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Applied Melodic fix #200 to Foxy #202

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May 26, 2021
+43 −14
Merged

Applied Melodic fix #200 to Foxy #202

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9 changes: 7 additions & 2 deletions include/spatio_temporal_voxel_layer/spatio_temporal_voxel_grid.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@
// STL
#include <math.h>
#include <unordered_map>
#include <unordered_set>
#include <ctime>
#include <iostream>
#include <utility>
Expand Down Expand Up @@ -137,7 +138,9 @@ class SpatioTemporalVoxelGrid
// Core making and clearing functions
void Mark(const std::vector<observation::MeasurementReading> & marking_observations);
void operator()(const observation::MeasurementReading & obs) const;
void ClearFrustums(const std::vector<observation::MeasurementReading> & clearing_observations);
void ClearFrustums(
const std::vector<observation::MeasurementReading> & clearing_observations,
std::unordered_set<occupany_cell> & cleared_cells);

// Get the pointcloud of the underlying occupancy grid
void GetOccupancyPointCloud(std::unique_ptr<sensor_msgs::msg::PointCloud2> & pc2);
Expand All @@ -164,7 +167,9 @@ class SpatioTemporalVoxelGrid
double GetTemporalClearingDuration(const double & time_delta);
double GetFrustumAcceleration(
const double & time_delta, const double & acceleration_factor);
void TemporalClearAndGenerateCostmap(std::vector<frustum_model> & frustums);
void TemporalClearAndGenerateCostmap(
std::vector<frustum_model> & frustums,
std::unordered_set<occupany_cell> & cleared_cells);

// Populate the costmap ROS api and pointcloud with a marked point
void PopulateCostmapAndPointcloud(const openvdb::Coord & pt);
Expand Down
3 changes: 2 additions & 1 deletion include/spatio_temporal_voxel_layer/spatio_temporal_voxel_layer.hpp
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Expand Up @@ -114,7 +114,8 @@ class SpatioTemporalVoxelLayer : public nav2_costmap_2d::CostmapLayer

// Functions to interact with maps
void UpdateROSCostmap(
double * min_x, double * min_y, double * max_x, double * max_y);
double * min_x, double * min_y, double * max_x, double * max_y,
std::unordered_set<volume_grid::occupany_cell> & cleared_cells);
bool updateFootprint(
double robot_x, double robot_y, double robot_yaw,
double * min_x, double * min_y, double * max_x, double * max_y);
Expand Down
30 changes: 22 additions & 8 deletions src/spatio_temporal_voxel_grid.cpp
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Expand Up @@ -94,7 +94,8 @@ void SpatioTemporalVoxelGrid::InitializeGrid(void)

/*****************************************************************************/
void SpatioTemporalVoxelGrid::ClearFrustums(
const std::vector<observation::MeasurementReading> & clearing_readings)
const std::vector<observation::MeasurementReading> & clearing_readings,
std::unordered_set<occupany_cell> & cleared_cells)
/*****************************************************************************/
{
boost::unique_lock<boost::mutex> lock(_grid_lock);
Expand All @@ -110,7 +111,7 @@ void SpatioTemporalVoxelGrid::ClearFrustums(
std::vector<frustum_model> obs_frustums;

if (clearing_readings.size() == 0) {
TemporalClearAndGenerateCostmap(obs_frustums);
TemporalClearAndGenerateCostmap(obs_frustums, cleared_cells);
return;
}

Expand Down Expand Up @@ -138,12 +139,13 @@ void SpatioTemporalVoxelGrid::ClearFrustums(
frustum->TransformModel();
obs_frustums.emplace_back(frustum, it->_decay_acceleration);
}
TemporalClearAndGenerateCostmap(obs_frustums);
TemporalClearAndGenerateCostmap(obs_frustums, cleared_cells);
}

/*****************************************************************************/
void SpatioTemporalVoxelGrid::TemporalClearAndGenerateCostmap(
std::vector<frustum_model> & frustums)
std::vector<frustum_model> & frustums,
std::unordered_set<occupany_cell> & cleared_cells)
/*****************************************************************************/
{
// sample time once for all clearing readings
Expand All @@ -153,9 +155,11 @@ void SpatioTemporalVoxelGrid::TemporalClearAndGenerateCostmap(
openvdb::DoubleGrid::ValueOnCIter cit_grid = _grid->cbeginValueOn();
for (; cit_grid.test(); ++cit_grid) {
const openvdb::Coord pt_index(cit_grid.getCoord());
const openvdb::Vec3d pose_world = this->IndexToWorld(pt_index);

std::vector<frustum_model>::iterator frustum_it = frustums.begin();
bool frustum_cycle = false;
bool cleared_point = false;

const double time_since_marking = cur_time - cit_grid.getValue();
const double base_duration_to_decay = GetTemporalClearingDuration(
Expand All @@ -166,7 +170,7 @@ void SpatioTemporalVoxelGrid::TemporalClearAndGenerateCostmap(
continue;
}

if (frustum_it->frustum->IsInside(this->IndexToWorld(pt_index)) ) {
if (frustum_it->frustum->IsInside(pose_world) ) {
frustum_cycle = true;

const double frustum_acceleration = GetFrustumAcceleration(
Expand All @@ -176,9 +180,11 @@ void SpatioTemporalVoxelGrid::TemporalClearAndGenerateCostmap(
frustum_acceleration;
if (time_until_decay < 0.) {
// expired by acceleration
cleared_point = true;
if (!this->ClearGridPoint(pt_index)) {
std::cout << "Failed to clear point." << std::endl;
}
break;
} else {
const double updated_mark = cit_grid.getValue() -
frustum_acceleration;
Expand All @@ -194,14 +200,22 @@ void SpatioTemporalVoxelGrid::TemporalClearAndGenerateCostmap(
if (!frustum_cycle) {
if (base_duration_to_decay < 0.) {
// expired by temporal clearing
cleared_point = true;
if (!this->ClearGridPoint(pt_index)) {
std::cout << "Failed to clear point." << std::endl;
}
continue;
}
}
// if here, we can add to costmap and PC2
PopulateCostmapAndPointcloud(pt_index);

if (cleared_point)
{
cleared_cells.insert(occupany_cell(pose_world[0], pose_world[1]));
}
else
{
// if here, we can add to costmap and PC2
PopulateCostmapAndPointcloud(pt_index);
}
}
}

Expand Down
15 changes: 12 additions & 3 deletions src/spatio_temporal_voxel_layer.cpp
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Expand Up @@ -640,7 +640,8 @@ void SpatioTemporalVoxelLayer::updateCosts(

/*****************************************************************************/
void SpatioTemporalVoxelLayer::UpdateROSCostmap(
double * min_x, double * min_y, double * max_x, double * max_y)
double * min_x, double * min_y, double * max_x, double * max_y,
std::unordered_set<volume_grid::occupany_cell> & cleared_cells)
/*****************************************************************************/
{
// grabs map of occupied cells from grid and adds to costmap_
Expand All @@ -658,6 +659,12 @@ void SpatioTemporalVoxelLayer::UpdateROSCostmap(
touch(it->first.x, it->first.y, min_x, min_y, max_x, max_y);
}
}

std::unordered_set<volume_grid::occupany_cell>::iterator cell;
for (cell = cleared_cells.begin(); cell != cleared_cells.end(); ++cell)
{
touch(cell->x, cell->y, min_x, min_y, max_x, max_y);
}
}

/*****************************************************************************/
Expand Down Expand Up @@ -692,13 +699,15 @@ void SpatioTemporalVoxelLayer::updateBounds(
ObservationsResetAfterReading();
current_ = current;

std::unordered_set<volume_grid::occupany_cell> cleared_cells;

// navigation mode: clear observations, mapping mode: save maps and publish
bool should_save = false;
if (_map_save_duration) {
should_save = node_->now() - _last_map_save_time > *_map_save_duration;
}
if (!_mapping_mode) {
_voxel_grid->ClearFrustums(clearing_observations);
_voxel_grid->ClearFrustums(clearing_observations, cleared_cells);
} else if (should_save) {
_last_map_save_time = node_->now();
time_t rawtime;
Expand All @@ -720,7 +729,7 @@ void SpatioTemporalVoxelLayer::updateBounds(
_voxel_grid->Mark(marking_observations);

// update the ROS Layered Costmap
UpdateROSCostmap(min_x, min_y, max_x, max_y);
UpdateROSCostmap(min_x, min_y, max_x, max_y, cleared_cells);

// publish point cloud in navigation mode
if (_publish_voxels && !_mapping_mode) {
Expand Down