
|
stat.has_ray = true;
|
|
|
|
if (valid)
|
|
{
|
|
const double pz = oz + global_ray.z * euclid_range;
|
|
if (pz >= band_min_h && pz <= band_max_h)
|
|
{
|
|
const double dist_h = horiz_norm * euclid_range;
|
|
if (stat.min_band_dist < 0.0 || dist_h < stat.min_band_dist)
|
|
{
|
|
stat.min_band_dist = dist_h;
|
|
stat.azimuth = std::atan2(global_ray.y, global_ray.x);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
double ray_len = max_range;
|
|
if (valid && euclid_range < max_range)
|
|
ray_len = std::max(0.0, euclid_range - skip_dist);
|
|
|
|
if (ray_len <= min_range)
|
|
continue;
|
|
|
|
const double sx = ox + global_ray.x * min_range;
|
|
const double sy = oy + global_ray.y * min_range;
|
|
const double sz = oz + global_ray.z * min_range;
|
|
const double wx = ox + global_ray.x * ray_len;
|
|
const double wy = oy + global_ray.y * ray_len;
|
|
const double wz = oz + global_ray.z * ray_len;
|
|
|
|
cleared_any = clearVoxelRay(sx, sy, sz, wx, wy, wz, ray_len, cell_raytrace_range,
|
|
min_x, min_y, max_x, max_y) || cleared_any;
|
|
}
|
|
|
|
if (column_pass)
|
|
{
|
|
cleared_any = clearDepthColumns(ox, oy, cover_dist, far_dist, min_range, max_range,
|
|
std::max(0.0, frustum.column_skip_distance),
|
|
min_x, min_y, max_x, max_y) ||
|
|
cleared_any;
|
|
}
|
|
|
|
return cleared_any;
|
|
}
|
|
|
|
namespace
|
|
{
|
|
/// raytraceLine action: frees the 2D cell and wipes its whole voxel column.
|
|
class ClearFullColumn
|
|
{
|
|
public:
|
|
ClearFullColumn(unsigned char* costmap, robot_voxel_grid::VoxelGrid& voxel_grid)
|
|
: costmap_(costmap), voxel_grid_(voxel_grid)
|
|
{
|
|
}
|
|
|
|
inline void operator()(unsigned int offset)
|
|
{
|
|
costmap_[offset] = FREE_SPACE;
|
|
voxel_grid_.clearVoxelColumn(offset);
|
|
}
|
|
|
|
private:
|
|
unsigned char* costmap_;
|
|
robot_voxel_grid::VoxelGrid& voxel_grid_;
|
|
};
|
|
} // namespace
|
|
|
|
bool VoxelLayer::clipColumnSegment(double& sx, double& sy, double& ex, double& ey) const
|
|
{
|
|
// Liang-Barsky clip against the map interior; the half-resolution margin
|
|
// keeps clipped endpoints valid for worldToMap.
|
|
const double min_wx = origin_x_;
|
|
const double min_wy = origin_y_;
|
|
const double max_wx = origin_x_ + getSizeInMetersX() - 0.5 * resolution_;
|
|
const double max_wy = origin_y_ + getSizeInMetersY() - 0.5 * resolution_;
|
|
const double dx = ex - sx;
|
|
const double dy = ey - sy;
|
|
const double p[4] = {-dx, dx, -dy, dy};
|
|
const double q[4] = {sx - min_wx, max_wx - sx, sy - min_wy, max_wy - sy};
|
|
|
|
double t0 = 0.0;
|
|
double t1 = 1.0;
|
|
for (int i = 0; i < 4; ++i)
|
|
{
|
|
if (std::fabs(p[i]) < 1e-12)
|
|
{
|
|
if (q[i] < 0.0)
|
|
return false;
|
|
continue;
|
|
}
|
|
const double r = q[i] / p[i];
|
|
if (p[i] < 0.0)
|
|
t0 = std::max(t0, r);
|
|
else
|
|
t1 = std::min(t1, r);
|
|
}
|
|
if (t0 > t1)
|
|
return false;
|
|
|
|
const double bx = sx;
|
|
const double by = sy;
|
|
sx = bx + t0 * dx;
|
|
sy = by + t0 * dy;
|
|
ex = bx + t1 * dx;
|
|
ey = by + t1 * dy;
|
|
return true;
|
|
}
|
|
|
|
bool VoxelLayer::clearDepthColumns(double ox, double oy, double cover_distance,
|
|
double far_distance, double min_range, double max_range,
|
|
double skip_dist, double* min_x, double* min_y,
|
|
double* max_x, double* max_y)
|
|
{
|
|
const double start_dist = std::max(cover_distance, min_range);
|
|
bool cleared_any = false;
|
|
|
|
for (const DepthColumnStat& stat : depth_column_stats_)
|
|
{
|
|
if (!stat.has_ray)
|
|
continue;
|
|
|
|
double end_dist = stat.min_band_dist >= 0.0 ? stat.min_band_dist - skip_dist : max_range;
|
|
end_dist = std::min(std::min(end_dist, max_range), far_distance);
|
|
if (end_dist <= start_dist)
|
|
continue;
|
|
|
|
const double cos_az = std::cos(stat.azimuth);
|
|
const double sin_az = std::sin(stat.azimuth);
|
|
double sx = ox + cos_az * start_dist;
|
|
double sy = oy + sin_az * start_dist;
|
|
double ex = ox + cos_az * end_dist;
|
|
double ey = oy + sin_az * end_dist;
|
|
if (!clipColumnSegment(sx, sy, ex, ey))
|
|
continue;
|
|
|
|
unsigned int sx_m, sy_m, ex_m, ey_m;
|
|
if (!worldToMap(sx, sy, sx_m, sy_m) || !worldToMap(ex, ey, ex_m, ey_m))
|
|
continue;
|
|
|
|
ClearFullColumn clearer(costmap_, robot_voxel_grid_);
|
|
raytraceLine(clearer, sx_m, sy_m, ex_m, ey_m);
|
|
touch(sx, sy, min_x, min_y, max_x, max_y);
|
|
touch(ex, ey, min_x, min_y, max_x, max_y);
|
|
cleared_any = true;
|
|
}
|
|
|
|
return cleared_any;
|
|
}
|
|
|
|
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_);
|
|
|
|
// Most update cycles do not cross a costmap cell boundary. Avoid copying and
|
|
// resetting the complete 2D/3D grids when the cell-aligned origin is unchanged.
|
|
if (cell_ox == 0 && cell_oy == 0)
|
|
return;
|
|
|
|
// 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_;
|
|
|
|
// 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;
|
|
|
|
const std::size_t overlap_size = static_cast<std::size_t>(cell_size_x) * cell_size_y;
|
|
rolling_costmap_scratch_.resize(overlap_size);
|
|
rolling_voxel_scratch_.resize(overlap_size);
|
|
unsigned char* local_map = rolling_costmap_scratch_.data();
|
|
unsigned int* local_voxel_map = rolling_voxel_scratch_.data();
|
|
unsigned int* voxel_map = robot_voxel_grid_.getData();
|
|
|
|
if (overlap_size > 0)
|
|
{
|
|
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();
|
|
|
|
// 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;
|
|
|
|
// now we want to copy the overlapping information back into the map, but in its new location
|
|
if (overlap_size > 0)
|
|
{
|
|
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);
|
|
}
|
|
|
|
}
|
|
|
|
// Export factory function
|
|
static boost::shared_ptr<Layer> create_voxel_plugin() {
|
|
return boost::make_shared<VoxelLayer>();
|
|
}
|
|
|
|
// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
|
|
BOOST_DLL_ALIAS(create_voxel_plugin, VoxelLayer)
|
|
|
|
} // namespace robot_costmap_2d
|