Remove option to use a non-zero min_range in the ray casting renderer

ethz-asl · Dec 6, 2024 · 730cb28 · 730cb28
1 parent 21a6143
commit 730cb28
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Showing 4 changed files with 16 additions and 16 deletions.
diff --git a/examples/python/render/raycast_depth_image.py b/examples/python/render/raycast_depth_image.py
@@ -33,7 +33,14 @@ def save_depth_as_png(depth_map: np.ndarray, output_path: Path):
     out_path = Path(__file__).parent / "depth.png"
 
     # Configure the virtual sensor's projection model
-    # NOTE: These intrinsics match the Zed 2i depth camera.
+    # NOTE: The projection model can be configured through a Python dictionary.
+    #       Diagnostics for invalid configurations are printed to the terminal.
+    #       For an overview of all the available models and their params, see:
+    #       pylint: disable=line-too-long
+    #       https://ethz-asl.github.io/wavemap/pages/parameters/measurement_integrators.html#projection-models
+    #       Examples for a broad selection of common sensors can be found in the
+    #       `interfaces/ros1/wavemap_ros/config` directory.
+    #       The intrinsics below match the Zed 2i depth camera.
     projection_model = wm.Projector.create({
         "type": "pinhole_camera_projector",
         "width": 1280,
@@ -49,12 +56,11 @@ def save_depth_as_png(depth_map: np.ndarray, output_path: Path):
 
     # Create the depth image renderer
     log_odds_occupancy_threshold = 0.1
-    min_range = 0.1
     max_range = 6.0
     default_depth_value = -1.0
     renderer = wm.RaycastingRenderer(your_map, projection_model,
-                                     log_odds_occupancy_threshold, min_range,
-                                     max_range, default_depth_value)
+                                     log_odds_occupancy_threshold, max_range,
+                                     default_depth_value)
 
     # Create pose
     rotation = wm.Rotation(np.eye(3))

diff --git a/library/cpp/include/wavemap/core/utils/render/raycasting_renderer.h b/library/cpp/include/wavemap/core/utils/render/raycasting_renderer.h
@@ -14,7 +14,6 @@ class RaycastingRenderer {
   RaycastingRenderer(MapBase::ConstPtr occupancy_map,
                      ProjectorBase::ConstPtr projection_model,
                      FloatingPoint log_odds_occupancy_threshold = 1e-3f,
-                     FloatingPoint min_range = 0.f,
                      FloatingPoint max_range = 10.f,
                      FloatingPoint default_depth_value = -1.f,
                      std::shared_ptr<ThreadPool> thread_pool = nullptr);
@@ -28,7 +27,6 @@ class RaycastingRenderer {
   const std::shared_ptr<ThreadPool> thread_pool_;
 
   const ProjectorBase::ConstPtr projection_model_;
-  const FloatingPoint min_range_;
   const FloatingPoint max_range_;
   const FloatingPoint log_odds_occupancy_threshold_;
 

diff --git a/library/cpp/src/core/utils/render/raycasting_renderer.cc b/library/cpp/src/core/utils/render/raycasting_renderer.cc
@@ -10,14 +10,12 @@
 namespace wavemap {
 RaycastingRenderer::RaycastingRenderer(
     MapBase::ConstPtr occupancy_map, ProjectorBase::ConstPtr projection_model,
-    FloatingPoint log_odds_occupancy_threshold, FloatingPoint min_range,
-    FloatingPoint max_range, FloatingPoint default_depth_value,
-    std::shared_ptr<ThreadPool> thread_pool)
+    FloatingPoint log_odds_occupancy_threshold, FloatingPoint max_range,
+    FloatingPoint default_depth_value, std::shared_ptr<ThreadPool> thread_pool)
     : map_(CHECK_NOTNULL(occupancy_map)),
       thread_pool_(thread_pool ? std::move(thread_pool)
                                : std::make_shared<ThreadPool>()),
       projection_model_(CHECK_NOTNULL(projection_model)),
-      min_range_(min_range),
       max_range_(max_range),
       log_odds_occupancy_threshold_(log_odds_occupancy_threshold),
       depth_image_(projection_model_->getDimensions(), default_depth_value) {}
@@ -36,11 +34,9 @@ void RaycastingRenderer::renderPatch(const MapT& map,
   for (const Index2D& index : Grid(patch_min, patch_max)) {
     FloatingPoint& depth_pixel = depth_image_.at(index);
     const Vector2D image_xy = projection_model_->indexToImage(index);
-    const Point3D C_start_point =
-        projection_model_->sensorToCartesian({image_xy, min_range_});
+    const Point3D& W_start_point = T_W_C.getPosition();
     const Point3D C_end_point =
         projection_model_->sensorToCartesian({image_xy, max_range_});
-    const Point3D W_start_point = T_W_C * C_start_point;
     const Point3D W_end_point = T_W_C * C_end_point;
     const auto d_start_collision = raycast::first_collision_distance(
         query_accelerator, W_start_point, W_end_point,

diff --git a/library/python/src/render.cc b/library/python/src/render.cc
@@ -15,10 +15,10 @@ void add_render_bindings(nb::module_& m) {
                                  "Render depth images using ray casting.")
       .def(nb::init<std::shared_ptr<const MapBase>,
                     std::shared_ptr<const ProjectorBase>, FloatingPoint,
-                    FloatingPoint, FloatingPoint, FloatingPoint>(),
+                    FloatingPoint, FloatingPoint>(),
            "occupancy_map"_a, "projection_model"_a,
-           "log_odds_occupancy_threshold"_a = 1e-3f, "min_range"_a = 0.f,
-           "max_range"_a = 10.f, "default_depth_value"_a = -1.f)
+           "log_odds_occupancy_threshold"_a = 1e-3f, "max_range"_a = 10.f,
+           "default_depth_value"_a = -1.f)
       .def("render", &RaycastingRenderer::render, "pose"_a);
 }
 }  // namespace wavemap