Cleaned up the DepthImageBodyCollisionFilter in java and in c++, moved it above the RapidHeightMapManager. Deleted the duplicate thread for the height map #798
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…eightMapData and the TerrainMapData individually
# Conflicts: # ihmc-footstep-planning/src/main/java/us/ihmc/footstepPlanning/FootstepPlannerRequest.java
…a higher level closer to where its used
# Conflicts: # ihmc-perception/src/main/java/us/ihmc/perception/gpuHeightMap/RapidHeightMapExtractorCUDA.java # ihmc-perception/src/main/java/us/ihmc/perception/gpuHeightMap/RapidHeightMapManager.java
# Conflicts: # ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/activeMapping/ContinuousHikingProcess.java
…d it above the RapidHeightMapManager. Deleted the duplicate thread for the height map
PotatoPeeler3000
changed the title
# Conflicts: # ihmc-high-level-behaviors/src/main/java/us/ihmc/perception/RapidHeightMapAutonomyUpdateThread.java # ihmc-high-level-behaviors/src/main/java/us/ihmc/perception/RapidHeightMapThread.java # ihmc-perception/src/main/java/us/ihmc/perception/gpuHeightMap/RapidHeightMapManager.java
PotatoPeeler3000
commented
May 7, 2025
| CameraIntrinsics depthIntrinsicsCopy = depthImageCopy.getIntrinsicsCopy(); | ||
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| // Process body collisions | ||
| GpuMat depthImageWithoutBodyCollisions = new GpuMat(latestDepthImage.size(), latestDepthImage.type()); |
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Pulled the body collision filter outside of the height map manager
| @@ -16,8 +22,15 @@ | |||
| import static org.bytedeco.cuda.global.cudart.cudaFree; | |||
| import static org.bytedeco.cuda.global.cudart.cudaStreamSynchronize; | |||
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| public class CUDABodyCollisionFilter | |||
| /** | |||
| * This class removes the points of a depth image that are on parts of the body. | |||
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| // Note: We get the expected number of collidables and allocate that memory amount on the GPU | ||
| // By allocating once we don't have to free the memory in each call, just at the end | ||
| numberOfCollidables = countSupportedCollidables(robotCollidables); | ||
| numberOfCollidables = robotCollidables.size(); |
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We don't need to go through this method
| @@ -391,7 +391,8 @@ public void destroy() | |||
| planOffsetKernel.close(); | |||
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| emptyGlobalHeightMapImage.close(); | |||
| planOffsetKernelGridDim.close(); | |||
| if (planOffsetKernelGridDim != null) | |||
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That was a problem when closing, it would throw an exception, not relavent to this PR
| float* collidableGeometryPointer, | ||
| int numCollidables, | ||
| int numberOfAttributes) | ||
| { | ||
| int x = Utils::getThreadCoordX(); | ||
| int y = Utils::getThreadCoordY(); | ||
| int x_index = blockIdx.x * blockDim.x + threadIdx.x; |
TomaszTB
approved these changes
May 7, 2025
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| public class RapidHeightMapThread | ||
| public class RapidHeightMapThread extends RepeatingTaskThread |
| int x = Utils::getThreadCoordX(); | ||
| int y = Utils::getThreadCoordY(); | ||
| int x_index = blockIdx.x * blockDim.x + threadIdx.x; | ||
| int y_index = blockIdx.y * blockDim.y + threadIdx.y; |
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Shouldn't it be xIndex and yIndex? We don't really use snake case in our code
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| *row(col(collisionMask, x), collisionMaskPitch, y) = depthValue; | ||
| unsigned short *matrixRow = (unsigned short *)((char *)collisionMaskMap + y_index * pitchCollisionMaskMap) + x_index; | ||
| *matrixRow = depthValue; |
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Hmmm idk, using the row col functions seems much easier to read
TomaszTB
approved these changes
May 7, 2025
| RawImage depthImage = imageSensor.getImage(depthImageKey).get(); | ||
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| // Get everything we need from the image | ||
| RawImage depthImageCopy = depthImage.get(); |
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This depthImageCopy isn't actually a copy. It's the same reference to the depth image object, so the name is somewhat misleading.
Also, you shouldn't call get() when you just got an image from the ImageSensor. I know it's a bit confusing. Sorry 😅
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Talked over slack
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