void Gaussian3::computeFromSamples(const std::vector<OrientedPoint> & poses, const std::vector<double>& weights ){
OrientedPoint mean=OrientedPoint(0,0,0);
double wcum=0;
double s=0, c=0;
std::vector<double>::const_iterator w=weights.begin();
for (std::vector<OrientedPoint>::const_iterator p=poses.begin(); p!=poses.end(); p++){
s+=*w*sin(p->theta);
c+=*w*cos(p->theta);
mean.x+=*w*p->x;
mean.y+=*w*p->y;
wcum+=*w;
w++;
}
mean.x/=wcum;
mean.y/=wcum;
s/=wcum;
c/=wcum;
mean.theta=atan2(s,c);
Covariance3 cov=Covariance3::zero;
w=weights.begin();
for (std::vector<OrientedPoint>::const_iterator p=poses.begin(); p!=poses.end(); p++){
OrientedPoint delta=(*p)-mean;
delta.theta=atan2(sin(delta.theta),cos(delta.theta));
cov.xx+=*w*delta.x*delta.x;
cov.yy+=*w*delta.y*delta.y;
cov.tt+=*w*delta.theta*delta.theta;
cov.xy+=*w*delta.x*delta.y;
cov.yt+=*w*delta.y*delta.theta;
cov.xt+=*w*delta.x*delta.theta;
w++;
}
cov.xx/=wcum;
cov.yy/=wcum;
cov.tt/=wcum;
cov.xy/=wcum;
cov.yt/=wcum;
cov.xt/=wcum;
EigenCovariance3 ecov(cov);
this->mean=mean;
this->covariance=ecov;
this->cov=cov;
}
OrientedPoint RobotLaserMessage::getLaserPose() const {
return OrientedPoint(m_msg->laser_pose.x,
m_msg->laser_pose.y,
m_msg->laser_pose.theta);
}
void ComparableModels::CreateUsingOctree()
{
/*
Determines the matching points, but nothing about their relative distance.
*/
/*
Outputs:
UsedWorldPoints, MatchingModelPoints: The points in these two files are correspondences
*/
assert(World.NumPoints() >= 4); //there must be enough points to determine a frustrum
Model.setPointIndices();
World.setPointIndices();
ModelNumber = 0;
//cull the world points by seeing which world points are in the visual hull (visual frustrum) of the model
vgl_box_3d<double> ModelBox = Model.GetBoundingBox();
std::vector<vgl_point_3d<double> > WorldOPCoords = GetOPCoords(World.getPoints());
std::vector<unsigned int> WorldIndicesInsideFrustrum = geom::IndicesInsideFrustrum(ModelBox, WorldOPCoords, Scanner.ScanParams.getLocation());
this->MissPoints = 0;
unsigned int ValidModel = 0;
unsigned int NumFrustrumPoints = WorldIndicesInsideFrustrum.size();
std::clog << "There are " << NumFrustrumPoints << " points inside the viewing frustrum." << std::endl;
boost::progress_display* show_progress = NULL;
if(ShowProgress_)
{
//std::clog << "Comparable models showing progress." << std::endl;
//std::clog << "Setup progressbar with " << NumFrustrumPoints << " points." << std::endl;
show_progress = new boost::progress_display(NumFrustrumPoints);
}
else
{
//std::clog << "Comparable models not showing progress." << std::endl;
}
//#pragma omp parallel for shared(ModelPoints, WorldPoints, InvalidModel, ValidModel) private(WorldPoint, dir, LP, bIntersect, ModelPoint)
std::vector<unsigned int> TempUsedWorldPoints(NumFrustrumPoints);
std::vector<OrientedPoint> TempMatchingModelPoints(NumFrustrumPoints);
std::vector<bool> Used(NumFrustrumPoints, false);
#pragma omp parallel for
for(unsigned int i = 0; i < NumFrustrumPoints; i++)
{
if(ShowProgress_)
++(*show_progress);//this should be atomic
vgl_point_3d<double> WorldPoint;
vgl_vector_3d<double> dir;
LidarPoint LP;
bool bIntersect;
WorldPoint = World.getCoord(WorldIndicesInsideFrustrum[i]);
dir = WorldPoint - Scanner.ScanParams.getLocation();
bIntersect = Scanner.AcquirePoint(Model, dir, LP);
if(!bIntersect)
{
this->MissPoints++; //this should be atomic
continue;
}
else
{
if(!LP.getValid())
{
std::cout << "The intersection is not valid!" << std::endl;
}
if(LP.getCoord() == Scanner.ScanParams.getLocation())
{
std::cout << "Intersection is at the scanner?!" << std::endl;
}
ValidModel++; //this should be atomic
TempUsedWorldPoints[i] = WorldIndicesInsideFrustrum[i]; //save world point index
TempMatchingModelPoints[i] = OrientedPoint(LP.getCoord()); //save model point (could be a point not originally on the model if triangles were intersected)
Used[i] = true;
}
}
std::clog << "Miss points: " << MissPoints << " ValidModel: " << ValidModel << std::endl;
MatchingModelPoints.clear();
UsedWorldPoints.clear();
//go through TempMatchingModelPoints and TempUsedWorldPoints and put valid points into the non-temp versions
unsigned int usedcount = 0;
for(unsigned int i = 0; i < NumFrustrumPoints; i++)
{
if(Used[i] == true)
{
usedcount++;
MatchingModelPoints.push_back(TempMatchingModelPoints[i]);
UsedWorldPoints.push_back(TempUsedWorldPoints[i]);
}
}
//std::clog << "Matching model points: " << MatchingModelPoints.size() << " UsedWorldPoints: " << UsedWorldPoints.size() << std::endl;
//std::clog << "usedcount: " << usedcount << " ValidModel: " << ValidModel << std::endl;
std::clog << "There are " << usedcount << " points that match for consistency evaluation." << std::endl;
this->NumPoints = ValidModel;
}
OrientedPoint TrueposMessage::getTruePose() const {
return OrientedPoint(m_msg->truepose.x,
m_msg->truepose.y,
m_msg->truepose.theta);
}
OrientedPoint TrueposMessage::getOdometryPose() const {
return OrientedPoint(m_msg->odometrypose.x,
m_msg->odometrypose.y,
m_msg->odometrypose.theta);
}
OrientedPoint OdometryMessage::getRobotPose() const {
return OrientedPoint(m_msg->x,m_msg->y,m_msg->theta);
}
