├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── laser_to_gridmap.yaml └── pcl_to_gridmap.yaml ├── costmap_plugins.xml ├── include └── hypergrid │ ├── conversions │ ├── laserscan_converter.hpp │ └── lidar_converter.hpp │ ├── costmap_layer.hpp │ ├── gridmap.hpp │ └── utils │ ├── point.hpp │ └── raytracing.hpp ├── launch ├── laser_to_gridmap.launch └── pcl_to_gridmap.launch ├── package.xml └── src ├── costmap_layer.cpp ├── gridmap_test.cpp ├── hypergrid ├── conversions │ ├── laserscan_converter.cpp │ └── lidar_converter.cpp ├── gridmap.cpp └── utils │ ├── raytracing.cpp │ └── raytracing.cu ├── laser_to_gridmap.cpp └── pcl_to_gridmap.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | CMakeLists.txt.user 2 | CMakeLists.txt.user* 3 | CMakeCache.txt 4 | CMakeFiles 5 | CMakeScripts 6 | Testing 7 | Makefile 8 | cmake_install.cmake 9 | install_manifest.txt 10 | compile_commands.json 11 | CTestTestfile.cmake 12 | _deps 13 | 14 | devel/ 15 | logs/ 16 | build/ 17 | bin/ 18 | lib/ 19 | msg_gen/ 20 | srv_gen/ 21 | build_isolated/ 22 | devel_isolated/ 23 | 24 | *.cfgc 25 | /cfg/cpp/ 26 | /cfg/*.py 27 | 28 | CATKIN_IGNORE 29 | 30 | .DS_Store 31 | .cproject 32 | .project 33 | .pydevproject 34 | .vscode/ 35 | 36 | *~ 37 | *.orig 38 | *.pyc 39 | .#* 40 | *.cpp.autosave.* 41 | 42 | launch/costmap_launch/ 43 | 44 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(hypergrid) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | add_compile_options(-std=c++11) 6 | 7 | ## Find catkin macros and libraries 8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 9 | ## is used, also find other catkin packages 10 | find_package(catkin REQUIRED COMPONENTS 11 | costmap_2d 12 | geometry_msgs 13 | nav_msgs 14 | pcl_conversions 15 | pcl_ros 16 | pluginlib 17 | roscpp 18 | sensor_msgs 19 | tf 20 | tf_conversions 21 | ) 22 | 23 | ## System dependencies are found with CMake's conventions 24 | find_package(ArrayFire REQUIRED) 25 | find_package(CUDA) 26 | 27 | 28 | ## Uncomment this if the package has a setup.py. This macro ensures 29 | ## modules and global scripts declared therein get installed 30 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 31 | # catkin_python_setup() 32 | 33 | ################################################ 34 | ## Declare ROS messages, services and actions ## 35 | ################################################ 36 | 37 | ## To declare and build messages, services or actions from within this 38 | ## package, follow these steps: 39 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 40 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 41 | ## * In the file package.xml: 42 | ## * add a build_depend tag for "message_generation" 43 | ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET 44 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 45 | ## but can be declared for certainty nonetheless: 46 | ## * add a exec_depend tag for "message_runtime" 47 | ## * In this file (CMakeLists.txt): 48 | ## * add "message_generation" and every package in MSG_DEP_SET to 49 | ## find_package(catkin REQUIRED COMPONENTS ...) 50 | ## * add "message_runtime" and every package in MSG_DEP_SET to 51 | ## catkin_package(CATKIN_DEPENDS ...) 52 | ## * uncomment the add_*_files sections below as needed 53 | ## and list every .msg/.srv/.action file to be processed 54 | ## * uncomment the generate_messages entry below 55 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 56 | 57 | ## Generate messages in the 'msg' folder 58 | # add_message_files( 59 | # FILES 60 | # Message1.msg 61 | # Message2.msg 62 | # ) 63 | 64 | ## Generate services in the 'srv' folder 65 | # add_service_files( 66 | # FILES 67 | # Service1.srv 68 | # Service2.srv 69 | # ) 70 | 71 | ## Generate actions in the 'action' folder 72 | # add_action_files( 73 | # FILES 74 | # Action1.action 75 | # Action2.action 76 | # ) 77 | 78 | ## Generate added messages and services with any dependencies listed here 79 | # generate_messages( 80 | # DEPENDENCIES 81 | # geometry_msgs# nav_msgs# sensor_msgs 82 | # ) 83 | 84 | ################################################ 85 | ## Declare ROS dynamic reconfigure parameters ## 86 | ################################################ 87 | 88 | ## To declare and build dynamic reconfigure parameters within this 89 | ## package, follow these steps: 90 | ## * In the file package.xml: 91 | ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" 92 | ## * In this file (CMakeLists.txt): 93 | ## * add "dynamic_reconfigure" to 94 | ## find_package(catkin REQUIRED COMPONENTS ...) 95 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 96 | ## and list every .cfg file to be processed 97 | 98 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 99 | # generate_dynamic_reconfigure_options( 100 | # cfg/DynReconf1.cfg 101 | # cfg/DynReconf2.cfg 102 | # ) 103 | 104 | ################################### 105 | ## catkin specific configuration ## 106 | ################################### 107 | ## The catkin_package macro generates cmake config files for your package 108 | ## Declare things to be passed to dependent projects 109 | ## INCLUDE_DIRS: uncomment this if your package contains header files 110 | ## LIBRARIES: libraries you create in this project that dependent projects also need 111 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 112 | ## DEPENDS: system dependencies of this project that dependent projects also need 113 | catkin_package( 114 | INCLUDE_DIRS include 115 | # LIBRARIES hypergrid 116 | # CATKIN_DEPENDS costmap_2d geometry_msgs nav_msgs pcl_conversions pcl_ros pluginlib roscpp sensor_msgs tf 117 | # DEPENDS system_lib 118 | ) 119 | 120 | ########### 121 | ## Build ## 122 | ########### 123 | 124 | ## Specify additional locations of header files 125 | ## Your package locations should be listed before other locations 126 | include_directories( 127 | include 128 | ${catkin_INCLUDE_DIRS} 129 | ) 130 | 131 | ## Declare a C++ library 132 | add_library(gridmap 133 | src/hypergrid/gridmap.cpp 134 | ) 135 | 136 | add_library(conversions 137 | src/hypergrid/conversions/laserscan_converter.cpp 138 | src/hypergrid/conversions/lidar_converter.cpp 139 | ) 140 | 141 | add_library(hypergrid_layer src/costmap_layer.cpp) 142 | 143 | ## Add cmake target dependencies of the library 144 | ## as an example, code may need to be generated before libraries 145 | ## either from message generation or dynamic reconfigure 146 | add_dependencies(gridmap ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 147 | add_dependencies(conversions ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 148 | 149 | # Manual flag to disable CUDA compilation and test CPU version 150 | # SET(CUDA_FOUND FALSE) 151 | if (${CUDA_FOUND}) 152 | 153 | message(STATUS "Using custom CUDA kernels") 154 | 155 | CUDA_ADD_LIBRARY(raytracing 156 | src/hypergrid/utils/raytracing.cu 157 | ) 158 | target_link_libraries(raytracing 159 | ${ArrayFire_CUDA_LIBRARIES} 160 | ) 161 | 162 | target_link_libraries(gridmap 163 | raytracing 164 | ${catkin_LIBRARIES} 165 | ${ArrayFire_CUDA_LIBRARIES} 166 | ) 167 | 168 | target_link_libraries(conversions 169 | gridmap 170 | ${ArrayFire_CUDA_LIBRARIES} 171 | ) 172 | 173 | target_link_libraries(hypergrid_layer 174 | gridmap 175 | conversions 176 | ${catkin_LIBRARIES} 177 | ${ArrayFire_CUDA_LIBRARIES} 178 | ) 179 | 180 | else() 181 | 182 | add_library(raytracing 183 | src/hypergrid/utils/raytracing.cpp 184 | ) 185 | target_link_libraries(raytracing 186 | ${ArrayFire_CPU_LIBRARIES} 187 | ) 188 | 189 | target_link_libraries(gridmap 190 | raytracing 191 | ${catkin_LIBRARIES} 192 | ${ArrayFire_CPU_LIBRARIES} 193 | ) 194 | 195 | target_link_libraries(conversions 196 | gridmap 197 | ${ArrayFire_CPU_LIBRARIES} 198 | ) 199 | 200 | target_link_libraries(hypergrid_layer 201 | gridmap 202 | conversions 203 | ${catkin_LIBRARIES} 204 | ${ArrayFire_CPU_LIBRARIES} 205 | ) 206 | 207 | endif() 208 | 209 | 210 | ## Declare a C++ executable 211 | ## With catkin_make all packages are built within a single CMake context 212 | ## The recommended prefix ensures that target names across packages don't collide 213 | add_executable(gridmap_test src/gridmap_test.cpp) 214 | add_executable(laser_to_gridmap src/laser_to_gridmap.cpp) 215 | add_executable(pcl_to_gridmap src/pcl_to_gridmap.cpp) 216 | 217 | ## Rename C++ executable without prefix 218 | ## The above recommended prefix causes long target names, the following renames the 219 | ## target back to the shorter version for ease of user use 220 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" 221 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") 222 | 223 | ## Add cmake target dependencies of the executable 224 | ## same as for the library above 225 | add_dependencies(gridmap_test ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 226 | add_dependencies(laser_to_gridmap ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 227 | add_dependencies(pcl_to_gridmap ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 228 | 229 | ## Specify libraries to link a library or executable target against 230 | target_link_libraries(laser_to_gridmap 231 | gridmap 232 | conversions 233 | ${catkin_LIBRARIES} 234 | ) 235 | 236 | target_link_libraries(pcl_to_gridmap 237 | gridmap 238 | conversions 239 | ${catkin_LIBRARIES} 240 | ) 241 | 242 | target_link_libraries(gridmap_test 243 | gridmap 244 | raytracing 245 | ${catkin_LIBRARIES} 246 | ) 247 | 248 | ############# 249 | ## Install ## 250 | ############# 251 | 252 | # all install targets should use catkin DESTINATION variables 253 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 254 | 255 | ## Mark executable scripts (Python etc.) for installation 256 | ## in contrast to setup.py, you can choose the destination 257 | # install(PROGRAMS 258 | # scripts/my_python_script 259 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 260 | # ) 261 | 262 | ## Mark executables and/or libraries for installation 263 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 264 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 265 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 266 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 267 | # ) 268 | 269 | ## Mark cpp header files for installation 270 | # install(DIRECTORY include/${PROJECT_NAME}/ 271 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 272 | # FILES_MATCHING PATTERN "*.h" 273 | # PATTERN ".svn" EXCLUDE 274 | # ) 275 | 276 | ## Mark other files for installation (e.g. launch and bag files, etc.) 277 | # install(FILES 278 | # # myfile1 279 | # # myfile2 280 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 281 | # ) 282 | 283 | ############# 284 | ## Testing ## 285 | ############# 286 | 287 | ## Add gtest based cpp test target and link libraries 288 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_hypergrid.cpp) 289 | # if(TARGET ${PROJECT_NAME}-test) 290 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 291 | # endif() 292 | 293 | ## Add folders to be run by python nosetests 294 | # catkin_add_nosetests(test) 295 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Hypergrid 2 | 3 | Hypergrid is a ROS package for building local maps from multiple sensors in the blink of an eye. Hypergrid relies on [Arrayfire](https://github.com/arrayfire/arrayfire), in order to parallelize the computation. 4 | 5 | ## Dependencies 6 | 7 | * [Arrayfire](https://github.com/arrayfire/arrayfire) 8 | 9 | 10 | ## What's inside 11 | 12 | ### Library 13 | Hypergrid is packaged with catkin and provides several libraries to work with grid maps and to convert the raw sensor data to this format. 14 | 15 | ### Costmap Plugin 16 | The main contribution of this package is a [costmap_2d](http://wiki.ros.org/costmap_2d/) plugin, meant to replace the default *obstacle_layer* inside the *local_costmap* of *move_base*. The typical *local_costmap_params.yaml* configuration file can be configured as follows: 17 | 18 | ```yaml 19 | local_costmap: 20 | 21 | # ... 22 | 23 | plugins: 24 | - {name: hypergrid_layer, type: "hypergrid::HypergridLayer"} 25 | 26 | hypergrid_layer: 27 | # LaserScan input topics 28 | laser_topics: ["icab1/scan"] 29 | # LiDAR PointCloud2 input topics 30 | lidar_topics: ["icab1/velodyne_points"] 31 | # Frame of the output local map 32 | map_frame_id: icab1/base_footprint 33 | # Map size (in meters) 34 | width: 100 35 | height: 100 36 | # Map resolution (in meters / cell) 37 | cell_size: 0.1 38 | # Remove floor points in pointcloud with heightmap algorithm 39 | floor_filter: true 40 | # Heightmap algorithm parameters 41 | heightmap_threshold: 0.15 42 | heightmap_cell_size: 0.25 43 | # Remove all points higher than max_height 44 | max_height: 2.5 45 | # Remove all points inside the vehicle box 46 | # All points with |x| < vehicle_box_size or |y| < vehicle_box_size will be filtered. 47 | vehicle_box_size: 2.0 48 | # Enable debug console output 49 | DEBUG: true 50 | ``` 51 | 52 | 53 | ### Nodes 54 | In addition to the library and the costmap_2d plugin, Hypergrid also includes stand-alone conversion nodes, which subscribe to the sensor messages and publish the output instantaneous local map. 55 | 56 | * laser_to_gridmap: Conversion node from [LaserScan](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/LaserScan.html) msgs to [OccupancyGrid](http://docs.ros.org/melodic/api/nav_msgs/html/msg/OccupancyGrid.html) maps. 57 | 58 | * pcl_to_gridmap: Conversion node from LiDAR [PointCloud2](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointCloud2.html) msgs to [OccupancyGrid](http://docs.ros.org/melodic/api/nav_msgs/html/msg/OccupancyGrid.html) maps. 59 | 60 | The launch and configuration files are inside the [launch](launch) and [config](config) directories, respectively. 61 | 62 | -------------------------------------------------------------------------------- /config/laser_to_gridmap.yaml: -------------------------------------------------------------------------------- 1 | height: 50 2 | width: 50 3 | cell_size: 0.5 4 | DEBUG: true 5 | -------------------------------------------------------------------------------- /config/pcl_to_gridmap.yaml: -------------------------------------------------------------------------------- 1 | height: 50.0 2 | width: 50.0 3 | cell_size: 0.4 4 | DEBUG: true 5 | floor_filter: true 6 | heightmap_threshold: 0.15 7 | heightmap_cell_size: 0.25 8 | max_height: 2.5 9 | -------------------------------------------------------------------------------- /costmap_plugins.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | Hypergrid Obstacle Layer 4 | 5 | 6 | -------------------------------------------------------------------------------- /include/hypergrid/conversions/laserscan_converter.hpp: -------------------------------------------------------------------------------- 1 | #ifndef HYPERGRID_LASERSCAN_CONVERTER_HPP 2 | #define HYPERGRID_LASERSCAN_CONVERTER_HPP 3 | 4 | #include 5 | 6 | #include 7 | #include 8 | 9 | 10 | namespace hypergrid 11 | { 12 | 13 | class LaserScanConverter 14 | { 15 | public: 16 | 17 | /* Smart Pointers typedefs */ 18 | typedef std::shared_ptr Ptr; 19 | typedef std::shared_ptr ConstPtr; 20 | 21 | /* Constructor */ 22 | LaserScanConverter(double width, double height, double cell_size, 23 | geometry_msgs::Pose origin = geometry_msgs::Pose(), 24 | std::string map_frame_id = "base_footprint", bool DEBUG_ = true); 25 | 26 | /* Convert a sensor_msgs::LaserScan to a hypergrid::GridMap */ 27 | GridMap convert(const sensor_msgs::LaserScan& scan_msg, const tf::StampedTransform transform) const; 28 | GridMap convert(const sensor_msgs::LaserScanPtr& scan_msg, const tf::StampedTransform transform) const; 29 | GridMap convert(const sensor_msgs::LaserScanConstPtr& scan_msg, const tf::StampedTransform transform) const; 30 | 31 | protected: 32 | double width_; 33 | double height_; 34 | double cell_size_; 35 | geometry_msgs::Pose origin_; 36 | std::string map_frame_id_; 37 | bool DEBUG_; 38 | }; 39 | 40 | 41 | } // hypergrid namespace 42 | 43 | #endif 44 | -------------------------------------------------------------------------------- /include/hypergrid/conversions/lidar_converter.hpp: -------------------------------------------------------------------------------- 1 | #ifndef HYPERGRID_LIDAR_CONVERTER_HPP 2 | #define HYPERGRID_LIDAR_CONVERTER_HPP 3 | 4 | #include 5 | 6 | #include 7 | #include 8 | 9 | 10 | namespace hypergrid 11 | { 12 | 13 | class LIDARConverter 14 | { 15 | public: 16 | 17 | /* Smart Pointers typedefs */ 18 | typedef std::shared_ptr Ptr; 19 | typedef std::shared_ptr ConstPtr; 20 | 21 | /* Constructor */ 22 | LIDARConverter(double width, double height, double cell_size, 23 | geometry_msgs::Pose origin = geometry_msgs::Pose(), 24 | std::string map_frame_id = "base_footprint", 25 | double heightmap_threshold = 0.15, 26 | double heightmap_cell_size = 0.25, 27 | double max_height = 2.5, 28 | double vehicle_box_size = 2.0, 29 | bool DEBUG = true); 30 | 31 | /* Convert a sensor_msgs::PointCloud2 to a hypergrid::GridMap */ 32 | GridMap convert(sensor_msgs::PointCloud2& cloud_msg, const tf::StampedTransform transform) const; 33 | GridMap convert(sensor_msgs::PointCloud2Ptr& cloud_msg, const tf::StampedTransform transform) const; 34 | 35 | /*remove floor */ 36 | void remove_floor(af::array& cloud) const; 37 | 38 | protected: 39 | double width_; 40 | double height_; 41 | double cell_size_; 42 | geometry_msgs::Pose origin_; 43 | std::string map_frame_id_; 44 | 45 | double heightmap_threshold_; 46 | double heightmap_cell_size_; 47 | double max_height_; 48 | double vehicle_box_size_; 49 | bool DEBUG_; 50 | }; 51 | 52 | 53 | } // hypergrid namespace 54 | 55 | #endif 56 | -------------------------------------------------------------------------------- /include/hypergrid/costmap_layer.hpp: -------------------------------------------------------------------------------- 1 | #ifndef HYPERGRID_COSTMAP_LAYER_H_ 2 | #define HYPERGRID_COSTMAP_LAYER_H_ 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | #include 11 | #include 12 | #include 13 | 14 | 15 | namespace hypergrid 16 | { 17 | 18 | class HypergridLayer : public costmap_2d::Layer, public costmap_2d::Costmap2D 19 | { 20 | public: 21 | HypergridLayer(); 22 | 23 | virtual void onInitialize(); 24 | virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, 25 | double* min_x, double* min_y, double* max_x, double* max_y); 26 | virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, 27 | int max_i, int max_j); 28 | bool isDiscretized() 29 | { 30 | return true; 31 | } 32 | 33 | virtual void matchSize(); 34 | 35 | void laser_callback(const sensor_msgs::LaserScanPtr scan_msg); 36 | void lidar_callback(sensor_msgs::PointCloud2Ptr cloud_msg); 37 | 38 | 39 | 40 | private: 41 | std::vector new_maps_; 42 | std::vector laserscan_subs_; 43 | std::vector lidar_subs_; 44 | ros::Publisher merged_map_pub_; 45 | std::vector laser_topics_; 46 | std::vector lidar_topics_; 47 | tf::TransformListener* tf_listener_; 48 | hypergrid::LaserScanConverter* laser_converter_; 49 | hypergrid::LIDARConverter* lidar_converter_; 50 | 51 | double width_; 52 | double height_; 53 | double cell_size_; 54 | double heightmap_threshold_; 55 | double heightmap_cell_size_; 56 | double max_height_; 57 | double vehicle_box_size_; 58 | bool rolling_window_; 59 | std::string map_frame_id_; 60 | bool DEBUG_; 61 | 62 | }; 63 | 64 | 65 | } // hypergrid namespace 66 | 67 | #endif 68 | -------------------------------------------------------------------------------- /include/hypergrid/gridmap.hpp: -------------------------------------------------------------------------------- 1 | #ifndef HYPERGRID_GRIDMAP_HPP 2 | #define HYPERGRID_GRIDMAP_HPP 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | 11 | #include 12 | 13 | #include 14 | #include 15 | #include 16 | #include 17 | #include 18 | 19 | #include 20 | #include 21 | 22 | 23 | namespace hypergrid 24 | { 25 | 26 | class GridMap 27 | { 28 | public: 29 | /* Map labels. 30 | Please note that cells can have values in the range [0-100] to indicate occupation probability. 31 | */ 32 | enum Label 33 | { 34 | UNKNOWN = -1, 35 | FREE = 0, 36 | OBSTACLE = 100 37 | }; 38 | 39 | /* Smart Pointers typedefs */ 40 | typedef std::shared_ptr Ptr; 41 | typedef std::shared_ptr ConstPtr; 42 | 43 | /* Constructors */ 44 | GridMap(); 45 | GridMap(double width, double height, double cell_size, 46 | geometry_msgs::Pose origin = geometry_msgs::Pose(), 47 | std::string map_frame_id = "base_footprint"); 48 | GridMap(const nav_msgs::OccupancyGrid map_msg); 49 | GridMap(const nav_msgs::OccupancyGridConstPtr map_msg); 50 | /* Copy constructor */ 51 | GridMap(const GridMap& other_map); 52 | /* Move constructor */ 53 | GridMap(GridMap&& other_map) noexcept; 54 | /* Assignement operator */ 55 | GridMap& operator = (const GridMap& other_map); 56 | 57 | /* Bool conversion operator to check if the map has been initialized */ 58 | inline explicit operator bool() const {return !grid.isempty();} 59 | 60 | /* Convert to ROS nav_msgs::OccupancyGrid msg */ 61 | void toMapMsg(nav_msgs::OccupancyGrid& map_msg); 62 | nav_msgs::OccupancyGrid toMapMsg(); 63 | 64 | /* Resize the map to a different resolution (size in meters remains, number of cells changes) */ 65 | void resize(double output_cell_size); 66 | /* Apply a rotation to the map */ 67 | void rotate(double angle); 68 | 69 | /* Clear the map and set all cells to UNKNOWN */ 70 | void clear(); 71 | 72 | /* Return a copy of the grid matrix */ 73 | inline double getWidth() const {return width_;} 74 | inline double getHeight() const {return height_;} 75 | inline double getCellSize() const {return cell_size_;} 76 | inline std::string getMapFrameId() const {return map_frame_id_;} 77 | inline geometry_msgs::Pose getOrigin() const {return origin_;} 78 | inline void setOrigin(double x, double y ){ origin_.position.x = x; origin_.position.y = y; } 79 | /* Check if the cell / local coordinates lay on the map */ 80 | template 81 | inline bool isCellInside(T x, T y) {return (x >= 0 && y >= 0 && x < grid.dims(0) && y < grid.dims(1));} 82 | inline bool isCellInside(Cell c) {return isCellInside(c.x, c.y);} 83 | inline af::array isCellInside(af::array obs){return (obs(af::span,0) >= 0 && obs(af::span,1) >= 0 && obs(af::span,0) < grid.dims(0) 84 | && obs(af::span,1) < grid.dims(1)); } 85 | 86 | template 87 | inline bool isLocalInside(T x, T y) {return isCellInside(cellCoordsFromLocal(x, y));} 88 | template 89 | inline bool isLocalInside(Point p) {return isLocalInside(p.x, p.y);} 90 | 91 | /* Direct cell access */ 92 | inline af::array::array_proxy operator[](Cell c) {return grid(c.x, c.y);} 93 | inline af::array::array_proxy cell(size_t x, size_t y) {return grid(x, y);} 94 | inline af::array::array_proxy cell(Cell c) {return grid(c.x, c.y);} 95 | 96 | /* Cell coordinates from local coordinates */ 97 | template 98 | Cell cellCoordsFromLocal(T x, T y); 99 | template 100 | inline Cell cellCoordsFromLocal(Point p) {return cellCoordsFromLocal(p.x, p.y);} 101 | af::array cellCoordsFromLocal(af::array local_points); 102 | 103 | /* Local coordinates from cell coords */ 104 | template 105 | Point localCoordsFromCell(size_t x, size_t y); 106 | template 107 | inline Point localCoordsFromCell(Cell c) {return localCoordsFromCell(c.x, c.y);} 108 | 109 | /* Cell access from local coordinates */ 110 | template 111 | af::array::array_proxy cellFromLocal(T x, T y); 112 | template 113 | inline af::array::array_proxy cellFromLocal(Point p) {return cellFromLocal(p.x, p.y);} 114 | 115 | /* Add a free line from the vehicle to the given cell */ 116 | void addFreeLine(Cell end); 117 | inline void addFreeLine(size_t x,size_t y) {addFreeLine(Cell(x,y));} 118 | /* Add a free line from the start cell to the end cell */ 119 | void addFreeLine(Cell start, Cell end); 120 | inline void addFreeLine(size_t x1, size_t y1, size_t x2, size_t y2) 121 | { 122 | addFreeLine(Cell(x1, y1), Cell(x2, y2)); 123 | } 124 | /* Add multiple free lines from a given point to given end points */ 125 | void addFreeLines(Cell start, af::array endpoints); 126 | 127 | /* 2D matrix containing the map. Data type is 32 bit signed integer to avoid conversion in the GPU. */ 128 | af::array grid; 129 | 130 | protected: 131 | 132 | double width_; // meters 133 | double height_; // meters 134 | double cell_size_; // meters / cell 135 | 136 | std::string map_frame_id_; 137 | geometry_msgs::Pose origin_; 138 | 139 | /* Apply the inverse map origin transformation to get the cell (in meters) from a local point */ 140 | Pointd originFromLocal_(Pointd src) const; 141 | /* Apply the map origin transformation to get the local point from a cell point (in meters) */ 142 | Pointd localFromOrigin_(Pointd src) const; 143 | /* Get the homogeneous matrix of the origin transform */ 144 | af::array getOriginTransform_() const; 145 | 146 | }; 147 | 148 | 149 | } // hypergrid namespace 150 | 151 | #endif 152 | -------------------------------------------------------------------------------- /include/hypergrid/utils/point.hpp: -------------------------------------------------------------------------------- 1 | #ifndef HYPERGRID_POINT_HPP 2 | #define HYPERGRID_POINT_HPP 3 | 4 | #include 5 | 6 | namespace hypergrid 7 | { 8 | 9 | template 10 | class Point 11 | { 12 | public: 13 | T x; 14 | T y; 15 | 16 | /* Empty constructor */ 17 | Point() 18 | { 19 | this->x = 0.0; 20 | this->y = 0.0; 21 | } 22 | /*Create constractor*/ 23 | Point(T x, T y){ 24 | this->x = x; 25 | this->y = y; 26 | } 27 | /* Copy constructor */ 28 | Point(const Point& other_point) 29 | { 30 | this->x = other_point.x; 31 | this->y = other_point.y; 32 | } 33 | /* Move constructor */ 34 | Point(Point&& other_point) noexcept 35 | { 36 | this->x = other_point.x; 37 | this->y = other_point.y; 38 | } 39 | /* Assignement operator */ 40 | Point& operator = (const Point& other_point) 41 | { 42 | // check for self-assignment 43 | if(&other_point == this) return *this; 44 | 45 | this->x = other_point.x; 46 | this->y = other_point.y; 47 | return *this; 48 | } 49 | 50 | /* Conversions */ 51 | std::pair toStdPair() 52 | { 53 | return {this->x, this->y}; 54 | } 55 | 56 | std::string str() 57 | { 58 | return "[" + std::to_string(this->x) + ", " + std::to_string(this->y) + "]"; 59 | } 60 | 61 | }; 62 | 63 | /* Point arithmetic operators */ 64 | template 65 | inline Point operator+(Point p1, Point p2) {return Point(p1.x + p2.x, p1.y + p2.y);} 66 | 67 | template 68 | inline Point operator-(Point p1, Point p2) {return Point(p1.x - p2.x, p1.y - p2.y);} 69 | 70 | template 71 | inline Point operator+(Point p, S scalar) {return Point(p.x + scalar, p.y + scalar);} 72 | 73 | template 74 | inline Point operator+(S scalar, Point p) {return (p + scalar);} 75 | 76 | template 77 | inline Point operator-(Point p, S scalar) {return Point(p.x - scalar, p.y - scalar);} 78 | 79 | template 80 | inline Point operator*(Point p, S scalar) {return Point(p.x * scalar, p.y * scalar);} 81 | 82 | template 83 | inline Point operator*(S scalar, Point p) {return (p * scalar);} 84 | 85 | template 86 | inline Point operator/(Point p, S scalar) {return (scalar == 0.0 ? 87 | Point(0,0) : 88 | Point(p.x / scalar, p.y / scalar));} 89 | 90 | template 91 | inline Point operator*=(Point p, S scalar) {return p * scalar;} 92 | 93 | template 94 | inline Point operator/=(Point p, S scalar) {return p / scalar;} 95 | 96 | 97 | using Cell = Point; 98 | using Pointf = Point; 99 | using Pointd = Point; 100 | 101 | } // hypergrid namespace 102 | 103 | #endif 104 | -------------------------------------------------------------------------------- /include/hypergrid/utils/raytracing.hpp: -------------------------------------------------------------------------------- 1 | #ifndef HYPERGRID_RAYTRACING_HPP 2 | #define HYPERGRID_RAYTRACING_HPP 3 | 4 | #include 5 | 6 | namespace hypergrid 7 | { 8 | void add_lines(af::array& grid, int value, 9 | size_t start_x, size_t start_y, 10 | af::array endpoints); 11 | 12 | void add_line(af::array& grid, int value, 13 | size_t start_x, size_t start_y, 14 | size_t end_x, size_t end_y); 15 | 16 | /* 17 | DDA algorithm to draw line from one point to another in the occupancy grid. 18 | */ 19 | void DDA(af::array& grid, int value, 20 | float start_x, float start_y, 21 | float end_x, float end_y); 22 | 23 | } // hypergrid namespace 24 | 25 | #endif 26 | -------------------------------------------------------------------------------- /launch/laser_to_gridmap.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /launch/pcl_to_gridmap.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | hypergrid 4 | 0.0.0 5 | The hypergrid package 6 | 7 | 8 | 9 | 10 | Francisco Miguel Moreno 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | Francisco Miguel Moreno 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | catkin 52 | costmap_2d 53 | geometry_msgs 54 | nav_msgs 55 | pcl_conversions 56 | pcl_ros 57 | pluginlib 58 | roscpp 59 | sensor_msgs 60 | tf 61 | costmap_2d 62 | geometry_msgs 63 | nav_msgs 64 | pcl_conversions 65 | pcl_ros 66 | pluginlib 67 | roscpp 68 | sensor_msgs 69 | tf 70 | costmap_2d 71 | geometry_msgs 72 | nav_msgs 73 | pcl_conversions 74 | pcl_ros 75 | pluginlib 76 | roscpp 77 | sensor_msgs 78 | tf 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | -------------------------------------------------------------------------------- /src/costmap_layer.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | const std::string TIMING_PATH = "/home/sobky/costmap_output"; 5 | 6 | PLUGINLIB_EXPORT_CLASS(hypergrid::HypergridLayer, costmap_2d::Layer) 7 | 8 | namespace hypergrid 9 | { 10 | 11 | HypergridLayer::HypergridLayer() {} 12 | 13 | void HypergridLayer::onInitialize() 14 | { 15 | af::info(); 16 | ros::NodeHandle private_nh("~/" + name_); 17 | ros::NodeHandle public_nh; 18 | 19 | current_ = true; 20 | rolling_window_ = layered_costmap_->isRolling(); 21 | 22 | default_value_ = costmap_2d::NO_INFORMATION; 23 | matchSize(); 24 | 25 | tf_listener_ = new tf::TransformListener(); 26 | 27 | private_nh.param("map_frame_id", map_frame_id_, "base_footprint"); 28 | private_nh.param("height", height_, 50.0); 29 | private_nh.param("width", width_, 50.0); 30 | private_nh.param("cell_size", cell_size_, 0.2); 31 | private_nh.param("DEBUG", DEBUG_, false); 32 | private_nh.param("heightmap_threshold", heightmap_threshold_, 0.15); 33 | private_nh.param("heightmap_cell_size", heightmap_cell_size_, 0.25); 34 | private_nh.param("max_height", max_height_, 2.5); 35 | private_nh.param("vehicle_box_size", vehicle_box_size_, 2.0); 36 | private_nh.getParam("laser_topics", laser_topics_); 37 | std::cout << "laser topics size: " << laser_topics_.size() << std::endl; 38 | private_nh.getParam("lidar_topics", lidar_topics_); 39 | std::cout << "lidar topics size: " << lidar_topics_.size() << std::endl; 40 | 41 | 42 | geometry_msgs::Pose origin; 43 | origin.position.x = - (width_ / 2) + cell_size_; 44 | origin.position.y = - (height_ / 2) + cell_size_; 45 | origin.orientation.w = 1; 46 | 47 | laser_converter_ = new hypergrid::LaserScanConverter(width_, height_, cell_size_, 48 | origin, map_frame_id_, DEBUG_); 49 | 50 | lidar_converter_ = new hypergrid::LIDARConverter(width_, height_, cell_size_, 51 | origin, map_frame_id_, 52 | heightmap_threshold_, 53 | heightmap_cell_size_, 54 | max_height_, 55 | vehicle_box_size_, DEBUG_); 56 | 57 | laserscan_subs_.resize(laser_topics_.size()); 58 | for (int i = 0; i < laser_topics_.size(); ++i) 59 | { 60 | laserscan_subs_[i] = public_nh.subscribe(laser_topics_[i], 5, &HypergridLayer::laser_callback, this); 61 | if (DEBUG_) std::cout << "Subscribed to " << laserscan_subs_[i].getTopic() << std::endl; 62 | } 63 | 64 | lidar_subs_.resize(lidar_topics_.size()); 65 | for (int i = 0; i < lidar_topics_.size(); ++i) 66 | { 67 | lidar_subs_[i] = public_nh.subscribe(lidar_topics_[i], 5, &HypergridLayer::lidar_callback, this); 68 | if (DEBUG_) std::cout << "Subscribed to " << lidar_subs_[i].getTopic() << std::endl; 69 | } 70 | 71 | merged_map_pub_ = public_nh.advertise("hypergrid/laser_to_mergedgridmap", 2); 72 | } 73 | 74 | void HypergridLayer::matchSize() 75 | { 76 | Costmap2D* master = layered_costmap_->getCostmap(); 77 | resizeMap(master->getSizeInCellsX(), master->getSizeInCellsY(), 78 | master->getResolution(), master->getOriginX(), master->getOriginY()); 79 | } 80 | 81 | void HypergridLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, 82 | double* min_x, double* min_y, double* max_x, double* max_y) 83 | { 84 | // auto t0 = std::chrono::high_resolution_clock::now(); 85 | 86 | if (rolling_window_) 87 | { 88 | updateOrigin(robot_x - getSizeInMetersX() / 2, robot_y - getSizeInMetersY() / 2); 89 | } 90 | 91 | *min_x = std::min(*min_x, getOriginX()); 92 | *min_y = std::min(*min_y, getOriginY()); 93 | *max_x = std::max(*max_x, getSizeInMetersX() + getOriginX()); 94 | *max_y = std::max(*max_y, getSizeInMetersY() + getOriginY()); 95 | 96 | // auto end = std::chrono::high_resolution_clock::now(); 97 | // double tt = std::chrono::duration_cast(end - t0).count(); 98 | // std::ofstream time_file(TIMING_PATH + "/hypergrid_layer_updateBounds.csv", std::ios_base::app); 99 | // time_file << tt << std::setprecision(std::numeric_limits::digits10 + 1) << std::endl; 100 | // time_file.close(); 101 | } 102 | 103 | void HypergridLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, 104 | int max_i, int max_j) 105 | { 106 | // auto t0 = std::chrono::high_resolution_clock::now(); 107 | 108 | if(new_maps_.size()==0) 109 | { 110 | ROS_WARN("Now new map received yet: costmap will NOT be updated"); 111 | return; 112 | } 113 | else if (DEBUG_) std::cout << "Number of maps: " << new_maps_.size() << std::endl; 114 | 115 | 116 | hypergrid::GridMap Merged_gridmap = new_maps_[0]; 117 | merged_map_pub_.publish(Merged_gridmap.toMapMsg()); 118 | for (int i = 1; i < new_maps_.size(); i++) 119 | { 120 | Merged_gridmap.grid = af::max(Merged_gridmap.grid, new_maps_[i].grid); 121 | } 122 | 123 | hypergrid::Cell coords = Merged_gridmap.cellCoordsFromLocal(0, 0); 124 | Merged_gridmap.grid.eval(); 125 | 126 | int width_cells = this->width_ / this->cell_size_; 127 | int height_cells = this->height_ / this->cell_size_; 128 | 129 | // Lookup table 130 | unsigned char gridmap_costmap_lut[256]; 131 | for (int i = 0; i < 256; ++i) gridmap_costmap_lut[i] = costmap_2d::NO_INFORMATION; 132 | gridmap_costmap_lut[(unsigned char)hypergrid::GridMap::OBSTACLE] = costmap_2d::LETHAL_OBSTACLE; 133 | gridmap_costmap_lut[(unsigned char)hypergrid::GridMap::FREE] = costmap_2d::FREE_SPACE; 134 | 135 | unsigned char* master_grid_ptr = master_grid.getCharMap(); 136 | int* merged_grid_ptr = Merged_gridmap.grid.host(); 137 | 138 | for (int i = 0; i < width_cells * height_cells; ++i) 139 | { 140 | master_grid_ptr[i] = gridmap_costmap_lut[(unsigned char)merged_grid_ptr[i]]; 141 | } 142 | 143 | new_maps_.clear(); 144 | 145 | // auto end = std::chrono::high_resolution_clock::now(); 146 | // double tt = std::chrono::duration_cast(end - t0).count(); 147 | // std::ofstream time_file(TIMING_PATH + "/hypergrid_layer_updateCosts.csv", std::ios_base::app); 148 | // time_file << tt << std::setprecision(std::numeric_limits::digits10 + 1) << std::endl; 149 | // time_file.close(); 150 | } 151 | 152 | void HypergridLayer::laser_callback(const sensor_msgs::LaserScanPtr scan_msg) 153 | { 154 | // auto t0 = std::chrono::high_resolution_clock::now(); 155 | 156 | tf::StampedTransform laser_footprint_transform; 157 | try 158 | { 159 | tf_listener_->lookupTransform(map_frame_id_, scan_msg->header.frame_id, ros::Time(0), laser_footprint_transform); 160 | } 161 | catch(tf::TransformException &ex) 162 | { 163 | ROS_ERROR("%s", ex.what()); 164 | return; 165 | } 166 | 167 | hypergrid::GridMap gridmap = laser_converter_->convert(scan_msg, laser_footprint_transform); 168 | new_maps_.push_back(gridmap); 169 | 170 | // auto end = std::chrono::high_resolution_clock::now(); 171 | // double tt = std::chrono::duration_cast(end - t0).count(); 172 | // std::ofstream time_file(TIMING_PATH + "/hypergrid_layer_laser_callback.csv", std::ios_base::app); 173 | // time_file << tt << std::setprecision(std::numeric_limits::digits10 + 1) << std::endl; 174 | // time_file.close(); 175 | } 176 | 177 | void HypergridLayer::lidar_callback(sensor_msgs::PointCloud2Ptr cloud_msg) 178 | { 179 | // auto t0 = std::chrono::high_resolution_clock::now(); 180 | 181 | tf::StampedTransform lidar_footprint_transform; 182 | try 183 | { 184 | tf_listener_->lookupTransform(map_frame_id_, cloud_msg->header.frame_id, ros::Time(0), lidar_footprint_transform); 185 | } 186 | catch(tf::TransformException &ex) 187 | { 188 | ROS_ERROR("%s", ex.what()); 189 | return; 190 | } 191 | 192 | new_maps_.push_back(lidar_converter_->convert(cloud_msg, lidar_footprint_transform)); 193 | 194 | // auto end = std::chrono::high_resolution_clock::now(); 195 | // double tt = std::chrono::duration_cast(end - t0).count(); 196 | // std::ofstream time_file(TIMING_PATH + "/hypergrid_layer_lidar_callback.csv", std::ios_base::app); 197 | // time_file << tt << std::setprecision(std::numeric_limits::digits10 + 1) << std::endl; 198 | // time_file.close(); 199 | } 200 | 201 | } // end namespace 202 | -------------------------------------------------------------------------------- /src/gridmap_test.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | 5 | int main(int argc, char **argv) 6 | { 7 | af::info(); 8 | 9 | ros::init(argc, argv, "gridmap_test"); 10 | ros::NodeHandle public_nh, private_nh("~"); 11 | 12 | ros::Publisher map_pub = public_nh.advertise("gridmap_test", 5); 13 | ros::Publisher map_pub_2 = public_nh.advertise("gridmap_test_2", 5); 14 | 15 | af::array test_rand_array = af::randu(10, 10, f32); 16 | // af_print(test_rand_array); 17 | 18 | double width = 28.0; 19 | double height = 22.0; 20 | double cell_size = 2.0; 21 | geometry_msgs::Pose origin; 22 | origin.position.x = - (width /2); 23 | origin.position.y = - (height /2); 24 | 25 | hypergrid::GridMap gridmap(width, height, cell_size, origin); 26 | hypergrid::GridMap gridmap2(width, height, cell_size, origin); 27 | 28 | // Set some cells 29 | /* 30 | gridmap.grid(0, 0) = hypergrid::GridMap::FREE; 31 | gridmap.grid(4, 1) = hypergrid::GridMap::FREE; 32 | gridmap.grid(0, 1) = hypergrid::GridMap::OBSTACLE; 33 | gridmap.grid(1, 1) = hypergrid::GridMap::OBSTACLE; 34 | gridmap.grid(2, 1) = hypergrid::GridMap::OBSTACLE; 35 | gridmap.grid(5, 3) = hypergrid::GridMap::OBSTACLE; 36 | gridmap.grid(0, 3) = hypergrid::GridMap::OBSTACLE; 37 | gridmap.grid(0, 2) = hypergrid::GridMap::OBSTACLE; 38 | gridmap.grid(1, 3) = hypergrid::GridMap::OBSTACLE; 39 | gridmap.grid(1, 2) = hypergrid::GridMap::OBSTACLE; 40 | */ 41 | // hypergrid::Cell c = gridmap.cellCoordsFromLocal(1, -1); 42 | 43 | 44 | //obstacles = af::join(0,obesracle_af,obstacles); 45 | 46 | // gridmap.grid(c.x,c.y) = hypergrid::GridMap::OBSTACLE; 47 | // gridmap.grid(6, 7) = hypergrid::GridMap::OBSTACLE; 48 | 49 | // af_print(gridmap.grid); 50 | 51 | 52 | float a[] = {1,2,3,4}; 53 | af::array a_arr(4,a); 54 | 55 | float b[] = {0,5,6,7}; 56 | af::array b_arr(4,b); 57 | 58 | af_print(af::min(a_arr,b_arr)); 59 | 60 | 61 | gridmap.addFreeLine(gridmap.cellCoordsFromLocal(hypergrid::Point(10, 5))); 62 | gridmap.addFreeLine(gridmap.cellCoordsFromLocal(hypergrid::Point(10, -10))); 63 | gridmap.addFreeLine(gridmap.cellCoordsFromLocal(hypergrid::Point(-5, 10))); 64 | gridmap.addFreeLine(gridmap.cellCoordsFromLocal(hypergrid::Point(-10, -10))); 65 | gridmap.addFreeLine(gridmap.cellCoordsFromLocal(hypergrid::Point(-11, -9))); 66 | 67 | gridmap.cellFromLocal(hypergrid::Point(10, 5)) = hypergrid::GridMap::OBSTACLE; 68 | gridmap.cellFromLocal(hypergrid::Point(10, -10)) = hypergrid::GridMap::OBSTACLE; 69 | gridmap.cellFromLocal(hypergrid::Point(-5, 10)) = hypergrid::GridMap::OBSTACLE; 70 | gridmap.cellFromLocal(hypergrid::Point(-10, -10)) = hypergrid::GridMap::OBSTACLE; 71 | gridmap.cellFromLocal(hypergrid::Point(-11, -9)) = hypergrid::GridMap::OBSTACLE; 72 | 73 | 74 | // hypergrid::Cell start = gridmap2.cellCoordsFromLocal(0, 0); 75 | // hypergrid::Cell end = gridmap2.cellCoordsFromLocal(10, 5); 76 | 77 | // hypergrid::LineIterator it(gridmap2.grid, start, end, 4); 78 | 79 | // for (int i = 0; i < it.size(); i++, it++) 80 | // { 81 | // // std::cout << "Iterator pos: " << it().str() << std::endl; 82 | // gridmap2[it()] = hypergrid::GridMap::FREE; 83 | // } 84 | // draw_line_local(gridmap2, hypergrid::Point(0, 0), hypergrid::Point(10, 5)); 85 | // draw_line_local(gridmap2, hypergrid::Point(0, 0), hypergrid::Point(10, -10)); 86 | // draw_line_local(gridmap2, hypergrid::Point(0, 0), hypergrid::Point(-5, 10)); 87 | // draw_line_local(gridmap2, hypergrid::Point(0, 0), hypergrid::Point(-10, -10)); 88 | // draw_line_local(gridmap2, hypergrid::Point(0, 0), hypergrid::Point(-11, -9)); 89 | 90 | hypergrid::Cell start_c = gridmap2.cellCoordsFromLocal(hypergrid::Point(0, 0)); 91 | af::array endpoints(5, 2, s32); 92 | endpoints(0, 0) = gridmap2.cellCoordsFromLocal(hypergrid::Point(10, 5)).x; 93 | endpoints(0, 1) = gridmap2.cellCoordsFromLocal(hypergrid::Point(10, 5)).y; 94 | endpoints(1, 0) = gridmap2.cellCoordsFromLocal(hypergrid::Point(10, -10)).x; 95 | endpoints(1, 1) = gridmap2.cellCoordsFromLocal(hypergrid::Point(10, -10)).y; 96 | endpoints(2, 0) = gridmap2.cellCoordsFromLocal(hypergrid::Point(-5, 10)).x; 97 | endpoints(2, 1) = gridmap2.cellCoordsFromLocal(hypergrid::Point(-5, 10)).y; 98 | endpoints(3, 0) = gridmap2.cellCoordsFromLocal(hypergrid::Point(-10, -10)).x; 99 | endpoints(3, 1) = gridmap2.cellCoordsFromLocal(hypergrid::Point(-10, -10)).y; 100 | endpoints(4, 0) = gridmap2.cellCoordsFromLocal(hypergrid::Point(-11, -9)).x; 101 | endpoints(4, 1) = gridmap2.cellCoordsFromLocal(hypergrid::Point(-11, -9)).y; 102 | af_print(endpoints); 103 | 104 | hypergrid::add_lines(gridmap2.grid, hypergrid::GridMap::FREE, start_c.x, start_c.y, endpoints); 105 | 106 | gridmap2.cellFromLocal(hypergrid::Point(10, 5)) = hypergrid::GridMap::OBSTACLE; 107 | gridmap2.cellFromLocal(hypergrid::Point(10, -10)) = hypergrid::GridMap::OBSTACLE; 108 | gridmap2.cellFromLocal(hypergrid::Point(-5, 10)) = hypergrid::GridMap::OBSTACLE; 109 | gridmap2.cellFromLocal(hypergrid::Point(-10, -10)) = hypergrid::GridMap::OBSTACLE; 110 | gridmap2.cellFromLocal(hypergrid::Point(-11, -9)) = hypergrid::GridMap::OBSTACLE; 111 | 112 | af_print(gridmap2.grid); 113 | // int example1[] = {1,2,3,4,5,6,7,8,9}; 114 | // int example2[] = {11,22,33,44,55,66,77,88,99}; 115 | // int example3[] = {111,222,333,444,555,666,777,888,999}; 116 | 117 | // af::array join1(3,3,example1); 118 | // af::array join2(3,3,example2); 119 | // af::array join3(3,3,example3); 120 | 121 | // af_print(af::join(0,join1,join2)); 122 | // af_print(af::join(1,join1,join2)); 123 | // af_print(af::join(2,join1,join2)); 124 | 125 | /* 126 | gfor(af::seq i ,2,2 ,join1.dims(0)) 127 | { 128 | af_print(join1(i)); 129 | } 130 | */ 131 | 132 | // gridmap.clear(); 133 | 134 | // std::cout << "Local [1, 1] -> Cell coords " << gridmap.cellCoordsFromLocal(1.0, 1.0).str() << std::endl; 135 | // std::cout << "Local [1, 1] cell: " << gridmap.cellFromLocal(1.0, 1.0).scalar() << std::endl; 136 | 137 | // size_t a = 4; 138 | // size_t b = 3; 139 | // c = hypergrid::Cell(a, b); 140 | // hypergrid::Point p = gridmap.localCoordsFromCell(a, b); 141 | // std::cout << "Cell coords [4, 3] -> Local " << gridmap.localCoordsFromCell(a, b).str() << std::endl; 142 | 143 | // Test direct cell access 144 | // std::cout << "Cell [4, 3]: " << gridmap[c].scalar() << std::endl; 145 | // std::cout << "Cell [4, 3]: " << gridmap.cell(c).scalar() << std::endl; 146 | // std::cout << "Cell [4, 3]: " << gridmap.cell(a, b).scalar() << std::endl; 147 | // std::cout << "Cell from local [1.5, 1.5]: " << gridmap.cellFromLocal(1.5, 1.5).scalar() << std::endl; 148 | 149 | // Direct cell modification 150 | // gridmap[c] = hypergrid::GridMap::FREE; 151 | // gridmap.cellFromLocal(1.5, 1.5) = hypergrid::GridMap::FREE; 152 | // std::cout << "Cell [4, 3]: " << gridmap[c].scalar() << std::endl; 153 | // std::cout << "Cell from local [1.5, 1.5]: " << gridmap.cellFromLocal(1.5, 1.5).scalar() << std::endl; 154 | 155 | // gridmap.rotate(af::Pi/4); 156 | // gridmap.resize(1); 157 | 158 | // hypergrid::Cell z(3,2); 159 | // gridmap.localCoordsFromCell(a,b); 160 | 161 | nav_msgs::OccupancyGrid map_msg = gridmap.toMapMsg(); 162 | nav_msgs::OccupancyGrid map_msg2 = gridmap2.toMapMsg(); 163 | 164 | // hypergrid::GridMap converted_grid(map_msg); 165 | // af_print(converted_grid.grid); 166 | 167 | ros::Rate rate(1); 168 | while(ros::ok()) 169 | { 170 | map_pub.publish(map_msg); 171 | map_pub_2.publish(map_msg2); 172 | rate.sleep(); 173 | } 174 | 175 | return 0; 176 | } -------------------------------------------------------------------------------- /src/hypergrid/conversions/laserscan_converter.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | 4 | namespace hypergrid 5 | { 6 | 7 | /* Constructor */ 8 | LaserScanConverter::LaserScanConverter(double width, double height, double cell_size, 9 | geometry_msgs::Pose origin, std::string map_frame_id, bool DEBUG) : 10 | origin_(origin) 11 | { 12 | width_ = width; 13 | height_ = height; 14 | cell_size_ = cell_size; 15 | map_frame_id_ = map_frame_id; 16 | DEBUG_ = DEBUG; 17 | } 18 | 19 | /* Convert a sensor_msgs::LaserScan to a hypergrid::GridMap */ 20 | GridMap LaserScanConverter::convert(const sensor_msgs::LaserScan& scan_msg, const tf::StampedTransform transform) const 21 | { 22 | ros::Time t0 = ros::Time::now(); 23 | if (DEBUG_) std::cout << "\n------------------------\nNew laser" << std::endl; 24 | 25 | hypergrid::GridMap gridmap(width_, height_, cell_size_, origin_, map_frame_id_); 26 | 27 | af::array ranges(scan_msg.ranges.size(), 1, scan_msg.ranges.data()); 28 | af::array scan_angle(scan_msg.ranges.size(), 1); 29 | 30 | af::array ranges_seq = af::seq(0, scan_msg.ranges.size() - 1); 31 | scan_angle = scan_msg.angle_min + ranges_seq * scan_msg.angle_increment; 32 | 33 | // Remove NaNs and Inf values 34 | af::array ranges_nan_inf = af::isNaN(ranges) || af::isInf(ranges); 35 | af::replace(ranges, !ranges_nan_inf, scan_msg.range_max); 36 | 37 | if (DEBUG_) std::cout << "Init time: " << ros::Time::now() - t0 << std::endl; 38 | t0 = ros::Time::now(); 39 | 40 | af::array obstacles = af::constant(1.0, scan_msg.ranges.size(), 3, f64); 41 | 42 | obstacles(af::span, 0) = ranges * af::cos(scan_angle); 43 | obstacles(af::span, 1) = ranges * af::sin(scan_angle); 44 | 45 | // Get Rotation and translation from TF transform 46 | tf::Vector3 trans = transform.getOrigin(); 47 | double theta = tf::getYaw(transform.getRotation()); 48 | double t_r_array[] = {std::cos(theta), std::sin(theta), 0, 49 | -std::sin(theta), std::cos(theta), 0, 50 | trans.getX(), trans.getY(), 1}; 51 | af::array transformation(3, 3, t_r_array); 52 | // Transform the obstacles to the map frame 53 | obstacles = af::matmul(transformation, obstacles.T()).T(); 54 | 55 | if (DEBUG_) std::cout << "Obstacles transform time: " << ros::Time::now() - t0 << std::endl; 56 | t0 = ros::Time::now(); 57 | 58 | // Get obstacle cell coordinates 59 | af::array obstacle_coords = gridmap.cellCoordsFromLocal(obstacles); 60 | 61 | // Remove outside obstacles 62 | // Use the sort function only to get the indices array 63 | af::array cond; 64 | af::array indices_inside; 65 | af::sort(cond, indices_inside, gridmap.isCellInside(obstacle_coords), 0, false); 66 | 67 | // Get ony the indices of the obstacles 68 | indices_inside = indices_inside(af::seq(af::sum(cond).scalar())); 69 | 70 | // inside_obstacles_coords = inside_obstacles_coords(af::seq(num_obs_inside), af::span); 71 | 72 | af::array inside_obstacles_coords = af::lookup(obstacle_coords(af::span, af::seq(2)), indices_inside); 73 | 74 | if (DEBUG_) std::cout << "Remove outside obstacles time: " << ros::Time::now() - t0 << std::endl; 75 | t0 = ros::Time::now(); 76 | 77 | // Add a free line to each obstacle inside the grid 78 | // Set the origin of the lines at the sensor point 79 | hypergrid::Cell start = gridmap.cellCoordsFromLocal(trans.getX(), trans.getY()); 80 | gridmap.addFreeLines(start, inside_obstacles_coords); 81 | 82 | if (DEBUG_) std::cout << "Set free lines time: " << ros::Time::now() - t0 << std::endl; 83 | t0 = ros::Time::now(); 84 | 85 | // Set the obstacles in the map 86 | af::array indices = inside_obstacles_coords(af::span, 1).as(s32) * gridmap.grid.dims(0) + inside_obstacles_coords(af::span, 0).as(s32); 87 | gridmap.grid(indices) = hypergrid::GridMap::OBSTACLE; 88 | 89 | if (DEBUG_) std::cout << "Set obstacles time: " << ros::Time::now() - t0 << std::endl; 90 | t0 = ros::Time::now(); 91 | 92 | return gridmap; 93 | } 94 | 95 | GridMap LaserScanConverter::convert(const sensor_msgs::LaserScanPtr& scan_msg, const tf::StampedTransform transform) const 96 | { 97 | return convert(*scan_msg, transform); 98 | } 99 | 100 | GridMap LaserScanConverter::convert(const sensor_msgs::LaserScanConstPtr& scan_msg, const tf::StampedTransform transform) const 101 | { 102 | return convert(*scan_msg, transform); 103 | } 104 | 105 | 106 | } // hypergrid namespace 107 | -------------------------------------------------------------------------------- /src/hypergrid/conversions/lidar_converter.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | 4 | namespace hypergrid 5 | { 6 | 7 | /* Constructor */ 8 | LIDARConverter::LIDARConverter(double width, double height, double cell_size, 9 | geometry_msgs::Pose origin, std::string map_frame_id, 10 | double heightmap_threshold, double heightmap_cell_size, 11 | double max_height, double vehicle_box_size, bool DEBUG) : 12 | origin_(origin) 13 | { 14 | width_ = width; 15 | height_ = height; 16 | cell_size_ = cell_size; 17 | map_frame_id_ = map_frame_id; 18 | heightmap_threshold_ = heightmap_threshold; 19 | heightmap_cell_size_ = heightmap_cell_size; 20 | max_height_ = max_height; 21 | vehicle_box_size_ = vehicle_box_size; 22 | DEBUG_ = DEBUG; 23 | } 24 | 25 | /* Convert a sensor_msgs::PointCloud2 to a hypergrid::GridMap */ 26 | GridMap LIDARConverter::convert(sensor_msgs::PointCloud2& cloud_msg, const tf::StampedTransform transform) const 27 | { 28 | auto start = std::chrono::high_resolution_clock::now(); 29 | 30 | // ros::Time t0 = ros::Time::now(); 31 | // ros::Time t_start = t0; 32 | if (DEBUG_) std::cout << "\n------------------------\nNew pcl" << std::endl; 33 | 34 | // Convert PointCloud2 to ArrayFire array 35 | float* data_f = reinterpret_cast(cloud_msg.data.data()); 36 | af::array pcl_points(8, cloud_msg.width*cloud_msg.height, data_f); 37 | 38 | // Remove Intenisty and Ring Bytes 39 | pcl_points = pcl_points(af::seq(3), af::span); 40 | 41 | if (DEBUG_) 42 | { 43 | std::cout << "Convert PointCloud2 to ArrayFire array time: " << std::fixed 44 | << (std::chrono::duration_cast(std::chrono::high_resolution_clock::now() - start).count()) * 1e-9 45 | << std::setprecision(9) << " sec" << std::endl; 46 | start = std::chrono::high_resolution_clock::now(); 47 | } 48 | 49 | hypergrid::GridMap gridmap(width_, height_, cell_size_, origin_, map_frame_id_); 50 | 51 | Eigen::Affine3d e; 52 | tf::transformTFToEigen(transform, e); 53 | 54 | double t_r_array[] = { e(0,0), e(1,0), e(2,0), e(3,0), 55 | e(0,1), e(1,1), e(2,1), e(3,1), 56 | e(0,2), e(1,2), e(2,2), e(3,2), 57 | e(0,3), e(1,3), e(2,3), e(3,3) }; 58 | 59 | af::array transformation(4, 4, t_r_array); 60 | af::array ones = af::constant(1, 1, pcl_points.dims(1)); 61 | pcl_points = af::join(0,pcl_points, ones); 62 | 63 | // Transform the obstacles to the map frame 64 | pcl_points = (af::matmul(transformation, pcl_points.as(f64))).as(f32); 65 | pcl_points = pcl_points(af::seq(3), af::span); 66 | 67 | if (DEBUG_) 68 | { 69 | std::cout << "Obstacles transform time: " << std::fixed 70 | << (std::chrono::duration_cast(std::chrono::high_resolution_clock::now() - start).count()) * 1e-9 71 | << std::setprecision(9) << " sec" << std::endl; 72 | start = std::chrono::high_resolution_clock::now(); 73 | } 74 | 75 | if (DEBUG_) std::cout << "points before: " << pcl_points.dims(1) << std::endl; 76 | 77 | // Remove the floor points 78 | remove_floor(pcl_points); 79 | 80 | if (DEBUG_) std::cout << "points after: " << pcl_points.dims(1) << std::endl; 81 | 82 | if (DEBUG_) 83 | { 84 | std::cout << "remove floor time: " << std::fixed 85 | << (std::chrono::duration_cast(std::chrono::high_resolution_clock::now() - start).count()) * 1e-9 86 | << std::setprecision(9) << " sec" << std::endl; 87 | start = std::chrono::high_resolution_clock::now(); 88 | } 89 | 90 | pcl_points.eval(); 91 | af::array obs = (af::join(0, pcl_points(af::seq(2), af::span), ones(af::span, af::seq(pcl_points.dims(1) )))).as(f64); 92 | 93 | pcl_points = pcl_points.T(); 94 | af::array obstacle_coords = gridmap.cellCoordsFromLocal(obs.T())(af::span, af::seq(2)); 95 | 96 | if (DEBUG_) 97 | { 98 | std::cout << "Remove outside obstacles time: " << std::fixed 99 | << (std::chrono::duration_cast(std::chrono::high_resolution_clock::now() - start).count()) * 1e-9 100 | << std::setprecision(9) << " sec" << std::endl; 101 | start = std::chrono::high_resolution_clock::now(); 102 | } 103 | 104 | // Add a free line to each obstacle inside the grid 105 | // Set the origin of the lines at the sensor point 106 | hypergrid::Cell start_cell = gridmap.cellCoordsFromLocal(transform.getOrigin().getX(), transform.getOrigin().getY()); 107 | gridmap.addFreeLines(start_cell, obstacle_coords); 108 | 109 | if (DEBUG_) 110 | { 111 | std::cout << "Set free lines time: " << std::fixed 112 | << (std::chrono::duration_cast(std::chrono::high_resolution_clock::now() - start).count()) * 1e-9 113 | << std::setprecision(9) << " sec" << std::endl; 114 | start = std::chrono::high_resolution_clock::now(); 115 | } 116 | 117 | // Set the obstacles in the map 118 | af::array indices = obstacle_coords(af::span, 1).as(s32) * gridmap.grid.dims(0) + obstacle_coords(af::span, 0).as(s32); 119 | gridmap.grid(indices) = hypergrid::GridMap::OBSTACLE; 120 | 121 | if (DEBUG_) 122 | { 123 | std::cout << "Set obstacles time: " << std::fixed 124 | << (std::chrono::duration_cast(std::chrono::high_resolution_clock::now() - start).count()) * 1e-9 125 | << std::setprecision(9) << " sec" << std::endl; 126 | start = std::chrono::high_resolution_clock::now(); 127 | } 128 | 129 | return gridmap; 130 | } 131 | 132 | GridMap LIDARConverter::convert( sensor_msgs::PointCloud2Ptr& cloud_msg, const tf::StampedTransform transform) const 133 | { 134 | return convert(*cloud_msg, transform); 135 | } 136 | 137 | /* Removes all the points in the floor with a heightmap algorithm */ 138 | void LIDARConverter::remove_floor(af::array& cloud) const 139 | { 140 | float* x = cloud(0, af::span).host(); 141 | float* y = cloud(1, af::span).host(); 142 | float* z = cloud(2, af::span).host(); 143 | 144 | int height_cells = height_ / heightmap_cell_size_; 145 | int width_cells = width_ / heightmap_cell_size_; 146 | 147 | af::array x_arr = (width_cells / 2) + (cloud(0, af::span) / heightmap_cell_size_); 148 | af::array y_arr = (height_cells / 2) + (cloud(1, af::span) / heightmap_cell_size_); 149 | af::array z_arr = cloud(2, af::span); 150 | 151 | float* min = new float[width_cells * height_cells]; 152 | float* max = new float[width_cells * height_cells]; 153 | 154 | // Init maps 155 | for (int i = 0; i < width_cells; ++i) 156 | { 157 | for (int j = 0; j < height_cells; ++j) 158 | { 159 | int index = i * height_cells + j; 160 | min[index] = 9999.9; 161 | max[index] = -9999.9; 162 | } 163 | } 164 | 165 | std::vector indices; 166 | // Build height map and remove points outside, too high or inside the vehicle box 167 | for (int i = 0; i < cloud.dims(1); ++i) 168 | { 169 | int x_idx = (width_cells / 2) + (x[i] / heightmap_cell_size_); 170 | int y_idx = (height_cells / 2) + (y[i] / heightmap_cell_size_); 171 | bool valid_point = ((x_idx >= 0) && (x_idx < width_cells) && (y_idx >= 0) && (y_idx < height_cells)) && // Point is inside the grid 172 | ((z[i] < max_height_)) && // Point is inside height limit 173 | (std::isfinite(x[i]) && std::isfinite(y[i]) && std::isfinite(z[i])) && // Point is not NaN or Inf 174 | ((abs(x[i]) > vehicle_box_size_) || (abs(y[i]) > vehicle_box_size_)); // Point is not inside the vehicle box 175 | if (valid_point) 176 | { 177 | // Mark the point for removal 178 | indices.push_back(i); 179 | 180 | // Add the point to the heightmap 181 | if (x_idx >= 0 && x_idx < width_cells && y_idx >= 0 && y_idx < height_cells) 182 | { 183 | int index = x_idx * height_cells + y_idx; 184 | min[index] = std::min(min[index], z[i]); 185 | max[index] = std::max(max[index], z[i]); 186 | } 187 | } 188 | } 189 | 190 | af::array indices_arr(indices.size(), indices.data()); 191 | delete[] x; 192 | delete[] y; 193 | delete[] z; 194 | cloud = af::lookup(cloud, indices_arr, 1); 195 | cloud.eval(); 196 | indices.clear(); 197 | 198 | x = cloud(0, af::span).host(); 199 | y = cloud(1, af::span).host(); 200 | 201 | // Remove the floor points 202 | for (int i = 0; i < cloud.dims(1); ++i) 203 | { 204 | int x_idx = (width_cells / 2) + (x[i] / heightmap_cell_size_); 205 | int y_idx = (height_cells / 2) + (y[i] / heightmap_cell_size_); 206 | 207 | if (x_idx >= 0 && x_idx < width_cells && y_idx >= 0 && y_idx < height_cells) 208 | { 209 | int index = x_idx * height_cells + y_idx; 210 | if ((max[index] - min[index]) > heightmap_threshold_) 211 | { 212 | indices.push_back(i); 213 | } 214 | } 215 | } 216 | 217 | indices_arr = af::array(indices.size(), indices.data()); 218 | delete[] x; 219 | delete[] y; 220 | delete[] min; 221 | delete[] max; 222 | 223 | cloud = af::lookup(cloud, indices_arr, 1); 224 | } 225 | 226 | } // hypergrid namespace 227 | -------------------------------------------------------------------------------- /src/hypergrid/gridmap.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | namespace hypergrid 4 | { 5 | 6 | /* Constructors */ 7 | GridMap::GridMap() : 8 | origin_() 9 | { 10 | width_ = 0.0; 11 | height_ = 0.0; 12 | cell_size_ = 1.0; 13 | map_frame_id_ = ""; 14 | } 15 | 16 | GridMap::GridMap(double width, double height, double cell_size, 17 | geometry_msgs::Pose origin, std::string map_frame_id) : 18 | origin_(origin) 19 | { 20 | width_ = width; 21 | height_ = height; 22 | cell_size_ = cell_size; 23 | map_frame_id_ = map_frame_id; 24 | // Check for empty origin pose and fix the quaternion 25 | if (origin_.orientation.x == 0.0 && 26 | origin_.orientation.y == 0.0 && 27 | origin_.orientation.z == 0.0 && 28 | origin_.orientation.w == 0.0) 29 | { 30 | origin_.orientation.w = 1.0; 31 | } 32 | int width_cells = width_ / cell_size_; 33 | int height_cells = height_ / cell_size_; 34 | grid = af::constant((int)Label::UNKNOWN, width_cells, height_cells, s32); 35 | } 36 | 37 | GridMap::GridMap(const nav_msgs::OccupancyGrid map_msg) 38 | { 39 | map_frame_id_ = map_msg.header.frame_id; 40 | origin_ = map_msg.info.origin; 41 | cell_size_ = map_msg.info.resolution; 42 | width_ = map_msg.info.width * cell_size_; 43 | height_ = map_msg.info.height * cell_size_; 44 | 45 | // Convert the 8 bit data from the ROS msg to 32 bits 46 | int32_t* array_data = new int32_t[map_msg.data.size()]; 47 | for (int i = 0; i < map_msg.data.size(); ++i) 48 | { 49 | array_data[i] = map_msg.data[i]; 50 | } 51 | 52 | grid = af::array(map_msg.info.width, map_msg.info.height, array_data, afHost); 53 | } 54 | 55 | GridMap::GridMap(const nav_msgs::OccupancyGridConstPtr map_msg) : GridMap(*map_msg){} 56 | 57 | /* Copy constructor */ 58 | GridMap::GridMap(const GridMap& other_map) 59 | { 60 | grid = other_map.grid; 61 | origin_ = other_map.getOrigin(); 62 | width_ = other_map.getWidth(); 63 | height_ = other_map.getHeight(); 64 | cell_size_ = other_map.getCellSize(); 65 | map_frame_id_ = other_map.getMapFrameId(); 66 | } 67 | 68 | /* Move constructor */ 69 | GridMap::GridMap(GridMap&& other_map) noexcept : 70 | grid(std::move(other_map.grid)), 71 | map_frame_id_(std::move(other_map.getMapFrameId())) 72 | 73 | { 74 | origin_ = other_map.getOrigin(); 75 | width_ = other_map.getWidth(); 76 | height_ = other_map.getHeight(); 77 | cell_size_ = other_map.getCellSize(); 78 | } 79 | 80 | /* Assignement operator */ 81 | GridMap& GridMap::operator = (const GridMap& other_map) 82 | { 83 | // check for self-assignment 84 | if(&other_map == this) return *this; 85 | 86 | grid = other_map.grid; 87 | origin_ = other_map.getOrigin(); 88 | this->width_ = other_map.getWidth(); 89 | this->height_ = other_map.getHeight(); 90 | this->cell_size_ = other_map.getCellSize(); 91 | this->map_frame_id_ = other_map.getMapFrameId(); 92 | 93 | return *this; 94 | } 95 | 96 | 97 | /* Convert to ROS nav_msgs::OccupancyGrid msg */ 98 | void GridMap::toMapMsg(nav_msgs::OccupancyGrid& map_msg) 99 | { 100 | map_msg = toMapMsg(); 101 | } 102 | 103 | /* Convert to ROS nav_msgs::OccupancyGrid msg */ 104 | nav_msgs::OccupancyGrid GridMap::toMapMsg() 105 | { 106 | nav_msgs::OccupancyGrid map_msg; 107 | map_msg.header.stamp = ros::Time::now(); 108 | map_msg.header.frame_id = map_frame_id_; 109 | 110 | nav_msgs::MapMetaData map_info; 111 | map_info.map_load_time = map_msg.header.stamp; 112 | map_info.resolution = cell_size_; 113 | map_info.width = grid.dims(0); 114 | map_info.height = grid.dims(1); 115 | 116 | // Set the map origin pose 117 | map_info.origin = origin_; 118 | map_msg.info = map_info; 119 | 120 | // Get the data from the device to a host pointer 121 | int32_t* array_data = grid.host(); 122 | 123 | size_t total_size = grid.dims(0) * grid.dims(1); 124 | map_msg.data.resize(total_size); 125 | 126 | // Perform a casting from 32 bit to 8 127 | for (int i = 0; i < total_size; ++i) 128 | { 129 | map_msg.data[i] = array_data[i] & 0xFF; 130 | } 131 | 132 | delete[] array_data; 133 | return map_msg; 134 | } 135 | 136 | /* Resize the map to a different resolution (size in meters remains, number of cells changes). 137 | Works only if cell_size > output_cell_size 138 | */ 139 | void GridMap::resize(double output_cell_size) 140 | { 141 | grid = af::resize(cell_size_ / output_cell_size, grid, AF_INTERP_LOWER); 142 | cell_size_ = output_cell_size; 143 | } 144 | 145 | /* Apply a rotation to the map */ 146 | void GridMap::rotate(double angle) 147 | { 148 | // Original Dimension 149 | long dim0 = grid.dims(0); 150 | long dim1 = grid.dims(1); 151 | // Adding grid.dim(0) rows to each side then adding grid.dim(1) columns to each side to modfiy rotate function 152 | af::array bigger0 = af::constant((int)Label::UNKNOWN, grid.dims(0), grid.dims(1), s32); 153 | af::array bigger1 = af::constant((int)Label::UNKNOWN, grid.dims(0) * 3, grid.dims(1), s32); 154 | 155 | // Rows 156 | grid = af::join(0, grid, bigger0); 157 | grid = af::join(0, bigger0, grid); 158 | // Columns 159 | grid = af::join(1, grid, bigger1); 160 | grid = af::join(1, bigger1, grid); 161 | // Rotate 162 | grid = af::rotate(grid, angle, true); 163 | // Return to original size 164 | grid = grid(af::seq(dim0, grid.dims(0) - dim0 - 1), af::seq(dim1, grid.dims(1) - dim1 - 1)); 165 | } 166 | 167 | /* Clear the map and set all cells to UNKNOWN */ 168 | void GridMap::clear() 169 | { 170 | grid = UNKNOWN; 171 | } 172 | 173 | /* Cell coordinates from local coordinates */ 174 | template 175 | Cell GridMap::cellCoordsFromLocal(T x, T y) 176 | { 177 | Pointd t_point = originFromLocal_(Pointd(x, y)); 178 | return Cell(std::floor(t_point.x / cell_size_), std::floor(t_point.y / cell_size_)); 179 | } 180 | 181 | af::array GridMap::cellCoordsFromLocal(af::array local_points) 182 | { 183 | af::array transform = getOriginTransform_(); 184 | af::array coords = af::matmul(af::inverse(transform), local_points.T()).T(); 185 | coords = af::floor(coords / cell_size_).as(s32); 186 | return coords; 187 | } 188 | 189 | /* Local coordinates from cell coords */ 190 | template 191 | Point GridMap::localCoordsFromCell(size_t x, size_t y) 192 | { 193 | // Get the local point in the center of the cell 194 | Pointd t_point = localFromOrigin_(Pointd(x * cell_size_ + cell_size_/2, y * cell_size_ + cell_size_/2)); 195 | return Point(t_point.x, t_point.y); 196 | } 197 | 198 | /* Cell access from local coordinates */ 199 | template 200 | af::array::array_proxy GridMap::cellFromLocal(T x, T y) 201 | { 202 | Cell p = cellCoordsFromLocal(x, y); 203 | if (!isCellInside(p)) throw std::out_of_range("Index out of map bounds"); 204 | return cell(p); 205 | } 206 | 207 | /* Add a free line from the vehicle to the given cell */ 208 | void GridMap::addFreeLine(Cell end) 209 | { 210 | Cell start = cellCoordsFromLocal(0, 0); 211 | DDA(grid, FREE, start.x, start.y, end.x, end.y); 212 | } 213 | 214 | /* Add a free line from the start cell to the end cell */ 215 | void GridMap::addFreeLine(Cell start, Cell end) 216 | { 217 | DDA(grid, FREE, start.x, start.y, end.x, end.y); 218 | } 219 | 220 | /* Add multiple free lines from a given point */ 221 | void GridMap::addFreeLines(Cell start, af::array endpoints) 222 | { 223 | add_lines(grid, FREE, start.x, start.y, endpoints); 224 | } 225 | 226 | 227 | /* Apply the inverse map origin transformation to get the cell (in meters) from a local point */ 228 | Pointd GridMap::originFromLocal_(Pointd src) const 229 | { 230 | double src_arr[] = {src.x, src.y, 1}; 231 | af::array af_src(3, 1, src_arr); 232 | af::array t_src = af::matmul(af::inverse(getOriginTransform_()), af_src); 233 | return Pointd(t_src(0).scalar(), t_src(1).scalar()); 234 | } 235 | 236 | /* Apply the map origin transformation to get the local point from a cell point (in meters) */ 237 | Pointd GridMap::localFromOrigin_(Pointd src) const 238 | { 239 | double src_arr[] = {src.x, src.y, 1}; 240 | af::array af_src(3, 1, src_arr); 241 | af::array t_src = af::matmul(getOriginTransform_(), af_src); 242 | return Pointd(t_src(0).scalar(), t_src(1).scalar()); 243 | } 244 | 245 | /* Get the Origin Transform matrix */ 246 | af::array GridMap::getOriginTransform_() const 247 | { 248 | // Get Theta 249 | double theta = tf::getYaw(origin_.orientation); 250 | 251 | // Create the 2D translation and rotation matrix 252 | double t_r_array[] = {std::cos(theta), std::sin(theta), 0, 253 | -std::sin(theta), std::cos(theta), 0, 254 | origin_.position.x, origin_.position.y, 1}; 255 | af::array t_r_matrix(3, 3, t_r_array); 256 | return t_r_matrix; 257 | } 258 | 259 | 260 | /* Macro to instantiate all template functions for a given type */ 261 | #define INSTANTIATE_TEMPLATES(TYPE) \ 262 | template Cell GridMap::cellCoordsFromLocal(TYPE x, TYPE y); \ 263 | template Point GridMap::localCoordsFromCell(size_t x, size_t y); \ 264 | template af::array::array_proxy GridMap::cellFromLocal(TYPE x, TYPE y); 265 | 266 | 267 | INSTANTIATE_TEMPLATES(char) 268 | INSTANTIATE_TEMPLATES(unsigned char) 269 | INSTANTIATE_TEMPLATES(short) 270 | INSTANTIATE_TEMPLATES(unsigned short) 271 | INSTANTIATE_TEMPLATES(int) 272 | INSTANTIATE_TEMPLATES(unsigned int) 273 | INSTANTIATE_TEMPLATES(long) 274 | INSTANTIATE_TEMPLATES(unsigned long) 275 | INSTANTIATE_TEMPLATES(long long) 276 | INSTANTIATE_TEMPLATES(unsigned long long) 277 | INSTANTIATE_TEMPLATES(float) 278 | INSTANTIATE_TEMPLATES(double) 279 | INSTANTIATE_TEMPLATES(long double) 280 | 281 | 282 | } // hypergrid namespace 283 | -------------------------------------------------------------------------------- /src/hypergrid/utils/raytracing.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | namespace hypergrid 6 | { 7 | 8 | /* 9 | DDA algorithm to draw line from one point to another in the occupancy grid. 10 | */ 11 | std::mutex dda_grid_mutex; 12 | void DDA(af::array& grid, int value, 13 | float start_x, float start_y, 14 | float end_x, float end_y) 15 | { 16 | float dx = std::abs(end_x - start_x); 17 | float dy = std::abs(end_y - start_y); 18 | 19 | // float step = dx >= dy ? dx : dy; 20 | float step = ((int)(dx >= dy) * dx) + ((int)(dx < dy) * dy); 21 | if (step == 0) return; 22 | dx = (end_x - start_x) / step; 23 | dy = (end_y - start_y) / step; 24 | 25 | af::array x_arr = af::constant(start_x, step); 26 | af::array y_arr = af::constant(start_y, step); 27 | af::array count = af::seq(0, step - 1); 28 | 29 | x_arr += dx * count; 30 | y_arr += dy * count; 31 | 32 | af::array indices = y_arr.as(s32) * grid.dims(0) + x_arr.as(s32); 33 | std::lock_guard grid_lock(dda_grid_mutex); 34 | grid(indices) = value; 35 | } 36 | 37 | void add_lines_worker(af::array& grid, int start_idx, int end_idx, 38 | int value, size_t start_x, size_t start_y, 39 | std::vector endpoints_x, std::vector endpoints_y) 40 | { 41 | end_idx = std::min(end_idx, (int)endpoints_x.size()); 42 | for (int i = start_idx; i < end_idx; ++i) 43 | { 44 | DDA(grid, value, start_x, start_y, 45 | endpoints_x[i], endpoints_y[i]); 46 | } 47 | } 48 | 49 | void add_lines(af::array& grid, int value, 50 | size_t start_x, size_t start_y, 51 | af::array endpoints) 52 | { 53 | // Obtain raw pointer from array object 54 | int *device_end_x = endpoints(af::span, 0).device(); 55 | int *device_end_y = endpoints(af::span, 1).device(); 56 | 57 | // Remove duplicated endpoints 58 | size_t lut_size = grid.dims(0) * grid.dims(1); 59 | std::vector index_lut(lut_size, false); 60 | std::vector unique_end_x; 61 | unique_end_x.reserve(endpoints.dims(0)); 62 | std::vector unique_end_y; 63 | unique_end_y.reserve(endpoints.dims(0)); 64 | 65 | for (int i = 0; i < endpoints.dims(0); ++i) 66 | { 67 | int global_idx = device_end_x[i] * grid.dims(0) + device_end_y[i]; 68 | if (global_idx >= lut_size) continue; 69 | if (!index_lut[global_idx]) 70 | { 71 | unique_end_x.push_back(device_end_x[i]); 72 | unique_end_y.push_back(device_end_y[i]); 73 | index_lut[global_idx] = true; 74 | } 75 | } 76 | 77 | int n_threads = std::thread::hardware_concurrency(); 78 | int splitted_size = (unique_end_x.size() + n_threads - 1) / n_threads; 79 | 80 | std::vector thread_pool; 81 | for (int i = 0; i < n_threads; ++i) 82 | { 83 | thread_pool.push_back(std::thread(add_lines_worker, std::ref(grid), 84 | i*splitted_size, (i+1)*splitted_size, 85 | value, start_x, start_y, 86 | unique_end_x, unique_end_y)); 87 | } 88 | for (auto& t : thread_pool) t.join(); 89 | } 90 | 91 | 92 | } // hypergrid namespace 93 | -------------------------------------------------------------------------------- /src/hypergrid/utils/raytracing.cu: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | 5 | namespace hypergrid 6 | { 7 | 8 | __global__ 9 | void raytracing_kernel(int* grid, int value, 10 | size_t start_x, size_t start_y, 11 | int* end_x, int* end_y, 12 | size_t dim_x, size_t dim_y, 13 | size_t endpoints_size) 14 | { 15 | int idx = threadIdx.x + blockIdx.x * blockDim.x; 16 | if (idx >= endpoints_size || 17 | end_x[idx] >= dim_x || 18 | end_y[idx] >= dim_x) 19 | { 20 | return; 21 | } 22 | 23 | size_t bt_pix0 = 1; 24 | size_t bt_pix = bt_pix0; 25 | size_t istep = dim_x; 26 | 27 | int dx = end_x[idx] - (int)start_x; 28 | int dy = end_y[idx] - (int)start_y; 29 | int s = dx < 0 ? -1 : 0; 30 | 31 | dx = (dx ^ s) - s; 32 | bt_pix = (bt_pix ^ s) - s; 33 | 34 | size_t ptr_ = start_y * istep + start_x; 35 | 36 | s = dy < 0 ? -1 : 0; 37 | dy = (dy ^ s) - s; 38 | istep = (istep ^ s) - s; 39 | 40 | s = dy > dx ? -1 : 0; 41 | 42 | // Conditional swaps 43 | dx ^= dy & s; 44 | dy ^= dx & s; 45 | dx ^= dy & s; 46 | 47 | bt_pix ^= istep & s; 48 | istep ^= bt_pix & s; 49 | bt_pix ^= istep & s; 50 | 51 | int minus_delta_ = 0; 52 | int plus_delta_ = 0; 53 | int minus_step_ = 0; 54 | int plus_step_ = 0; 55 | int error_ = 0; 56 | size_t size_ = 0; 57 | 58 | // Connectivity 4 59 | // error_ = 0; 60 | // plus_delta_ = (dx + dx) + (dy + dy); 61 | // minus_delta_ = -(dy + dy); 62 | // plus_step_ = (int)(istep - bt_pix); 63 | // minus_step_ = (int)bt_pix; 64 | // size_ = dx + dy + 1; 65 | 66 | // Connectivity 8 67 | error_ = dx - (dy + dy); 68 | plus_delta_ = dx + dx; 69 | minus_delta_ = -(dy + dy); 70 | plus_step_ = (int)istep; 71 | minus_step_ = (int)bt_pix; 72 | size_ = dx + 1; 73 | 74 | size_t grid_size = dim_x * dim_y; 75 | int mask = 0; 76 | for (int i = 0; i < size_; i++) 77 | { 78 | // Check if current cell is obstacle 79 | if (grid[ptr_] == 100) return; 80 | 81 | // Set cell value 82 | grid[ptr_] = value; 83 | 84 | // Update state 85 | mask = error_ < 0 ? -1 : 0; 86 | error_ += minus_delta_ + (plus_delta_ & mask); 87 | ptr_ += minus_step_ + (plus_step_ & mask); 88 | 89 | // Check if out of bounds 90 | if (ptr_ >= grid_size) return; 91 | } 92 | } 93 | 94 | /* 95 | DDA algorithm to draw line from one point to another in the occupancy grid. 96 | */ 97 | void DDA(af::array& grid, int value, 98 | float start_x, float start_y, 99 | float end_x, float end_y) 100 | { 101 | float dx = abs(end_x - start_x); 102 | float dy = abs(end_y - start_y); 103 | 104 | // float step = dx >= dy ? dx : dy; 105 | float step = ((int)(dx >= dy) * dx) + ((int)(dx < dy) * dy); 106 | 107 | dx = (end_x - start_x) / step; 108 | dy = (end_y - start_y) / step; 109 | 110 | af::array x_arr = af::constant(start_x, step); 111 | af::array y_arr = af::constant(start_y, step); 112 | af::array count = af::seq(0, step - 1); 113 | 114 | x_arr += dx * count; 115 | y_arr += dy * count; 116 | 117 | af::array indices = y_arr.as(s32) * grid.dims(0) + x_arr.as(s32); 118 | 119 | grid(indices) = value; 120 | } 121 | 122 | void add_lines(af::array& grid, int value, 123 | size_t start_x, size_t start_y, 124 | af::array endpoints) 125 | { 126 | // Ensure any JIT kernels have executed 127 | grid.eval(); 128 | endpoints.eval(); 129 | 130 | // Obtain device pointer from array object 131 | int *device_grid = grid.device(); 132 | int *device_end_x = endpoints(af::span, 0).device(); 133 | int *device_end_y = endpoints(af::span, 1).device(); 134 | 135 | // Determine ArrayFire's CUDA stream 136 | int af_id = af::getDevice(); 137 | int cuda_id = afcu::getNativeId(af_id); 138 | cudaStream_t af_cuda_stream = afcu::getStream(cuda_id); 139 | 140 | // Set arguments and run the kernel in ArrayFire's stream 141 | int block_size = 512; 142 | int grid_size = (endpoints.dims(0) + block_size - 1) / block_size; 143 | raytracing_kernel<<>>(device_grid, value, 144 | start_x, start_y, 145 | device_end_x, device_end_y, 146 | grid.dims(0), grid.dims(1), 147 | endpoints.dims(0)); 148 | // Finish any pending CUDA operations 149 | cudaDeviceSynchronize(); 150 | 151 | // Return control of af::array memory to ArrayFire 152 | grid.unlock(); 153 | grid.eval(); 154 | } 155 | 156 | 157 | } // hypergrid namespace 158 | -------------------------------------------------------------------------------- /src/laser_to_gridmap.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | 10 | double map_height; 11 | double map_width; 12 | double cell_size; 13 | bool DEBUG; 14 | 15 | ros::Publisher laser_gridmap_pub; 16 | 17 | // Laser frame to base_footprint tf transform 18 | std::string map_frame_id; 19 | tf::TransformListener* tf_listener; 20 | 21 | void laser_callback(const sensor_msgs::LaserScanConstPtr scan) 22 | { 23 | ros::Time t0 = ros::Time::now(); 24 | // Update the laser transform 25 | tf::StampedTransform laser_footprint_transform; 26 | try 27 | { 28 | tf_listener->lookupTransform(map_frame_id, scan->header.frame_id, ros::Time(0), laser_footprint_transform); 29 | } 30 | catch(tf::TransformException &ex) 31 | { 32 | ROS_ERROR("%s", ex.what()); 33 | return; 34 | } 35 | geometry_msgs::Pose origin; 36 | origin.position.x = 0; 37 | origin.position.y = - (map_height / 2); 38 | origin.orientation.w = 1; 39 | hypergrid::LaserScanConverter laser_converter(map_width, map_height, cell_size, origin, map_frame_id); 40 | 41 | hypergrid::GridMap gridmap = laser_converter.convert(scan, laser_footprint_transform); 42 | // Publish OccupancyGrid map 43 | laser_gridmap_pub.publish(gridmap.toMapMsg()); 44 | if (DEBUG) std::cout << "Publish time: " << ros::Time::now() - t0 << std::endl; 45 | } 46 | 47 | 48 | int main(int argc, char **argv) 49 | { 50 | af::info(); 51 | 52 | ros::init(argc, argv, "laser_to_gridmap"); 53 | ros::NodeHandle public_nh, private_nh("~"); 54 | 55 | private_nh.param("map_frame_id", map_frame_id, "base_footprint"); 56 | private_nh.param("height", map_height, 50.0); 57 | private_nh.param("width", map_width, 50.0); 58 | private_nh.param("cell_size", cell_size, 0.2); 59 | private_nh.param("DEBUG", DEBUG, false); 60 | 61 | laser_gridmap_pub = public_nh.advertise("hypergrid/laser_to_gridmap", 2); 62 | ros::Subscriber laser_sub = public_nh.subscribe("scan", 5, laser_callback); 63 | 64 | tf_listener = new tf::TransformListener; 65 | 66 | ros::spin(); 67 | 68 | return 0; 69 | } 70 | -------------------------------------------------------------------------------- /src/pcl_to_gridmap.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | 11 | // Map params 12 | double map_height; 13 | double map_width; 14 | double cell_size; 15 | bool DEBUG; 16 | 17 | // Parameters for floor removal algorithm 18 | bool floor_filter; 19 | 20 | // Vehicle box to ignore points inside it 21 | double vehicle_box_size; 22 | 23 | // Maximum height of obstacles. Everything higher will out of the map 24 | double max_height; 25 | double heightmap_threshold; 26 | double heightmap_cell_size; 27 | 28 | // Laser frame to base_footprint tf transform 29 | std::string map_frame_id; 30 | std::string cloud_topic; 31 | std::string output_topic; 32 | ros::Publisher cloud_map_pub; 33 | 34 | // Transform Listener 35 | tf::TransformListener* tf_listener; 36 | 37 | 38 | /* Removes all the points in the floor with a heightmap algorithm */ 39 | void remove_floor(af::array& cloud) 40 | { 41 | float* x = cloud(0, af::span).host(); 42 | float* y = cloud(1, af::span).host(); 43 | float* z = cloud(2, af::span).host(); 44 | 45 | int height_cells = map_height / heightmap_cell_size; 46 | int width_cells = map_width / heightmap_cell_size; 47 | 48 | af::array x_arr = (width_cells / 2) + (cloud(0, af::span) / heightmap_cell_size); 49 | af::array y_arr = (height_cells / 2) + (cloud(1, af::span) / heightmap_cell_size); 50 | af::array z_arr = cloud(2, af::span); 51 | 52 | float* min = new float[width_cells * height_cells]; 53 | float* max = new float[width_cells * height_cells]; 54 | 55 | // Resize the cloud to make it non-organized and work faster 56 | int width = cloud.dims(0) * cloud.dims(1); 57 | int height = 1; 58 | 59 | // Init maps 60 | for (int i = 0; i < width_cells; ++i) 61 | { 62 | for (int j = 0; j < height_cells; ++j) 63 | { 64 | int index = i * height_cells + j; 65 | min[index] = 9999.9; 66 | max[index] = -9999.9; 67 | } 68 | } 69 | 70 | // Build height map 71 | for (int i = 0; i < cloud.dims(1); ++i) 72 | { 73 | int x_idx = (width_cells / 2) + (x[i] / heightmap_cell_size); 74 | int y_idx = (height_cells / 2) + (y[i] / heightmap_cell_size); 75 | 76 | if (x_idx >= 0 && x_idx < width_cells && y_idx >= 0 && y_idx < height_cells) 77 | { 78 | int index = x_idx * height_cells + y_idx; 79 | min[index] = std::min(min[index], z[i]); 80 | max[index] = std::max(max[index], z[i]); 81 | } 82 | } 83 | 84 | std::vector indices; 85 | for (int i = 0; i < width; ++i) 86 | { 87 | int x_idx = (width_cells / 2) + (x[i] / heightmap_cell_size); 88 | int y_idx = (height_cells / 2) + (y[i] / heightmap_cell_size); 89 | int index = x_idx * height_cells + y_idx; 90 | 91 | bool is_obstacle = ((x_idx >= 0) && (x_idx < width_cells) && (y_idx >= 0) && (y_idx < height_cells)) && // Point is inside the grid 92 | ((z[i] < max_height)) && // Point is inside height limit 93 | ((abs(x[i]) > vehicle_box_size) || (abs(y[i]) > vehicle_box_size)) && // Point is not inside the vehicle box 94 | ((max[index] - min[index]) > heightmap_threshold); // Point is inside a cell considered obstacle by the heightmap 95 | if (is_obstacle) indices.push_back(i); 96 | } 97 | 98 | af::array indices_arr(indices.size(), indices.data()); 99 | delete[] x; 100 | delete[] y; 101 | delete[] z; 102 | delete[] min; 103 | delete[] max; 104 | cloud = af::lookup(cloud, indices_arr, 1); 105 | } 106 | 107 | void cloud_callback(sensor_msgs::PointCloud2Ptr cloud_msg) 108 | { 109 | ros::Time t0 = ros::Time::now(); 110 | ros::Time t_start = t0; 111 | 112 | tf::StampedTransform pcl_footprint_transform; 113 | try 114 | { 115 | tf_listener->lookupTransform(map_frame_id, cloud_msg->header.frame_id , ros::Time(0), pcl_footprint_transform); 116 | } 117 | catch(tf::TransformException &ex) 118 | { 119 | ROS_WARN("Warning: %s", ex.what()); 120 | } 121 | 122 | geometry_msgs::Pose origin; 123 | origin.position.x = - (map_width / 2) + cell_size; 124 | origin.position.y = - (map_height / 2) + cell_size; 125 | origin.orientation.w = 1; 126 | 127 | hypergrid::LIDARConverter lidar_converter(map_width, map_height, cell_size, 128 | origin, map_frame_id, 129 | heightmap_threshold, 130 | heightmap_cell_size, 131 | max_height, vehicle_box_size, 132 | DEBUG); 133 | 134 | hypergrid::GridMap gridmap = lidar_converter.convert(cloud_msg, pcl_footprint_transform); 135 | 136 | // Publish OccupancyGrid map 137 | cloud_map_pub.publish(gridmap.toMapMsg()); 138 | if (DEBUG) std::cout << "Publish time: " << ros::Time::now() - t0 << std::endl; 139 | if (DEBUG) std::cout << "Callback time: " << ros::Time::now() - t_start << std::endl; 140 | } 141 | 142 | 143 | int main(int argc, char **argv) 144 | { 145 | af::info(); 146 | 147 | ros::init(argc, argv, "pcl_to_gridmap"); 148 | ros::NodeHandle nh, priv_nh("~"); 149 | 150 | priv_nh.param("map_frame_id", map_frame_id, "base_footprint"); 151 | priv_nh.param("height", map_height, 50.0); 152 | priv_nh.param("width", map_width, 50.0); 153 | priv_nh.param("cell_size", cell_size, 0.2); 154 | priv_nh.param("floor_filter", floor_filter, false); 155 | priv_nh.param("heightmap_threshold", heightmap_threshold, 0.15); 156 | priv_nh.param("heightmap_cell_size", heightmap_cell_size, 0.25); 157 | priv_nh.param("max_height", max_height, 2.5); 158 | priv_nh.param("vehicle_box_size", vehicle_box_size, 2.0); 159 | priv_nh.param("DEBUG", DEBUG, true); 160 | 161 | cloud_map_pub = nh.advertise("hypergrid/pcl_to_gridmap", 2); 162 | ros::Subscriber cloud_sub = nh.subscribe("velodyne_points", 5, cloud_callback); 163 | 164 | tf_listener = new tf::TransformListener(); 165 | 166 | ros::Rate r(10.0); 167 | while(ros::ok()) 168 | { 169 | ros::spinOnce(); 170 | r.sleep(); 171 | } 172 | 173 | return 0; 174 | } 175 | --------------------------------------------------------------------------------