RayTraceIterRange rayTrace (const nm::MapMetaData& info, const gm::Point& p1, const gm::Point& p2,
bool project_onto_grid, bool project_source_onto_grid,
float max_range)
{
gm::Point np2 = p2;
if (max_range > 0) {
double distance = euclideanDistance(p1,p2);
if (distance > max_range) {
np2.x = ((p2.x - p1.x) * max_range/distance) + p1.x;
np2.y = ((p2.y - p1.y) * max_range/distance) + p1.y;
}
}
Cell c1 = pointCell(info, p1);
Cell c2 = pointCell(info, np2);
ROS_DEBUG_STREAM_NAMED ("ray_trace", "Ray tracing between " << c1.x <<
", " << c1.y << " and " << c2.x << ", " << c2.y);
const RayTraceIterator done(c1, c1, true);
const RayTraceIterRange empty_range(done, done);
if (!withinBounds(info, c1)) {
if (project_source_onto_grid) {
const optional<Cell> c = rayTraceOntoGrid(info, c2, c1);
if (c)
c1 = *c;
else
return empty_range;
}
else
throw PointOutOfBoundsException(p1);
}
if (!withinBounds(info, np2)) {
if (project_onto_grid) {
const optional<Cell> c = rayTraceOntoGrid(info, c1, c2);
if (c)
c2 = *c;
else
return empty_range;
}
else {
throw PointOutOfBoundsException(np2);
}
}
ROS_DEBUG_STREAM_NAMED ("ray_trace", "Projected ray trace endpoints to " << c1.x <<
", " << c1.y << " and " << c2.x << ", " << c2.y);
return rayTrace(c1, c2);
}
RayTraceIterRange rayTrace (const nm::MapMetaData& info, const gm::Point& p1, const gm::Point& p2,
bool project_onto_grid, bool project_source_onto_grid)
{
Cell c1 = pointCell(info, p1);
Cell c2 = pointCell(info, p2);
ROS_DEBUG_STREAM_NAMED ("ray_trace", "Ray tracing between " << c1.x <<
", " << c1.y << " and " << c2.x << ", " << c2.y);
const RayTraceIterator done(c1, c1, true);
const RayTraceIterRange empty_range(done, done);
if (!withinBounds(info, c1)) {
if (project_source_onto_grid) {
const optional<Cell> c = rayTraceOntoGrid(info, c2, c1);
if (c)
c1 = *c;
else
return empty_range;
}
else
throw PointOutOfBoundsException(p1);
}
if (!withinBounds(info, p2)) {
if (project_onto_grid) {
const optional<Cell> c = rayTraceOntoGrid(info, c1, c2);
if (c)
c2 = *c;
else
return empty_range;
}
else {
throw PointOutOfBoundsException(p2);
}
}
ROS_DEBUG_STREAM_NAMED ("ray_trace", "Projected ray trace endpoints to " << c1.x <<
", " << c1.y << " and " << c2.x << ", " << c2.y);
return rayTrace(c1, c2);
}
sm::LaserScan::Ptr
simulateRangeScan (const nm::OccupancyGrid& grid, const gm::Pose& sensor_pose,
const sm::LaserScan& scanner_info, const bool unknown_obstacles)
{
sm::LaserScan::Ptr result(new sm::LaserScan(scanner_info));
const double angle_range = scanner_info.angle_max - scanner_info.angle_min;
const unsigned n =
(unsigned) round(1+angle_range/scanner_info.angle_increment);
const gm::Point& p0 = sensor_pose.position;
const Cell c0 = pointCell(grid.info, p0);
const double theta0 = tf::getYaw(sensor_pose.orientation);
result->ranges.resize(n);
for (unsigned i=0; i<n; i++)
{
const double theta = scanner_info.angle_min+i*scanner_info.angle_increment;
const gm::Point scan_max =
rayEndPoint(p0, theta0 + theta, scanner_info.range_max+1);
result->ranges[i] = scanner_info.range_max+1; // Default if loop terminates
BOOST_FOREACH (const Cell& c, rayTrace(grid.info, p0, scan_max, true))
{
const gm::Point p = cellCenter(grid.info, c);
const double d = sqrt(pow(p.x-p0.x, 2) + pow(p.y-p0.y, 2));
char data = grid.data[cellIndex(grid.info, c)];
if (d > scanner_info.range_max)
break;
else if (data == OCCUPIED && !(c==c0))
{
result->ranges[i] = d;
break;
}
else if (data == UNKNOWN && !(c==c0))
{
result->ranges[i] = unknown_obstacles ? d : scanner_info.range_max+1;
break;
}
}
}
return result;
}
void addKnownFreePoint (OverlayClouds* overlay, const gm::Point& p, const double r)
{
const nm::MapMetaData& geom = overlay->grid.info;
const int cell_radius = floor(r/geom.resolution);
const Cell c = pointCell(geom, p);
for (int x= c.x-cell_radius; x<=c.x+cell_radius; x++)
{
for (int y=c.y-cell_radius; y<=c.y+cell_radius; y++)
{
const Cell c2(x, y);
if (withinBounds(geom, c2))
{
const index_t ind = cellIndex(geom, c2);
overlay->hit_counts[ind] = 0;
overlay->pass_through_counts[ind] = overlay->min_pass_through+1;
}
}
}
}
void addCloud (OverlayClouds* overlay, LocalizedCloud::ConstPtr cloud, const int inc)
{
ROS_ASSERT_MSG(overlay->frame_id==cloud->header.frame_id,
"Frame id %s of overlayed cloud didn't match existing one %s",
cloud->header.frame_id.c_str(), overlay->frame_id.c_str());
ROS_ASSERT(overlay->grid.info.width*overlay->grid.info.height > 0);
const gm::Point& sensor_pos = cloud->sensor_pose.position;
ROS_DEBUG_NAMED ("overlay", "Ray tracing from %.2f, %.2f", sensor_pos.x, sensor_pos.y);
// Transform points to world frame
tf::Pose sensor_to_world;
tf::poseMsgToTF(cloud->sensor_pose, sensor_to_world);
vector<gm::Point> transformed_points(cloud->cloud.points.size());
transform(cloud->cloud.points.begin(),
cloud->cloud.points.end(),
transformed_points.begin(),
bind(transformPt, ref(sensor_to_world), _1));
// Iterate over points in this cloud
BOOST_FOREACH (const gm::Point& p, transformed_points) {
ROS_DEBUG_NAMED ("overlay_counts", " Ray tracing to point %.2f, %.2f", p.x, p.y);
boost::optional<index_t> last_ind;
const bool have_existing_grid = !overlay->grid.data.empty();
// Inner loop: raytrace along the line and update counts
// We allow both the sensor pose and the target to be off the grid
BOOST_FOREACH (const Cell& c, rayTrace(overlay->grid.info, sensor_pos, p, true, true, overlay->max_distance)) {
last_ind = cellIndex(overlay->grid.info, c);
overlay->pass_through_counts[*last_ind] += inc;
if (have_existing_grid && overlay->grid.data[*last_ind] == OCCUPIED)
break;
ROS_ASSERT(overlay->pass_through_counts[*last_ind]>=0);
ROS_DEBUG_NAMED ("overlay_counts", " Pass-through counts for %d, %d are now %u", c.x, c.y,
overlay->pass_through_counts[*last_ind]);
}
if (last_ind) {
// If the last cell equals the point (i.e., point is not off the grid), update hit counts
const Cell last_cell = indexCell(overlay->grid.info, *last_ind);
if (last_cell == pointCell(overlay->grid.info, p)) {
#ifdef GRID_UTILS_GCC_46
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wuninitialized"
#endif
overlay->hit_counts[*last_ind] += inc;
#ifdef GRID_UTILS_GCC_46
#pragma GCC diagnostic pop
#endif
ROS_ASSERT(overlay->hit_counts[*last_ind]>=0);
ROS_DEBUG_NAMED ("overlay_counts", " Hit counts for %d, %d are now %u", last_cell.x, last_cell.y,
overlay->hit_counts[*last_ind]);
}
}
}
