voxel_grid.hpp

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#ifndef NAV2_VOXEL_GRID__VOXEL_GRID_HPP_
#define NAV2_VOXEL_GRID__VOXEL_GRID_HPP_
 
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <stdint.h>
#include <math.h>
#include <limits.h>
#include <algorithm>
 
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
 
namespace nav2_voxel_grid
{
 
enum VoxelStatus
{
  FREE = 0,
  UNKNOWN = 1,
  MARKED = 2,
};
 
class VoxelGrid
{
public:
  VoxelGrid(unsigned int size_x, unsigned int size_y, unsigned int size_z);
 
  ~VoxelGrid();
 
  void resize(unsigned int size_x, unsigned int size_y, unsigned int size_z);
 
  void reset();
  uint32_t * getData() {return data_;}
 
  inline void markVoxel(unsigned int x, unsigned int y, unsigned int z)
  {
    if (x >= size_x_ || y >= size_y_ || z >= size_z_) {
      RCLCPP_DEBUG(logger, "Error, voxel out of bounds.\n");
      return;
    }
    uint32_t full_mask = ((uint32_t)1 << z << 16) | (1 << z);
    data_[y * size_x_ + x] |= full_mask;  // clear unknown and mark cell
  }
 
  inline bool markVoxelInMap(
    unsigned int x, unsigned int y, unsigned int z,
    unsigned int marked_threshold)
  {
    if (x >= size_x_ || y >= size_y_ || z >= size_z_) {
      RCLCPP_DEBUG(logger, "Error, voxel out of bounds.\n");
      return false;
    }
 
    int index = y * size_x_ + x;
    uint32_t * col = &data_[index];
    uint32_t full_mask = ((uint32_t)1 << z << 16) | (1 << z);
    *col |= full_mask;  // clear unknown and mark cell
 
    unsigned int marked_bits = *col >> 16;
 
    // make sure the number of bits in each is below our thresholds
    return !bitsBelowThreshold(marked_bits, marked_threshold);
  }
 
  inline void clearVoxel(unsigned int x, unsigned int y, unsigned int z)
  {
    if (x >= size_x_ || y >= size_y_ || z >= size_z_) {
      RCLCPP_DEBUG(logger, "Error, voxel out of bounds.\n");
      return;
    }
    uint32_t full_mask = ((uint32_t)1 << z << 16) | (1 << z);
    data_[y * size_x_ + x] &= ~(full_mask);  // clear unknown and clear cell
  }
 
  inline void clearVoxelColumn(unsigned int index)
  {
    assert(index < size_x_ * size_y_);
    data_[index] = 0;
  }
 
  inline void clearVoxelInMap(unsigned int x, unsigned int y, unsigned int z)
  {
    if (x >= size_x_ || y >= size_y_ || z >= size_z_) {
      RCLCPP_DEBUG(logger, "Error, voxel out of bounds.\n");
      return;
    }
    int index = y * size_x_ + x;
    uint32_t * col = &data_[index];
    uint32_t full_mask = ((uint32_t)1 << z << 16) | (1 << z);
    *col &= ~(full_mask);  // clear unknown and clear cell
 
    unsigned int unknown_bits = uint16_t(*col >> 16) ^ uint16_t(*col);
    unsigned int marked_bits = *col >> 16;
 
    // make sure the number of bits in each is below our thresholds
    if (bitsBelowThreshold(unknown_bits, 1) && bitsBelowThreshold(marked_bits, 1)) {
      costmap[index] = 0;
    }
  }
 
  inline bool bitsBelowThreshold(unsigned int n, unsigned int bit_threshold)
  {
    unsigned int bit_count;
    for (bit_count = 0; n; ) {
      ++bit_count;
      if (bit_count > bit_threshold) {
        return false;
      }
      n &= n - 1;  // clear the least significant bit set
    }
    return true;
  }
 
  static inline unsigned int numBits(unsigned int n)
  {
    unsigned int bit_count;
    for (bit_count = 0; n; ++bit_count) {
      n &= n - 1;  // clear the least significant bit set
    }
    return bit_count;
  }
 
  static VoxelStatus getVoxel(
    unsigned int x, unsigned int y, unsigned int z,
    unsigned int size_x, unsigned int size_y, unsigned int size_z, const uint32_t * data)
  {
    if (x >= size_x || y >= size_y || z >= size_z) {
      return UNKNOWN;
    }
    uint32_t full_mask = ((uint32_t)1 << z << 16) | (1 << z);
    uint32_t result = data[y * size_x + x] & full_mask;
    unsigned int bits = numBits(result);
 
    // known marked: 11 = 2 bits, unknown: 01 = 1 bit, known free: 00 = 0 bits
    if (bits < 2) {
      if (bits < 1) {
        return FREE;
      }
      return UNKNOWN;
    }
    return MARKED;
  }
 
  void markVoxelLine(
    double x0, double y0, double z0, double x1, double y1, double z1,
    unsigned int max_length = UINT_MAX);
  void clearVoxelLine(
    double x0, double y0, double z0, double x1, double y1, double z1,
    unsigned int max_length = UINT_MAX, unsigned int min_length = 0);
  void clearVoxelLineInMap(
    double x0, double y0, double z0, double x1, double y1, double z1, unsigned char * map_2d,
    unsigned int unknown_threshold, unsigned int mark_threshold,
    unsigned char free_cost = 0, unsigned char unknown_cost = 255,
    unsigned int max_length = UINT_MAX, unsigned int min_length = 0);
 
  VoxelStatus getVoxel(unsigned int x, unsigned int y, unsigned int z);
 
  // Are there any obstacles at that (x, y) location in the grid?
  VoxelStatus getVoxelColumn(
    unsigned int x, unsigned int y,
    unsigned int unknown_threshold = 0, unsigned int marked_threshold = 0);
 
  void printVoxelGrid();
  void printColumnGrid();
  unsigned int sizeX();
  unsigned int sizeY();
  unsigned int sizeZ();
 
  template<class ActionType>
  inline void raytraceLine(
    ActionType at, double x0, double y0, double z0,
    double x1, double y1, double z1, unsigned int max_length = UINT_MAX,
    unsigned int min_length = 0)
  {
    // we need to chose how much to scale our dominant dimension, based on the
    // maximum length of the line
    double dist = sqrt((x0 - x1) * (x0 - x1) + (y0 - y1) * (y0 - y1) + (z0 - z1) * (z0 - z1));
    if ((unsigned int)(dist) < min_length) {
      return;
    }
    double scale, min_x0, min_y0, min_z0;
    if (dist > 0.0) {
      scale = std::min(1.0, max_length / dist);
 
      // Updating starting point to the point at distance min_length from the initial point
      min_x0 = x0 + (x1 - x0) / dist * min_length;
      min_y0 = y0 + (y1 - y0) / dist * min_length;
      min_z0 = z0 + (z1 - z0) / dist * min_length;
    } else {
      // dist can be 0 if [x0, y0, z0]==[x1, y1, z1].
      // In this case only this voxel should be processed.
      scale = 1.0;
      min_x0 = x0;
      min_y0 = y0;
      min_z0 = z0;
    }
 
    int dx = int(x1) - int(min_x0);  // NOLINT
    int dy = int(y1) - int(min_y0);  // NOLINT
    int dz = int(z1) - int(min_z0);  // NOLINT
 
    unsigned int abs_dx = abs(dx);
    unsigned int abs_dy = abs(dy);
    unsigned int abs_dz = abs(dz);
 
    int offset_dx = sign(dx);
    int offset_dy = sign(dy) * size_x_;
    int offset_dz = sign(dz);
 
    unsigned int z_mask = ((1 << 16) | 1) << (unsigned int)min_z0;
    unsigned int offset = (unsigned int)min_y0 * size_x_ + (unsigned int)min_x0;
 
    GridOffset grid_off(offset);
    ZOffset z_off(z_mask);
 
    // is x dominant
    if (abs_dx >= max(abs_dy, abs_dz)) {
      int error_y = abs_dx / 2;
      int error_z = abs_dx / 2;
 
      bresenham3D(
        at, grid_off, grid_off, z_off, abs_dx, abs_dy, abs_dz, error_y, error_z,
        offset_dx, offset_dy, offset_dz, offset, z_mask, (unsigned int)(scale * abs_dx));
      return;
    }
 
    // y is dominant
    if (abs_dy >= abs_dz) {
      int error_x = abs_dy / 2;
      int error_z = abs_dy / 2;
 
      bresenham3D(
        at, grid_off, grid_off, z_off, abs_dy, abs_dx, abs_dz, error_x, error_z,
        offset_dy, offset_dx, offset_dz, offset, z_mask, (unsigned int)(scale * abs_dy));
      return;
    }
 
    // otherwise, z is dominant
    int error_x = abs_dz / 2;
    int error_y = abs_dz / 2;
 
    bresenham3D(
      at, z_off, grid_off, grid_off, abs_dz, abs_dx, abs_dy, error_x, error_y, offset_dz,
      offset_dx, offset_dy, offset, z_mask, (unsigned int)(scale * abs_dz));
  }
 
private:
  // the real work is done here... 3D bresenham implementation
  template<class ActionType, class OffA, class OffB, class OffC>
  inline void bresenham3D(
    ActionType at, OffA off_a, OffB off_b, OffC off_c,
    unsigned int abs_da, unsigned int abs_db, unsigned int abs_dc,
    int error_b, int error_c, int offset_a, int offset_b, int offset_c, unsigned int & offset,
    unsigned int & z_mask, unsigned int max_length = UINT_MAX)
  {
    unsigned int end = std::min(max_length, abs_da);
    for (unsigned int i = 0; i < end; ++i) {
      at(offset, z_mask);
      off_a(offset_a);
      error_b += abs_db;
      error_c += abs_dc;
      if ((unsigned int)error_b >= abs_da) {
        off_b(offset_b);
        error_b -= abs_da;
      }
      if ((unsigned int)error_c >= abs_da) {
        off_c(offset_c);
        error_c -= abs_da;
      }
    }
    at(offset, z_mask);
  }
 
  inline int sign(int i)
  {
    return i > 0 ? 1 : -1;
  }
 
  inline unsigned int max(unsigned int x, unsigned int y)
  {
    return x > y ? x : y;
  }
 
  unsigned int size_x_, size_y_, size_z_;
  uint32_t * data_;
  unsigned char * costmap;
  rclcpp::Logger logger;
 
  // Aren't functors so much fun... used to recreate the Bresenham macro Eric
  // wrote in the original version, but in "proper" c++
  class MarkVoxel
  {
public:
    explicit MarkVoxel(uint32_t * data)
    : data_(data) {}
    inline void operator()(unsigned int offset, unsigned int z_mask)
    {
      data_[offset] |= z_mask;  // clear unknown and mark cell
    }
 
private:
    uint32_t * data_;
  };
 
  class ClearVoxel
  {
public:
    explicit ClearVoxel(uint32_t * data)
    : data_(data) {}
    inline void operator()(unsigned int offset, unsigned int z_mask)
    {
      data_[offset] &= ~(z_mask);  // clear unknown and clear cell
    }
 
private:
    uint32_t * data_;
  };
 
  class ClearVoxelInMap
  {
public:
    ClearVoxelInMap(
      uint32_t * data, unsigned char * costmap,
      unsigned int unknown_clear_threshold, unsigned int marked_clear_threshold,
      unsigned char free_cost = 0, unsigned char unknown_cost = 255)
    : data_(data), costmap_(costmap),
      unknown_clear_threshold_(unknown_clear_threshold), marked_clear_threshold_(
        marked_clear_threshold),
      free_cost_(free_cost), unknown_cost_(unknown_cost)
    {
    }
 
    inline void operator()(unsigned int offset, unsigned int z_mask)
    {
      uint32_t * col = &data_[offset];
      *col &= ~(z_mask);  // clear unknown and clear cell
 
      unsigned int unknown_bits = uint16_t(*col >> 16) ^ uint16_t(*col);
      unsigned int marked_bits = *col >> 16;
 
      // make sure the number of bits in each is below our thresholds
      if (bitsBelowThreshold(marked_bits, marked_clear_threshold_)) {
        if (bitsBelowThreshold(unknown_bits, unknown_clear_threshold_)) {
          costmap_[offset] = free_cost_;
        } else {
          costmap_[offset] = unknown_cost_;
        }
      }
    }
 
private:
    inline bool bitsBelowThreshold(unsigned int n, unsigned int bit_threshold)
    {
      unsigned int bit_count;
      for (bit_count = 0; n; ) {
        ++bit_count;
        if (bit_count > bit_threshold) {
          return false;
        }
        n &= n - 1;  // clear the least significant bit set
      }
      return true;
    }
 
    uint32_t * data_;
    unsigned char * costmap_;
    unsigned int unknown_clear_threshold_, marked_clear_threshold_;
    unsigned char free_cost_, unknown_cost_;
  };
 
  class GridOffset
  {
public:
    explicit GridOffset(unsigned int & offset)
    : offset_(offset) {}
    inline void operator()(int offset_val)
    {
      offset_ += offset_val;
    }
 
private:
    unsigned int & offset_;
  };
 
  class ZOffset
  {
public:
    explicit ZOffset(unsigned int & z_mask)
    : z_mask_(z_mask) {}
    inline void operator()(int offset_val)
    {
      offset_val > 0 ? z_mask_ <<= 1 : z_mask_ >>= 1;
    }
 
private:
    unsigned int & z_mask_;
  };
};
 
}  // namespace nav2_voxel_grid
 
#endif  // NAV2_VOXEL_GRID__VOXEL_GRID_HPP_