/** Constructor from a CPose3D */
CPose3DQuat::CPose3DQuat(const CPose3D &p)
{
x() = p.x();
y() = p.y();
z() = p.z();
p.getAsQuaternion(m_quat);
}
void ICPslamWrapper::updateSensorPose(std::string _frame_id)
{
CPose3D pose;
tf::StampedTransform transform;
try
{
listenerTF_.lookupTransform(base_frame_id, _frame_id, ros::Time(0), transform);
tf::Vector3 translation = transform.getOrigin();
tf::Quaternion quat = transform.getRotation();
pose.x() = translation.x();
pose.y() = translation.y();
pose.z() = translation.z();
tf::Matrix3x3 Rsrc(quat);
CMatrixDouble33 Rdes;
for (int c = 0; c < 3; c++)
for (int r = 0; r < 3; r++)
Rdes(r, c) = Rsrc.getRow(r)[c];
pose.setRotationMatrix(Rdes);
laser_poses_[_frame_id] = pose;
}
catch (tf::TransformException ex)
{
ROS_ERROR("%s", ex.what());
ros::Duration(1.0).sleep();
}
}
void CEllipsoid_setFromPosePDF(CEllipsoid& self, CPose3DPDF& posePDF)
{
CPose3D meanPose;
CMatrixDouble66 COV;
posePDF.getCovarianceAndMean(COV, meanPose);
CMatrixDouble33 COV3 = COV.block(0,0,3,3);
self.setLocation(meanPose.x(), meanPose.y(), meanPose.z() + 0.001 );
self.setCovMatrix(COV3, COV3(2,2)==0 ? 2:3 );
}
CPose3DRotVec::CPose3DRotVec(const CPose3D &m)
{
m_coords[0] = m.x();
m_coords[1] = m.y();
m_coords[2] = m.z();
CMatrixDouble44 R;
m.getHomogeneousMatrix( R );
m_rotvec = rotVecFromRotMat( R );
}
void mrpt::math::slerp(
const CPose3D & p0,
const CPose3D & p1,
const double t,
CPose3D & p)
{
CQuaternionDouble q0,q1,q;
p0.getAsQuaternion(q0);
p1.getAsQuaternion(q1);
// The quaternion part (this will raise exception on t not in [0,1])
mrpt::math::slerp(q0,q1,t, q);
// XYZ:
p = CPose3D(
q,
(1-t)*p0.x()+t*p1.x(),
(1-t)*p0.y()+t*p1.y(),
(1-t)*p0.z()+t*p1.z() );
}
mrpt::opengl::CSetOfObjects::Ptr framePosesVecVisualize(
const TFramePosesVec& poses, const double len, const double lineWidth)
{
mrpt::opengl::CSetOfObjects::Ptr obj =
mrpt::make_aligned_shared<mrpt::opengl::CSetOfObjects>();
for (size_t i = 0; i < poses.size(); i++)
{
CSetOfObjects::Ptr corner =
opengl::stock_objects::CornerXYZSimple(len, lineWidth);
CPose3D p = poses[i];
p.x(WORLD_SCALE * p.x());
p.y(WORLD_SCALE * p.y());
p.z(WORLD_SCALE * p.z());
corner->setPose(p);
corner->setName(format("%u", (unsigned int)i));
corner->enableShowName();
obj->insert(corner);
}
return obj;
}
void guideLines(const CPose3D& base, CSetOfLines::Ptr& lines, float dist)
{
CPoint3D pDist = CPoint3D(dist, 0, 0);
CPoint3D pps[4];
pps[0] = base + pDist;
pps[1] = base + CPose3D(0, 0, 0, 0, -M_PI / 2, 0) + pDist;
pps[2] = base + CPose3D(0, 0, 0, -M_PI / 2, 0, 0) + pDist;
pps[3] = base + CPose3D(0, 0, 0, M_PI / 2, 0, 0) + pDist;
for (size_t i = 0; i < 4; i++)
lines->appendLine(
base.x(), base.y(), base.z(), pps[i].x(), pps[i].y(), pps[i].z());
lines->setLineWidth(5);
lines->setColor(0, 0, 1);
}
void test_default_values(const CPose3D &p, const std::string & label)
{
EXPECT_EQ(p.x(),0);
EXPECT_EQ(p.y(),0);
EXPECT_EQ(p.z(),0);
EXPECT_EQ(p.yaw(),0);
EXPECT_EQ(p.pitch(),0);
EXPECT_EQ(p.roll(),0);
for (size_t i=0;i<4;i++)
for (size_t j=0;j<4;j++)
EXPECT_NEAR(p.getHomogeneousMatrixVal()(i,j), i==j ? 1.0 : 0.0, 1e-8 )
<< "Failed for (i,j)=" << i << "," << j << endl
<< "Matrix is: " << endl << p.getHomogeneousMatrixVal() << endl
<< "case was: " << label << endl;
}
/*---------------------------------------------------------------
saveInterpolatedToTextFile
---------------------------------------------------------------*/
bool CPose3DInterpolator::saveInterpolatedToTextFile(const std::string &s, double period) const
{
try
{
CFileOutputStream f(s);
if (m_path.empty()) return true;
const TTimeStamp t_ini = m_path.begin()->first;
const TTimeStamp t_end = m_path.rbegin()->first;
TTimeStamp At = mrpt::system::secondsToTimestamp(period);
//cout << "Interp: " << t_ini << " " << t_end << " " << At << endl;
CPose3D p;
bool valid;
for (TTimeStamp t=t_ini;t<=t_end;t+=At)
{
this->interpolate( t, p, valid );
if (!valid) continue;
int r = f.printf("%.06f %.06f %.06f %.06f %.06f %.06f %.06f\n",
mrpt::system::timestampTotime_t(t),
p.x(),p.y(),p.z(),
p.yaw(),p.pitch(),p.roll());
ASSERT_(r>0);
}
return true;
}
catch(...)
{
return false;
}
}
/*---------------------------------------------------------------
getCovarianceAndMean
---------------------------------------------------------------*/
void CPose3DPDFParticles::getCovarianceAndMean(
CMatrixDouble66& cov, CPose3D& mean) const
{
MRPT_START
getMean(mean); // First! the mean value:
// Now the covariance:
cov.zeros();
CVectorDouble vars;
vars.assign(6, 0.0); // The diagonal of the final covariance matrix
// Elements off the diagonal of the covariance matrix:
double std_xy = 0, std_xz = 0, std_xya = 0, std_xp = 0, std_xr = 0;
double std_yz = 0, std_yya = 0, std_yp = 0, std_yr = 0;
double std_zya = 0, std_zp = 0, std_zr = 0;
double std_yap = 0, std_yar = 0;
double std_pr = 0;
// Mean values in [0, 2pi] range:
double mean_yaw = mean.yaw();
double mean_pitch = mean.pitch();
double mean_roll = mean.roll();
if (mean_yaw < 0) mean_yaw += M_2PI;
if (mean_pitch < 0) mean_pitch += M_2PI;
if (mean_roll < 0) mean_roll += M_2PI;
// Enought information to estimate the covariance?
if (m_particles.size() < 2) return;
// Sum all weight values:
double W = 0;
for (CPose3DPDFParticles::CParticleList::const_iterator it =
m_particles.begin();
it != m_particles.end(); ++it)
W += exp(it->log_w);
ASSERT_(W > 0);
// Compute covariance:
for (CPose3DPDFParticles::CParticleList::const_iterator it =
m_particles.begin();
it != m_particles.end(); ++it)
{
double w = exp(it->log_w) / W;
// Manage 1 PI range:
double err_yaw = wrapToPi(fabs(it->d->yaw() - mean_yaw));
double err_pitch = wrapToPi(fabs(it->d->pitch() - mean_pitch));
double err_roll = wrapToPi(fabs(it->d->roll() - mean_roll));
double err_x = it->d->x() - mean.x();
double err_y = it->d->y() - mean.y();
double err_z = it->d->z() - mean.z();
vars[0] += square(err_x) * w;
vars[1] += square(err_y) * w;
vars[2] += square(err_z) * w;
vars[3] += square(err_yaw) * w;
vars[4] += square(err_pitch) * w;
vars[5] += square(err_roll) * w;
std_xy += err_x * err_y * w;
std_xz += err_x * err_z * w;
std_xya += err_x * err_yaw * w;
std_xp += err_x * err_pitch * w;
std_xr += err_x * err_roll * w;
std_yz += err_y * err_z * w;
std_yya += err_y * err_yaw * w;
std_yp += err_y * err_pitch * w;
std_yr += err_y * err_roll * w;
std_zya += err_z * err_yaw * w;
std_zp += err_z * err_pitch * w;
std_zr += err_z * err_roll * w;
std_yap += err_yaw * err_pitch * w;
std_yar += err_yaw * err_roll * w;
std_pr += err_pitch * err_roll * w;
} // end for it
// Unbiased estimation of variance:
cov(0, 0) = vars[0];
cov(1, 1) = vars[1];
cov(2, 2) = vars[2];
cov(3, 3) = vars[3];
cov(4, 4) = vars[4];
cov(5, 5) = vars[5];
cov(1, 0) = cov(0, 1) = std_xy;
cov(2, 0) = cov(0, 2) = std_xz;
cov(3, 0) = cov(0, 3) = std_xya;
cov(4, 0) = cov(0, 4) = std_xp;
cov(5, 0) = cov(0, 5) = std_xr;
cov(2, 1) = cov(1, 2) = std_yz;
cov(3, 1) = cov(1, 3) = std_yya;
cov(4, 1) = cov(1, 4) = std_yp;
cov(5, 1) = cov(1, 5) = std_yr;
cov(3, 2) = cov(2, 3) = std_zya;
cov(4, 2) = cov(2, 4) = std_zp;
cov(5, 2) = cov(2, 5) = std_zr;
cov(4, 3) = cov(3, 4) = std_yap;
cov(5, 3) = cov(3, 5) = std_yar;
cov(5, 4) = cov(4, 5) = std_pr;
MRPT_END
}
/** Constructor from an CPose3D object. */
CPoint3D::CPoint3D(const CPose3D& p)
{
m_coords[0] = p.x();
m_coords[1] = p.y();
m_coords[2] = p.z();
}
/*---------------------------------------------------------------
pose3D = point3D + pose3D
---------------------------------------------------------------*/
CPose3D CPoint3D::operator+(const CPose3D& b) const
{
return CPose3D(
m_coords[0] + b.x(), m_coords[1] + b.y(), m_coords[2] + b.z(), b.yaw(),
b.pitch(), b.roll());
}
/** Return one or both of the following 6x6 Jacobians, useful in graph-slam
* problems...
*/
void SE_traits<3>::jacobian_dP1DP2inv_depsilon(
const CPose3D& P1DP2inv, matrix_VxV_t* df_de1, matrix_VxV_t* df_de2)
{
const CMatrixDouble33& R =
P1DP2inv.getRotationMatrix(); // The rotation matrix.
// Common part: d_Ln(R)_dR:
CMatrixFixedNumeric<double, 3, 9> dLnRot_dRot(UNINITIALIZED_MATRIX);
CPose3D::ln_rot_jacob(R, dLnRot_dRot);
if (df_de1)
{
matrix_VxV_t& J1 = *df_de1;
// This Jacobian has the structure:
// [ I_3 | -[d_t]_x ]
// Jacob1 = [ ---------+------------------- ]
// [ 0_3x3 | dLnR_dR * (...) ]
//
J1.zeros();
J1(0, 0) = 1;
J1(1, 1) = 1;
J1(2, 2) = 1;
J1(0, 4) = P1DP2inv.z();
J1(0, 5) = -P1DP2inv.y();
J1(1, 3) = -P1DP2inv.z();
J1(1, 5) = P1DP2inv.x();
J1(2, 3) = P1DP2inv.y();
J1(2, 4) = -P1DP2inv.x();
alignas(MRPT_MAX_ALIGN_BYTES) const double aux_vals[] = {
0, R(2, 0), -R(1, 0), -R(2, 0), 0, R(0, 0), R(1, 0), -R(0, 0), 0,
// -----------------------
0, R(2, 1), -R(1, 1), -R(2, 1), 0, R(0, 1), R(1, 1), -R(0, 1), 0,
// -----------------------
0, R(2, 2), -R(1, 2), -R(2, 2), 0, R(0, 2), R(1, 2), -R(0, 2), 0};
const CMatrixFixedNumeric<double, 9, 3> aux(aux_vals);
// right-bottom part = dLnRot_dRot * aux
J1.block(3, 3, 3, 3) = (dLnRot_dRot * aux).eval();
}
if (df_de2)
{
// This Jacobian has the structure:
// [ -R | 0_3x3 ]
// Jacob2 = [ ---------+------------------- ]
// [ 0_3x3 | dLnR_dR * (...) ]
//
matrix_VxV_t& J2 = *df_de2;
J2.zeros();
for (int i = 0; i < 3; i++)
for (int j = 0; j < 3; j++)
J2.set_unsafe(i, j, -R.get_unsafe(i, j));
alignas(MRPT_MAX_ALIGN_BYTES) const double aux_vals[] = {
0, R(0, 2), -R(0, 1), 0, R(1, 2), -R(1, 1), 0, R(2, 2), -R(2, 1),
// -----------------------
-R(0, 2), 0, R(0, 0), -R(1, 2), 0, R(1, 0), -R(2, 2), 0, R(2, 0),
// -----------------------
R(0, 1), -R(0, 0), 0, R(1, 1), -R(1, 0), 0, R(2, 1), -R(2, 0), 0};
const CMatrixFixedNumeric<double, 9, 3> aux(aux_vals);
// right-bottom part = dLnRot_dRot * aux
J2.block(3, 3, 3, 3) = (dLnRot_dRot * aux).eval();
}
}
// ------------------------------------------------------
// MapBuilding_ICP
// ------------------------------------------------------
void MapBuilding_ICP()
{
MRPT_TRY_START
CTicTac tictac,tictacGlobal,tictac_JH;
int step = 0;
std::string str;
CSensFrameProbSequence finalMap;
float t_exec;
COccupancyGridMap2D::TEntropyInfo entropy;
size_t rawlogEntry = 0;
CFileGZInputStream rawlogFile( RAWLOG_FILE.c_str() );
CFileGZOutputStream sensor_data;
// ---------------------------------
// Constructor
// ---------------------------------
CMetricMapBuilderICP mapBuilder(
&metricMapsOpts,
insertionLinDistance,
insertionAngDistance,
&icpOptions
);
mapBuilder.ICP_options.matchAgainstTheGrid = matchAgainstTheGrid;
// ---------------------------------
// CMetricMapBuilder::TOptions
// ---------------------------------
mapBuilder.options.verbose = true;
mapBuilder.options.enableMapUpdating = true;
mapBuilder.options.debugForceInsertion = false;
mapBuilder.options.insertImagesAlways = false;
// Prepare output directory:
// --------------------------------
deleteFilesInDirectory(OUT_DIR);
createDirectory(OUT_DIR);
// Open log files:
// ----------------------------------
CFileOutputStream f_log(format("%s/log_times.txt",OUT_DIR));
CFileOutputStream f_path(format("%s/log_estimated_path.txt",OUT_DIR));
CFileOutputStream f_pathOdo(format("%s/log_odometry_path.txt",OUT_DIR));
// Create 3D window if requested:
CDisplayWindow3DPtr win3D;
#if MRPT_HAS_WXWIDGETS
if (SHOW_PROGRESS_3D_REAL_TIME)
{
win3D = CDisplayWindow3DPtr( new CDisplayWindow3D("ICP-SLAM @ MRPT C++ Library (C) 2004-2008", 600, 500) );
win3D->setCameraZoom(20);
win3D->setCameraAzimuthDeg(-45);
}
#endif
if(OBS_FROM_FILE == 0){
sensor_data.open("sensor_data.rawlog");
printf("Receive From Sensor\n");
initLaser();
printf("OK\n");
}
// ----------------------------------------------------------
// Map Building
// ----------------------------------------------------------
CActionCollectionPtr action;
CSensoryFramePtr observations, temp_obs;
CSensoryFramePtr obs_set;
CPose2D odoPose(0,0,0);
CSimplePointsMap oldMap, newMap;
CICP ICP;
vector_float accum_x, accum_y, accum_z;
// ICP Setting
ICP.options.ICP_algorithm = (TICPAlgorithm)ICP_method;
ICP.options.maxIterations = 40;
ICP.options.thresholdAng = 0.15;
ICP.options.thresholdDist = 0.75f;
ICP.options.ALFA = 0.30f;
ICP.options.smallestThresholdDist = 0.10f;
ICP.options.doRANSAC = false;
ICP.options.dumpToConsole();
//
CObservationPtr obsSick = CObservationPtr(new CObservation2DRangeScan());
CObservationPtr obsHokuyo = CObservationPtr(new CObservation2DRangeScan());
CSimplePointsMap hokuyoMap;
bool isFirstTime = true;
bool loop = true;
/*
cout << index << "frame, Input the any key to continue" << endl;
getc(stdin);
fflush(stdin);
*/
tictacGlobal.Tic();
while(loop)
{
/*
if(BREAK){
cout << index << "frame, Input the any key to continue" << endl;
getc(stdin);
fflush(stdin);
}else{
if(os::kbhit())
loop = true;
}
*/
if(os::kbhit())
loop = true;
if(DELAY) {
sleep(15);
}
// Load action/observation pair from the rawlog:
// --------------------------------------------------
if(OBS_FROM_FILE == 1) {
if (! CRawlog::readActionObservationPair( rawlogFile, action, temp_obs, rawlogEntry) )
break; // file EOF
obsSick = temp_obs->getObservationByIndex(0);
obsHokuyo = temp_obs->getObservationByIndex(1);
observations = CSensoryFramePtr(new CSensoryFrame());
observations->insert((CObservationPtr)obsSick);
hokuyoMap.clear();
hokuyoMap.insertObservation(obsHokuyo.pointer());
}else{
rawlogEntry = rawlogEntry+2;
tictac.Tic();
obsSick = CObservationPtr(new CObservation2DRangeScan());
obsHokuyo = CObservationPtr(new CObservation2DRangeScan());
if(!receiveDataFromSensor((CObservation2DRangeScan*)obsSick.pointer(),SICK)){
cout << " Error in receive sensor data" << endl;
return;
}
if(!receiveDataFromSensor((CObservation2DRangeScan*)obsHokuyo.pointer(),HOKUYO)){
cout << " Error in receive sensor data" << endl;
return;
}
cout << "Time to receive data : " << tictac.Tac()*1000.0f << endl;
obsSick->timestamp = mrpt::system::now();
obsSick->setSensorPose(CPose3D(0,0,0,DEG2RAD(0),DEG2RAD(0),DEG2RAD(0)));
((CObservation2DRangeScan*)obsSick.pointer())->rightToLeft = true;
((CObservation2DRangeScan*)obsSick.pointer())->stdError = 0.003f;
obsHokuyo->timestamp = mrpt::system::now();
obsHokuyo->setSensorPose(CPose3D(0,0,0.4,DEG2RAD(0),DEG2RAD(-90),DEG2RAD(0)));
((CObservation2DRangeScan*)obsHokuyo.pointer())->rightToLeft = true;
((CObservation2DRangeScan*)obsHokuyo.pointer())->stdError = 0.003f;
cout << "rawlogEntry : " << rawlogEntry << endl;
CActionRobotMovement2D myAction;
newMap.clear();
obsSick.pointer()->insertObservationInto(&newMap);
if(!isFirstTime){
static float runningTime;
static CICP::TReturnInfo info;
static CPose2D initial(0,0,0);
CPosePDFPtr ICPPdf = ICP.AlignPDF(&oldMap, &newMap, initial, &runningTime, (void*)&info);
CPose2D estMean;
CMatrixDouble33 estCov;
ICPPdf->getCovarianceAndMean(estCov, estMean);
printf("ICP run in %.02fms, %d iterations (%.02fms/iter), %.01f%% goodness\n -> ", runningTime*1000, info.nIterations, runningTime*1000.0f/info.nIterations, info.goodness*100 );
cout << "ICP Odometry : " << ICPPdf->getMeanVal() << endl;
myAction.estimationMethod = CActionRobotMovement2D::emScan2DMatching;
myAction.poseChange = CPosePDFPtr( new CPosePDFGaussian(estMean, estCov));
}else{
isFirstTime = false;
}
oldMap.clear();
oldMap.copyFrom(newMap);
observations = CSensoryFramePtr(new CSensoryFrame());
action = CActionCollectionPtr(new CActionCollection());
observations->insert((CObservationPtr)obsSick);
obs_set = CSensoryFramePtr(new CSensoryFrame());
obs_set->insert((CObservationPtr)obsSick);
obs_set->insert((CObservationPtr)obsHokuyo);
action->insert(myAction);
sensor_data << action << obs_set;
hokuyoMap.clear();
hokuyoMap.insertObservation(obsHokuyo.pointer());
}
if (rawlogEntry>=rawlog_offset)
{
// Update odometry:
{
CActionRobotMovement2DPtr act= action->getBestMovementEstimation();
if (act)
odoPose = odoPose + act->poseChange->getMeanVal();
}
// Execute:
// ----------------------------------------
tictac.Tic();
mapBuilder.processActionObservation( *action, *observations );
t_exec = tictac.Tac();
printf("Map building executed in %.03fms\n", 1000.0f*t_exec );
// Info log:
// -----------
f_log.printf("%f %i\n",1000.0f*t_exec,mapBuilder.getCurrentlyBuiltMapSize() );
const CMultiMetricMap* mostLikMap = mapBuilder.getCurrentlyBuiltMetricMap();
if (0==(step % LOG_FREQUENCY))
{
// Pose log:
// -------------
if (SAVE_POSE_LOG)
{
printf("Saving pose log information...");
mapBuilder.getCurrentPoseEstimation()->saveToTextFile( format("%s/mapbuild_posepdf_%03u.txt",OUT_DIR,step) );
printf("Ok\n");
}
}
// Save a 3D scene view of the mapping process:
if (0==(step % LOG_FREQUENCY) || (SAVE_3D_SCENE || win3D.present()))
{
CPose3D robotPose;
mapBuilder.getCurrentPoseEstimation()->getMean(robotPose);
COpenGLScenePtr scene = COpenGLScene::Create();
COpenGLViewportPtr view=scene->getViewport("main");
ASSERT_(view);
COpenGLViewportPtr view_map = scene->createViewport("mini-map");
view_map->setBorderSize(2);
view_map->setViewportPosition(0.01,0.01,0.35,0.35);
view_map->setTransparent(false);
{
mrpt::opengl::CCamera &cam = view_map->getCamera();
cam.setAzimuthDegrees(-90);
cam.setElevationDegrees(90);
cam.setPointingAt(robotPose);
cam.setZoomDistance(20);
cam.setOrthogonal();
}
// The ground:
mrpt::opengl::CGridPlaneXYPtr groundPlane = mrpt::opengl::CGridPlaneXY::Create(-200,200,-200,200,0,5);
groundPlane->setColor(0.4,0.4,0.4);
view->insert( groundPlane );
view_map->insert( CRenderizablePtr( groundPlane) ); // A copy
// The camera pointing to the current robot pose:
if (CAMERA_3DSCENE_FOLLOWS_ROBOT)
{
scene->enableFollowCamera(true);
mrpt::opengl::CCamera &cam = view_map->getCamera();
cam.setAzimuthDegrees(-45);
cam.setElevationDegrees(45);
cam.setPointingAt(robotPose);
}
// The maps:
{
opengl::CSetOfObjectsPtr obj = opengl::CSetOfObjects::Create();
mostLikMap->getAs3DObject( obj );
view->insert(obj);
// Only the point map:
opengl::CSetOfObjectsPtr ptsMap = opengl::CSetOfObjects::Create();
if (mostLikMap->m_pointsMaps.size())
{
mostLikMap->m_pointsMaps[0]->getAs3DObject(ptsMap);
view_map->insert( ptsMap );
}
}
// Draw the robot path:
CPose3DPDFPtr posePDF = mapBuilder.getCurrentPoseEstimation();
CPose3D curRobotPose;
posePDF->getMean(curRobotPose);
{
opengl::CSetOfObjectsPtr obj = opengl::stock_objects::RobotPioneer();
obj->setPose( curRobotPose );
view->insert(obj);
}
{
opengl::CSetOfObjectsPtr obj = opengl::stock_objects::RobotPioneer();
obj->setPose( curRobotPose );
view_map->insert( obj );
}
// Draw Hokuyo total data
{
CRenderizablePtr hokuyoRender_t = scene->getByName("hokuyo_total");
if(!hokuyoRender_t){
hokuyoRender_t = CPointCloud::Create();
hokuyoRender_t->setName("hokuyo_total");
hokuyoRender_t->setColor(0,0,1);
hokuyoRender_t->setPose( CPose3D(0,0,0) );
getAs<CPointCloud>(hokuyoRender_t)->setPointSize(3);
scene->insert( hokuyoRender_t);
}
for(size_t i =0 ; i < accum_x.size(); i++){
getAs<CPointCloud>(hokuyoRender_t)->insertPoint(accum_x[i], accum_y[i], accum_z[i]);
}
cout << "accum_x size : " << accum_x.size() << endl;
}
// Draw Hokuyo Current data plate
{
CRenderizablePtr hokuyoRender = scene->getByName("hokuyo_cur");
hokuyoRender = CPointCloud::Create();
hokuyoRender->setName("hokuyo_cur");
hokuyoRender->setColor(0,1,0);
hokuyoRender->setPose( curRobotPose );
getAs<CPointCloud>(hokuyoRender)->setPointSize(0.1);
getAs<CPointCloud>(hokuyoRender)->loadFromPointsMap(&hokuyoMap);
scene->insert( hokuyoRender);
vector_float cur_x = getAs<CPointCloud>(hokuyoRender)->getArrayX();
vector_float cur_y = getAs<CPointCloud>(hokuyoRender)->getArrayY();
vector_float cur_z = getAs<CPointCloud>(hokuyoRender)->getArrayZ();
// cout << "current pose : " << curRobotPose << endl;
for(size_t i =0 ; i < cur_x.size(); i++){
/*
float rotate_x = cur_x[i]+ curRobotPose.y()*sin(curRobotPose.yaw()*3.14/180.0);
float rotate_y = cur_y[i]+ curRobotPose.y()*cos(curRobotPose.yaw()*3.14/180.0);
*/
float rotate_x = curRobotPose.x() + cur_y[i]*sin(-curRobotPose.yaw());
float rotate_y = curRobotPose.y() + cur_y[i]*cos(-curRobotPose.yaw());
// printf("cur_x, cur_y, cur_z : %f %f %f \n", rotate_x,rotate_y, cur_z[i]);
accum_x.push_back(rotate_x);
accum_y.push_back(rotate_y);
accum_z.push_back(cur_z[i]);
}
}
// Save as file:
if (0==(step % LOG_FREQUENCY) && SAVE_3D_SCENE)
{
CFileGZOutputStream f( format( "%s/buildingmap_%05u.3Dscene",OUT_DIR,step ));
f << *scene;
}
// Show 3D?
if (win3D)
{
opengl::COpenGLScenePtr &ptrScene = win3D->get3DSceneAndLock();
ptrScene = scene;
win3D->unlockAccess3DScene();
// Move camera:
win3D->setCameraPointingToPoint( curRobotPose.x(),curRobotPose.y(),curRobotPose.z() );
// Update:
win3D->forceRepaint();
sleep( SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS );
}
}
// Save the memory usage:
// ------------------------------------------------------------------
{
printf("Saving memory usage...");
unsigned long memUsage = getMemoryUsage();
FILE *f=os::fopen( format("%s/log_MemoryUsage.txt",OUT_DIR).c_str() ,"at");
if (f)
{
os::fprintf(f,"%u\t%lu\n",step,memUsage);
os::fclose(f);
}
printf("Ok! (%.04fMb)\n", ((float)memUsage)/(1024*1024) );
}
// Save the robot estimated pose for each step:
f_path.printf("%i %f %f %f\n",
step,
mapBuilder.getCurrentPoseEstimation()->getMeanVal().x(),
mapBuilder.getCurrentPoseEstimation()->getMeanVal().y(),
mapBuilder.getCurrentPoseEstimation()->getMeanVal().yaw() );
f_pathOdo.printf("%i %f %f %f\n",step,odoPose.x(),odoPose.y(),odoPose.phi());
} // end of if "rawlog_offset"...
step++;
printf("\n---------------- STEP %u | RAWLOG ENTRY %u ----------------\n",step, (unsigned)rawlogEntry);
// Free memory:
action.clear_unique();
observations.clear_unique();
};
printf("\n---------------- END!! (total time: %.03f sec) ----------------\n",tictacGlobal.Tac());
// hokuyo.turnOff();
sick.stop();
// Save map:
mapBuilder.getCurrentlyBuiltMap(finalMap);
str = format("%s/_finalmap_.simplemap",OUT_DIR);
printf("Dumping final map in binary format to: %s\n", str.c_str() );
mapBuilder.saveCurrentMapToFile(str);
CMultiMetricMap *finalPointsMap = mapBuilder.getCurrentlyBuiltMetricMap();
str = format("%s/_finalmaps_.txt",OUT_DIR);
printf("Dumping final metric maps to %s_XXX\n", str.c_str() );
finalPointsMap->saveMetricMapRepresentationToFile( str );
if (win3D)
win3D->waitForKey();
MRPT_TRY_END
}
void Run_KF_SLAM(CConfigFile& cfgFile, const std::string& rawlogFileName)
{
// The EKF-SLAM class:
// Traits for this KF implementation (2D or 3D)
using traits_t = kfslam_traits<IMPL>;
using ekfslam_t = typename traits_t::ekfslam_t;
ekfslam_t mapping;
// The rawlog file:
// ----------------------------------------
const unsigned int rawlog_offset =
cfgFile.read_int("MappingApplication", "rawlog_offset", 0);
const unsigned int SAVE_LOG_FREQUENCY =
cfgFile.read_int("MappingApplication", "SAVE_LOG_FREQUENCY", 1);
const bool SAVE_DA_LOG =
cfgFile.read_bool("MappingApplication", "SAVE_DA_LOG", true);
const bool SAVE_3D_SCENES =
cfgFile.read_bool("MappingApplication", "SAVE_3D_SCENES", true);
const bool SAVE_MAP_REPRESENTATIONS = cfgFile.read_bool(
"MappingApplication", "SAVE_MAP_REPRESENTATIONS", true);
bool SHOW_3D_LIVE =
cfgFile.read_bool("MappingApplication", "SHOW_3D_LIVE", false);
const bool CAMERA_3DSCENE_FOLLOWS_ROBOT = cfgFile.read_bool(
"MappingApplication", "CAMERA_3DSCENE_FOLLOWS_ROBOT", false);
#if !MRPT_HAS_WXWIDGETS
SHOW_3D_LIVE = false;
#endif
string OUT_DIR = cfgFile.read_string(
"MappingApplication", "logOutput_dir", "OUT_KF-SLAM");
string ground_truth_file =
cfgFile.read_string("MappingApplication", "ground_truth_file", "");
string ground_truth_file_robot = cfgFile.read_string(
"MappingApplication", "ground_truth_file_robot", "");
string ground_truth_data_association = cfgFile.read_string(
"MappingApplication", "ground_truth_data_association", "");
cout << "RAWLOG FILE:" << endl << rawlogFileName << endl;
ASSERT_FILE_EXISTS_(rawlogFileName);
CFileGZInputStream rawlogFile(rawlogFileName);
cout << "---------------------------------------------------" << endl
<< endl;
deleteFilesInDirectory(OUT_DIR);
createDirectory(OUT_DIR);
// Load the config options for mapping:
// ----------------------------------------
mapping.loadOptions(cfgFile);
mapping.KF_options.dumpToConsole();
mapping.options.dumpToConsole();
// debug:
// mapping.KF_options.use_analytic_observation_jacobian = true;
// mapping.KF_options.use_analytic_transition_jacobian = true;
// mapping.KF_options.debug_verify_analytic_jacobians = true;
// Is there ground truth of the robot poses??
CMatrixDouble GT_PATH(0, 0);
if (ground_truth_file_robot.size() && fileExists(ground_truth_file_robot))
{
GT_PATH.loadFromTextFile(ground_truth_file_robot);
ASSERT_(GT_PATH.rows() > 0 && GT_PATH.cols() == 6);
}
// Is there a ground truth file of the data association?
std::map<double, std::vector<int>>
GT_DA; // Map: timestamp -> vector(index in observation -> real index)
mrpt::containers::bimap<int, int> DA2GTDA_indices; // Landmark indices
// bimapping: SLAM DA <--->
// GROUND TRUTH DA
if (!ground_truth_data_association.empty() &&
fileExists(ground_truth_data_association))
{
CMatrixDouble mGT_DA;
mGT_DA.loadFromTextFile(ground_truth_data_association);
ASSERT_ABOVEEQ_(mGT_DA.cols(), 3);
// Convert the loaded matrix into a std::map in GT_DA:
for (int i = 0; i < mGT_DA.rows(); i++)
{
std::vector<int>& v = GT_DA[mGT_DA(i, 0)];
if (v.size() <= mGT_DA(i, 1)) v.resize(mGT_DA(i, 1) + 1);
v[mGT_DA(i, 1)] = mGT_DA(i, 2);
}
cout << "Loaded " << GT_DA.size()
<< " entries from DA ground truth file\n";
}
// Create output file for DA perf:
std::ofstream out_da_performance_log;
{
const std::string f = std::string(
OUT_DIR + std::string("/data_association_performance.log"));
out_da_performance_log.open(f.c_str());
ASSERTMSG_(
out_da_performance_log.is_open(),
std::string("Error writing to: ") + f);
// Header:
out_da_performance_log
<< "% TIMESTAMP INDEX_IN_OBS TruePos "
"FalsePos TrueNeg FalseNeg NoGroundTruthSoIDontKnow \n"
<< "%--------------------------------------------------------------"
"--------------------------------------------------\n";
}
if (SHOW_3D_LIVE)
{
win3d = mrpt::make_aligned_shared<mrpt::gui::CDisplayWindow3D>(
"KF-SLAM live view", 800, 500);
win3d->addTextMessage(
0.01, 0.96, "Red: Estimated path", TColorf(0.8f, 0.8f, 0.8f), 100,
MRPT_GLUT_BITMAP_HELVETICA_10);
win3d->addTextMessage(
0.01, 0.93, "Black: Ground truth path", TColorf(0.8f, 0.8f, 0.8f),
101, MRPT_GLUT_BITMAP_HELVETICA_10);
}
// Create DA-log output file:
std::ofstream out_da_log;
if (SAVE_DA_LOG)
{
const std::string f =
std::string(OUT_DIR + std::string("/data_association.log"));
out_da_log.open(f.c_str());
ASSERTMSG_(out_da_log.is_open(), std::string("Error writing to: ") + f);
// Header:
out_da_log << "% TIMESTAMP INDEX_IN_OBS ID "
" RANGE(m) YAW(rad) PITCH(rad) \n"
<< "%-------------------------------------------------------"
"-------------------------------------\n";
}
// The main loop:
// ---------------------------------------
CActionCollection::Ptr action;
CSensoryFrame::Ptr observations;
size_t rawlogEntry = 0, step = 0;
vector<TPose3D> meanPath; // The estimated path
typename traits_t::posepdf_t robotPose;
const bool is_pose_3d = robotPose.state_length != 3;
std::vector<typename IMPL::landmark_point_t> LMs;
std::map<unsigned int, CLandmark::TLandmarkID> LM_IDs;
CMatrixDouble fullCov;
CVectorDouble fullState;
CTicTac kftictac;
auto rawlogArch = mrpt::serialization::archiveFrom(rawlogFile);
for (;;)
{
if (os::kbhit())
{
char pushKey = os::getch();
if (27 == pushKey) break;
}
// Load action/observation pair from the rawlog:
// --------------------------------------------------
if (!CRawlog::readActionObservationPair(
rawlogArch, action, observations, rawlogEntry))
break; // file EOF
if (rawlogEntry >= rawlog_offset)
{
// Process the action and observations:
// --------------------------------------------
kftictac.Tic();
mapping.processActionObservation(action, observations);
const double tim_kf_iter = kftictac.Tac();
// Get current state:
// -------------------------------
mapping.getCurrentState(robotPose, LMs, LM_IDs, fullState, fullCov);
cout << "Mean pose: " << endl << robotPose.mean << endl;
cout << "# of landmarks in the map: " << LMs.size() << endl;
// Get the mean robot pose as 3D:
const CPose3D robotPoseMean3D = CPose3D(robotPose.mean);
// Build the path:
meanPath.push_back(robotPoseMean3D.asTPose());
// Save mean pose:
if (!(step % SAVE_LOG_FREQUENCY))
{
const auto p = robotPose.mean.asVectorVal();
p.saveToTextFile(
OUT_DIR +
format("/robot_pose_%05u.txt", (unsigned int)step));
}
// Save full cov:
if (!(step % SAVE_LOG_FREQUENCY))
{
fullCov.saveToTextFile(
OUT_DIR + format("/full_cov_%05u.txt", (unsigned int)step));
}
// Generate Data Association log?
if (SAVE_DA_LOG)
{
const typename ekfslam_t::TDataAssocInfo& da =
mapping.getLastDataAssociation();
const CObservationBearingRange::Ptr obs =
observations
->getObservationByClass<CObservationBearingRange>();
if (obs)
{
const CObservationBearingRange* obsRB = obs.get();
const double tim =
mrpt::system::timestampToDouble(obsRB->timestamp);
for (size_t i = 0; i < obsRB->sensedData.size(); i++)
{
auto it = da.results.associations.find(i);
int assoc_ID_in_SLAM;
if (it != da.results.associations.end())
assoc_ID_in_SLAM = it->second;
else
{
// It should be a newly created LM:
auto itNewLM = da.newly_inserted_landmarks.find(i);
if (itNewLM != da.newly_inserted_landmarks.end())
assoc_ID_in_SLAM = itNewLM->second;
else
assoc_ID_in_SLAM = -1;
}
out_da_log << format(
"%35.22f %8i %10i %10f %12f %12f\n", tim, (int)i,
assoc_ID_in_SLAM,
(double)obsRB->sensedData[i].range,
(double)obsRB->sensedData[i].yaw,
(double)obsRB->sensedData[i].pitch);
}
}
}
// Save report on DA performance:
{
const typename ekfslam_t::TDataAssocInfo& da =
mapping.getLastDataAssociation();
const CObservationBearingRange::Ptr obs =
observations
->getObservationByClass<CObservationBearingRange>();
if (obs)
{
const CObservationBearingRange* obsRB = obs.get();
const double tim =
mrpt::system::timestampToDouble(obsRB->timestamp);
auto itDA = GT_DA.find(tim);
for (size_t i = 0; i < obsRB->sensedData.size(); i++)
{
bool is_FP = false, is_TP = false, is_FN = false,
is_TN = false;
if (itDA != GT_DA.end())
{
const std::vector<int>& vDA = itDA->second;
ASSERT_BELOW_(i, vDA.size());
const int GT_ASSOC = vDA[i];
auto it = da.results.associations.find(i);
if (it != da.results.associations.end())
{
// This observation was assigned the already
// existing LM in the map: "it->second"
// TruePos -> If that LM index corresponds to
// that in the GT (with index mapping):
// mrpt::containers::bimap<int,int>
// DA2GTDA_indices;
// // Landmark indices bimapping: SLAM DA <--->
// GROUND TRUTH DA
if (DA2GTDA_indices.hasKey(it->second))
{
const int slam_asigned_LM_idx =
DA2GTDA_indices.direct(it->second);
if (slam_asigned_LM_idx == GT_ASSOC)
is_TP = true;
else
is_FP = true;
}
else
{
// Is this case possible? Assigned to an
// index not ever seen for the first time
// with a GT....
// Just in case:
is_FP = true;
}
}
else
{
// No pairing, but should be a newly created LM:
auto itNewLM =
da.newly_inserted_landmarks.find(i);
if (itNewLM !=
da.newly_inserted_landmarks.end())
{
const int new_LM_in_SLAM = itNewLM->second;
// Was this really a NEW LM not observed
// before?
if (DA2GTDA_indices.hasValue(GT_ASSOC))
{
// GT says this LM was already observed,
// so it shouldn't appear here as new:
is_FN = true;
}
else
{
// Really observed for the first time:
is_TN = true;
DA2GTDA_indices.insert(
new_LM_in_SLAM, GT_ASSOC);
}
}
else
{
// Not associated neither inserted:
// Shouldn't really never arrive here.
}
}
}
// "% TIMESTAMP INDEX_IN_OBS
// TruePos FalsePos TrueNeg FalseNeg
// NoGroundTruthSoIDontKnow \n"
out_da_performance_log << format(
"%35.22f %13i %8i %8i %8i %8i %8i\n", tim, (int)i,
(int)(is_TP ? 1 : 0), (int)(is_FP ? 1 : 0),
(int)(is_TN ? 1 : 0), (int)(is_FN ? 1 : 0),
(int)(!is_FP && !is_TP && !is_FN && !is_TN ? 1 : 0));
}
}
}
// Save map to file representations?
if (SAVE_MAP_REPRESENTATIONS && !(step % SAVE_LOG_FREQUENCY))
{
mapping.saveMapAndPath2DRepresentationAsMATLABFile(
OUT_DIR + format("/slam_state_%05u.m", (unsigned int)step));
}
// Save 3D view of the filter state:
if (win3d || (SAVE_3D_SCENES && !(step % SAVE_LOG_FREQUENCY)))
{
COpenGLScene::Ptr scene3D =
mrpt::make_aligned_shared<COpenGLScene>();
{
opengl::CGridPlaneXY::Ptr grid =
mrpt::make_aligned_shared<opengl::CGridPlaneXY>(
-1000, 1000, -1000, 1000, 0, 5);
grid->setColor(0.4, 0.4, 0.4);
scene3D->insert(grid);
}
// Robot path:
{
opengl::CSetOfLines::Ptr linesPath =
mrpt::make_aligned_shared<opengl::CSetOfLines>();
linesPath->setColor(1, 0, 0);
TPose3D init_pose;
if (!meanPath.empty())
init_pose = CPose3D(meanPath[0]).asTPose();
int path_decim = 0;
for (auto& it : meanPath)
{
linesPath->appendLine(init_pose, it);
init_pose = it;
if (++path_decim > 10)
{
path_decim = 0;
mrpt::opengl::CSetOfObjects::Ptr xyz =
mrpt::opengl::stock_objects::CornerXYZSimple(
0.3f, 2.0f);
xyz->setPose(CPose3D(it));
scene3D->insert(xyz);
}
}
scene3D->insert(linesPath);
// finally a big corner for the latest robot pose:
{
mrpt::opengl::CSetOfObjects::Ptr xyz =
mrpt::opengl::stock_objects::CornerXYZSimple(
1.0, 2.5);
xyz->setPose(robotPoseMean3D);
scene3D->insert(xyz);
}
// The camera pointing to the current robot pose:
if (CAMERA_3DSCENE_FOLLOWS_ROBOT)
{
win3d->setCameraPointingToPoint(
robotPoseMean3D.x(), robotPoseMean3D.y(),
robotPoseMean3D.z());
}
}
// Do we have a ground truth?
if (GT_PATH.cols() == 6 || GT_PATH.cols() == 3)
{
opengl::CSetOfLines::Ptr GT_path =
mrpt::make_aligned_shared<opengl::CSetOfLines>();
GT_path->setColor(0, 0, 0);
size_t N =
std::min((int)GT_PATH.rows(), (int)meanPath.size());
if (GT_PATH.cols() == 6)
{
double gtx0 = 0, gty0 = 0, gtz0 = 0;
for (size_t i = 0; i < N; i++)
{
const CPose3D p(
GT_PATH(i, 0), GT_PATH(i, 1), GT_PATH(i, 2),
GT_PATH(i, 3), GT_PATH(i, 4), GT_PATH(i, 5));
GT_path->appendLine(
gtx0, gty0, gtz0, p.x(), p.y(), p.z());
gtx0 = p.x();
gty0 = p.y();
gtz0 = p.z();
}
}
else if (GT_PATH.cols() == 3)
{
double gtx0 = 0, gty0 = 0;
for (size_t i = 0; i < N; i++)
{
const CPose2D p(
GT_PATH(i, 0), GT_PATH(i, 1), GT_PATH(i, 2));
GT_path->appendLine(gtx0, gty0, 0, p.x(), p.y(), 0);
gtx0 = p.x();
gty0 = p.y();
}
}
scene3D->insert(GT_path);
}
// Draw latest data association:
{
const typename ekfslam_t::TDataAssocInfo& da =
mapping.getLastDataAssociation();
mrpt::opengl::CSetOfLines::Ptr lins =
mrpt::make_aligned_shared<mrpt::opengl::CSetOfLines>();
lins->setLineWidth(1.2f);
lins->setColor(1, 1, 1);
for (auto it = da.results.associations.begin();
it != da.results.associations.end(); ++it)
{
const prediction_index_t idxPred = it->second;
// This index must match the internal list of features
// in the map:
typename ekfslam_t::KFArray_FEAT featMean;
mapping.getLandmarkMean(idxPred, featMean);
TPoint3D featMean3D;
traits_t::landmark_to_3d(featMean, featMean3D);
// Line: robot -> landmark:
lins->appendLine(
robotPoseMean3D.x(), robotPoseMean3D.y(),
robotPoseMean3D.z(), featMean3D.x, featMean3D.y,
featMean3D.z);
}
scene3D->insert(lins);
}
// The current state of KF-SLAM:
{
opengl::CSetOfObjects::Ptr objs =
mrpt::make_aligned_shared<opengl::CSetOfObjects>();
mapping.getAs3DObject(objs);
scene3D->insert(objs);
}
if (win3d)
{
mrpt::opengl::COpenGLScene::Ptr& scn =
win3d->get3DSceneAndLock();
scn = scene3D;
// Update text messages:
win3d->addTextMessage(
0.02, 0.02,
format(
"Step %u - Landmarks in the map: %u",
(unsigned int)step, (unsigned int)LMs.size()),
TColorf(1, 1, 1), 0, MRPT_GLUT_BITMAP_HELVETICA_12);
win3d->addTextMessage(
0.02, 0.06,
format(
is_pose_3d
? "Estimated pose: (x y z qr qx qy qz) = %s"
: "Estimated pose: (x y yaw) = %s",
robotPose.mean.asString().c_str()),
TColorf(1, 1, 1), 1, MRPT_GLUT_BITMAP_HELVETICA_12);
static vector<double> estHz_vals;
const double curHz = 1.0 / std::max(1e-9, tim_kf_iter);
estHz_vals.push_back(curHz);
if (estHz_vals.size() > 50)
estHz_vals.erase(estHz_vals.begin());
const double meanHz = mrpt::math::mean(estHz_vals);
win3d->addTextMessage(
0.02, 0.10,
format(
"Iteration time: %7ss",
mrpt::system::unitsFormat(tim_kf_iter).c_str()),
TColorf(1, 1, 1), 2, MRPT_GLUT_BITMAP_HELVETICA_12);
win3d->addTextMessage(
0.02, 0.14,
format(
"Execution rate: %7sHz",
mrpt::system::unitsFormat(meanHz).c_str()),
TColorf(1, 1, 1), 3, MRPT_GLUT_BITMAP_HELVETICA_12);
win3d->unlockAccess3DScene();
win3d->repaint();
}
if (SAVE_3D_SCENES && !(step % SAVE_LOG_FREQUENCY))
{
// Save to file:
CFileGZOutputStream f(
OUT_DIR +
format("/kf_state_%05u.3Dscene", (unsigned int)step));
mrpt::serialization::archiveFrom(f) << *scene3D;
}
}
// Free rawlog items memory:
// --------------------------------------------
action.reset();
observations.reset();
} // (rawlogEntry>=rawlog_offset)
cout << format(
"\nStep %u - Rawlog entries processed: %i\n", (unsigned int)step,
(unsigned int)rawlogEntry);
step++;
}; // end "while(1)"
// Partitioning experiment: Only for 6D SLAM:
traits_t::doPartitioningExperiment(mapping, fullCov, OUT_DIR);
// Is there ground truth of landmarks positions??
if (ground_truth_file.size() && fileExists(ground_truth_file))
{
CMatrixFloat GT(0, 0);
try
{
GT.loadFromTextFile(ground_truth_file);
}
catch (const std::exception& e)
{
cerr << "Ignoring the following error loading ground truth file: "
<< mrpt::exception_to_str(e) << endl;
}
if (GT.rows() > 0 && !LMs.empty())
{
// Each row has:
// [0] [1] [2] [6]
// x y z ID
CVectorDouble ERRS(0);
for (size_t i = 0; i < LMs.size(); i++)
{
// Find the entry in the GT for this mapped LM:
bool found = false;
for (int r = 0; r < GT.rows(); r++)
{
if (LM_IDs[i] == GT(r, 6))
{
const CPoint3D gtPt(GT(r, 0), GT(r, 1), GT(r, 2));
ERRS.push_back(gtPt.distanceTo(
CPoint3D(TPoint3D(LMs[i])))); // All these
// conversions
// are to make it
// work with
// either
// CPoint3D &
// TPoint2D
found = true;
break;
}
}
if (!found)
{
cerr << "Ground truth entry not found for landmark ID:"
<< LM_IDs[i] << endl;
}
}
printf("ERRORS VS. GROUND TRUTH:\n");
printf("Mean Error: %f meters\n", math::mean(ERRS));
printf("Minimum error: %f meters\n", math::minimum(ERRS));
printf("Maximum error: %f meters\n", math::maximum(ERRS));
}
} // end if GT
cout << "********* KF-SLAM finished! **********" << endl;
if (win3d)
{
cout << "\n Close the 3D window to quit the application.\n";
win3d->waitForKey();
}
}
void ICPslamWrapper::run3Dwindow()
{
// Create 3D window if requested (the code is copied from ../mrpt/apps/icp-slam/icp-slam_main.cpp):
if (SHOW_PROGRESS_3D_REAL_TIME && win3D_)
{
// get currently builded map
metric_map_ = mapBuilder.getCurrentlyBuiltMetricMap();
lst_current_laser_scans.clear();
CPose3D robotPose;
mapBuilder.getCurrentPoseEstimation()->getMean(robotPose);
COpenGLScene::Ptr scene = COpenGLScene::Create();
COpenGLViewport::Ptr view = scene->getViewport("main");
COpenGLViewport::Ptr view_map = scene->createViewport("mini-map");
view_map->setBorderSize(2);
view_map->setViewportPosition(0.01, 0.01, 0.35, 0.35);
view_map->setTransparent(false);
{
mrpt::opengl::CCamera &cam = view_map->getCamera();
cam.setAzimuthDegrees(-90);
cam.setElevationDegrees(90);
cam.setPointingAt(robotPose);
cam.setZoomDistance(20);
cam.setOrthogonal();
}
// The ground:
mrpt::opengl::CGridPlaneXY::Ptr groundPlane = mrpt::opengl::CGridPlaneXY::Create(-200, 200, -200, 200, 0, 5);
groundPlane->setColor(0.4, 0.4, 0.4);
view->insert(groundPlane);
view_map->insert(CRenderizable::Ptr(groundPlane)); // A copy
// The camera pointing to the current robot pose:
if (CAMERA_3DSCENE_FOLLOWS_ROBOT)
{
scene->enableFollowCamera(true);
mrpt::opengl::CCamera &cam = view_map->getCamera();
cam.setAzimuthDegrees(-45);
cam.setElevationDegrees(45);
cam.setPointingAt(robotPose);
}
// The maps:
{
opengl::CSetOfObjects::Ptr obj = opengl::CSetOfObjects::Create();
metric_map_->getAs3DObject(obj);
view->insert(obj);
// Only the point map:
opengl::CSetOfObjects::Ptr ptsMap = opengl::CSetOfObjects::Create();
if (metric_map_->m_pointsMaps.size())
{
metric_map_->m_pointsMaps[0]->getAs3DObject(ptsMap);
view_map->insert(ptsMap);
}
}
// Draw the robot path:
CPose3DPDF::Ptr posePDF = mapBuilder.getCurrentPoseEstimation();
CPose3D curRobotPose;
posePDF->getMean(curRobotPose);
{
opengl::CSetOfObjects::Ptr obj = opengl::stock_objects::RobotPioneer();
obj->setPose(curRobotPose);
view->insert(obj);
}
{
opengl::CSetOfObjects::Ptr obj = opengl::stock_objects::RobotPioneer();
obj->setPose(curRobotPose);
view_map->insert(obj);
}
opengl::COpenGLScene::Ptr &ptrScene = win3D_->get3DSceneAndLock();
ptrScene = scene;
win3D_->unlockAccess3DScene();
// Move camera:
win3D_->setCameraPointingToPoint(curRobotPose.x(), curRobotPose.y(), curRobotPose.z());
// Update:
win3D_->forceRepaint();
// Build list of scans:
if (SHOW_LASER_SCANS_3D)
{
// Rawlog in "Observation-only" format:
if (isObsBasedRawlog)
{
if (IS_CLASS(observation, CObservation2DRangeScan))
{
lst_current_laser_scans.push_back(mrpt::ptr_cast<CObservation2DRangeScan>::from(observation));
}
}
else
{
// Rawlog in the Actions-SF format:
for (size_t i = 0;; i++)
{
CObservation2DRangeScan::Ptr new_obs = observations->getObservationByClass<CObservation2DRangeScan>(i);
if (!new_obs)
break; // There're no more scans
else
lst_current_laser_scans.push_back(new_obs);
}
}
}
// Draw laser scanners in 3D:
if (SHOW_LASER_SCANS_3D)
{
for (size_t i = 0; i < lst_current_laser_scans.size(); i++)
{
// Create opengl object and load scan data from the scan observation:
opengl::CPlanarLaserScan::Ptr obj = opengl::CPlanarLaserScan::Create();
obj->setScan(*lst_current_laser_scans[i]);
obj->setPose(curRobotPose);
obj->setSurfaceColor(1.0f, 0.0f, 0.0f, 0.5f);
// inser into the scene:
view->insert(obj);
}
}
}
}
CPose3DPDFPtr CICP::ICP3D_Method_Classic(
const mrpt::maps::CMetricMap *m1,
const mrpt::maps::CMetricMap *mm2,
const CPose3DPDFGaussian &initialEstimationPDF,
TReturnInfo &outInfo )
{
MRPT_START
// The result can be either a Gaussian or a SOG:
CPose3DPDFPtr resultPDF;
CPose3DPDFGaussianPtr gaussPdf;
size_t nCorrespondences=0;
bool keepApproaching;
CPose3D grossEst = initialEstimationPDF.mean;
mrpt::utils::TMatchingPairList correspondences,old_correspondences;
CPose3D lastMeanPose;
// Assure the class of the maps:
ASSERT_(mm2->GetRuntimeClass()->derivedFrom(CLASS_ID(CPointsMap)));
const CPointsMap *m2 = (CPointsMap*)mm2;
// Asserts:
// -----------------
ASSERT_( options.ALFA>0 && options.ALFA<1 );
// The algorithm output auxiliar info:
// -------------------------------------------------
outInfo.nIterations = 0;
outInfo.goodness = 1;
outInfo.quality = 0;
// The gaussian PDF to estimate:
// ------------------------------------------------------
gaussPdf = CPose3DPDFGaussian::Create();
// First gross approximation:
gaussPdf->mean = grossEst;
// Initial thresholds:
TMatchingParams matchParams;
TMatchingExtraResults matchExtraResults;
matchParams.maxDistForCorrespondence = options.thresholdDist; // Distance threshold
matchParams.maxAngularDistForCorrespondence = options.thresholdAng; // Angular threshold
matchParams.onlyKeepTheClosest = options.onlyClosestCorrespondences;
matchParams.onlyUniqueRobust = options.onlyUniqueRobust;
matchParams.decimation_other_map_points = options.corresponding_points_decimation;
// Asure maps are not empty!
// ------------------------------------------------------
if ( !m2->isEmpty() )
{
matchParams.offset_other_map_points = 0;
// ------------------------------------------------------
// The ICP loop
// ------------------------------------------------------
do
{
matchParams.angularDistPivotPoint = TPoint3D(gaussPdf->mean.x(),gaussPdf->mean.y(),gaussPdf->mean.z());
// ------------------------------------------------------
// Find the matching (for a points map)
// ------------------------------------------------------
m1->determineMatching3D(
m2, // The other map
gaussPdf->mean, // The other map pose
correspondences,
matchParams, matchExtraResults);
nCorrespondences = correspondences.size();
if ( !nCorrespondences )
{
// Nothing we can do !!
keepApproaching = false;
}
else
{
// Compute the estimated pose, using Horn's method.
// ----------------------------------------------------------------------
mrpt::poses::CPose3DQuat estPoseQuat;
double transf_scale;
mrpt::tfest::se3_l2(correspondences, estPoseQuat, transf_scale, false /* dont force unit scale */ );
gaussPdf->mean = estPoseQuat;
// If matching has not changed, decrease the thresholds:
// --------------------------------------------------------
keepApproaching = true;
if (!(fabs(lastMeanPose.x()-gaussPdf->mean.x())>options.minAbsStep_trans ||
fabs(lastMeanPose.y()-gaussPdf->mean.y())>options.minAbsStep_trans ||
fabs(lastMeanPose.z()-gaussPdf->mean.z())>options.minAbsStep_trans ||
fabs(math::wrapToPi(lastMeanPose.yaw()-gaussPdf->mean.yaw()))>options.minAbsStep_rot ||
fabs(math::wrapToPi(lastMeanPose.pitch()-gaussPdf->mean.pitch()))>options.minAbsStep_rot ||
fabs(math::wrapToPi(lastMeanPose.roll()-gaussPdf->mean.roll()))>options.minAbsStep_rot ))
{
matchParams.maxDistForCorrespondence *= options.ALFA;
matchParams.maxAngularDistForCorrespondence *= options.ALFA;
if (matchParams.maxDistForCorrespondence < options.smallestThresholdDist )
keepApproaching = false;
if (++matchParams.offset_other_map_points>=options.corresponding_points_decimation)
matchParams.offset_other_map_points=0;
}
lastMeanPose = gaussPdf->mean;
} // end of "else, there are correspondences"
// Next iteration:
outInfo.nIterations++;
if (outInfo.nIterations >= options.maxIterations && matchParams.maxDistForCorrespondence>options.smallestThresholdDist)
{
matchParams.maxDistForCorrespondence *= options.ALFA;
}
} while ( (keepApproaching && outInfo.nIterations<options.maxIterations) ||
(outInfo.nIterations >= options.maxIterations && matchParams.maxDistForCorrespondence>options.smallestThresholdDist) );
// -------------------------------------------------
// Obtain the covariance matrix of the estimation
// -------------------------------------------------
if (!options.skip_cov_calculation && nCorrespondences)
{
// ...
}
//
outInfo.goodness = matchExtraResults.correspondencesRatio;
} // end of "if m2 is not empty"
// Return the gaussian distribution:
resultPDF = gaussPdf;
return resultPDF;
MRPT_END
}
// ------------------------------------------------------
// MapBuilding_ICP
// override_rawlog_file: If not empty, use that rawlog
// instead of that in the config file.
// ------------------------------------------------------
void MapBuilding_ICP(
const string& INI_FILENAME, const string& override_rawlog_file)
{
MRPT_START
CConfigFile iniFile(INI_FILENAME);
// ------------------------------------------
// Load config from file:
// ------------------------------------------
const string RAWLOG_FILE = !override_rawlog_file.empty()
? override_rawlog_file
: iniFile.read_string(
"MappingApplication", "rawlog_file",
"", /*Force existence:*/ true);
const unsigned int rawlog_offset = iniFile.read_int(
"MappingApplication", "rawlog_offset", 0, /*Force existence:*/ true);
const string OUT_DIR_STD = iniFile.read_string(
"MappingApplication", "logOutput_dir", "log_out",
/*Force existence:*/ true);
const int LOG_FREQUENCY = iniFile.read_int(
"MappingApplication", "LOG_FREQUENCY", 5, /*Force existence:*/ true);
const bool SAVE_POSE_LOG = iniFile.read_bool(
"MappingApplication", "SAVE_POSE_LOG", false,
/*Force existence:*/ true);
const bool SAVE_3D_SCENE = iniFile.read_bool(
"MappingApplication", "SAVE_3D_SCENE", false,
/*Force existence:*/ true);
const bool CAMERA_3DSCENE_FOLLOWS_ROBOT = iniFile.read_bool(
"MappingApplication", "CAMERA_3DSCENE_FOLLOWS_ROBOT", true,
/*Force existence:*/ true);
bool SHOW_PROGRESS_3D_REAL_TIME = false;
int SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS = 0;
bool SHOW_LASER_SCANS_3D = true;
MRPT_LOAD_CONFIG_VAR(
SHOW_PROGRESS_3D_REAL_TIME, bool, iniFile, "MappingApplication");
MRPT_LOAD_CONFIG_VAR(
SHOW_LASER_SCANS_3D, bool, iniFile, "MappingApplication");
MRPT_LOAD_CONFIG_VAR(
SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS, int, iniFile,
"MappingApplication");
const char* OUT_DIR = OUT_DIR_STD.c_str();
// ------------------------------------
// Constructor of ICP-SLAM object
// ------------------------------------
CMetricMapBuilderICP mapBuilder;
mapBuilder.ICP_options.loadFromConfigFile(iniFile, "MappingApplication");
mapBuilder.ICP_params.loadFromConfigFile(iniFile, "ICP");
// Construct the maps with the loaded configuration.
mapBuilder.initialize();
// ---------------------------------
// CMetricMapBuilder::TOptions
// ---------------------------------
mapBuilder.setVerbosityLevel(LVL_DEBUG);
mapBuilder.options.alwaysInsertByClass.fromString(
iniFile.read_string("MappingApplication", "alwaysInsertByClass", ""));
// Print params:
printf("Running with the following parameters:\n");
printf(" RAWLOG file:'%s'\n", RAWLOG_FILE.c_str());
printf(" Output directory:\t\t\t'%s'\n", OUT_DIR);
printf(
" matchAgainstTheGrid:\t\t\t%c\n",
mapBuilder.ICP_options.matchAgainstTheGrid ? 'Y' : 'N');
printf(" Log record freq:\t\t\t%u\n", LOG_FREQUENCY);
printf(" SAVE_3D_SCENE:\t\t\t%c\n", SAVE_3D_SCENE ? 'Y' : 'N');
printf(" SAVE_POSE_LOG:\t\t\t%c\n", SAVE_POSE_LOG ? 'Y' : 'N');
printf(
" CAMERA_3DSCENE_FOLLOWS_ROBOT:\t%c\n",
CAMERA_3DSCENE_FOLLOWS_ROBOT ? 'Y' : 'N');
printf("\n");
mapBuilder.ICP_params.dumpToConsole();
mapBuilder.ICP_options.dumpToConsole();
// Checks:
ASSERT_(RAWLOG_FILE.size() > 0)
ASSERT_FILE_EXISTS_(RAWLOG_FILE)
CTicTac tictac, tictacGlobal, tictac_JH;
int step = 0;
string str;
CSimpleMap finalMap;
float t_exec;
COccupancyGridMap2D::TEntropyInfo entropy;
size_t rawlogEntry = 0;
CFileGZInputStream rawlogFile(RAWLOG_FILE.c_str());
// Prepare output directory:
// --------------------------------
deleteFilesInDirectory(OUT_DIR);
createDirectory(OUT_DIR);
// Open log files:
// ----------------------------------
CFileOutputStream f_log(format("%s/log_times.txt", OUT_DIR));
CFileOutputStream f_path(format("%s/log_estimated_path.txt", OUT_DIR));
CFileOutputStream f_pathOdo(format("%s/log_odometry_path.txt", OUT_DIR));
// Create 3D window if requested:
CDisplayWindow3D::Ptr win3D;
#if MRPT_HAS_WXWIDGETS
if (SHOW_PROGRESS_3D_REAL_TIME)
{
win3D = mrpt::make_aligned_shared<CDisplayWindow3D>(
"ICP-SLAM @ MRPT C++ Library", 600, 500);
win3D->setCameraZoom(20);
win3D->setCameraAzimuthDeg(-45);
}
#endif
// ----------------------------------------------------------
// Map Building
// ----------------------------------------------------------
CPose2D odoPose(0, 0, 0);
tictacGlobal.Tic();
for (;;)
{
CActionCollection::Ptr action;
CSensoryFrame::Ptr observations;
CObservation::Ptr observation;
if (os::kbhit())
{
char c = os::getch();
if (c == 27) break;
}
// Load action/observation pair from the rawlog:
// --------------------------------------------------
if (!CRawlog::getActionObservationPairOrObservation(
rawlogFile, action, observations, observation, rawlogEntry))
break; // file EOF
const bool isObsBasedRawlog = observation ? true : false;
std::vector<mrpt::obs::CObservation2DRangeScan::Ptr>
lst_current_laser_scans; // Just for drawing in 3D views
if (rawlogEntry >= rawlog_offset)
{
// Update odometry:
if (isObsBasedRawlog)
{
static CPose2D lastOdo;
static bool firstOdo = true;
if (IS_CLASS(observation, CObservationOdometry))
{
CObservationOdometry::Ptr o =
std::dynamic_pointer_cast<CObservationOdometry>(
observation);
if (!firstOdo) odoPose = odoPose + (o->odometry - lastOdo);
lastOdo = o->odometry;
firstOdo = false;
}
}
else
{
CActionRobotMovement2D::Ptr act =
action->getBestMovementEstimation();
if (act) odoPose = odoPose + act->poseChange->getMeanVal();
}
// Build list of scans:
if (SHOW_LASER_SCANS_3D)
{
// Rawlog in "Observation-only" format:
if (isObsBasedRawlog)
{
if (IS_CLASS(observation, CObservation2DRangeScan))
{
lst_current_laser_scans.push_back(
std::dynamic_pointer_cast<CObservation2DRangeScan>(
observation));
}
}
else
{
// Rawlog in the Actions-SF format:
for (size_t i = 0;; i++)
{
CObservation2DRangeScan::Ptr new_obs =
observations->getObservationByClass<
CObservation2DRangeScan>(i);
if (!new_obs)
break; // There're no more scans
else
lst_current_laser_scans.push_back(new_obs);
}
}
}
// Execute:
// ----------------------------------------
tictac.Tic();
if (isObsBasedRawlog)
mapBuilder.processObservation(observation);
else
mapBuilder.processActionObservation(*action, *observations);
t_exec = tictac.Tac();
printf("Map building executed in %.03fms\n", 1000.0f * t_exec);
// Info log:
// -----------
f_log.printf(
"%f %i\n", 1000.0f * t_exec,
mapBuilder.getCurrentlyBuiltMapSize());
const CMultiMetricMap* mostLikMap =
mapBuilder.getCurrentlyBuiltMetricMap();
if (0 == (step % LOG_FREQUENCY))
{
// Pose log:
// -------------
if (SAVE_POSE_LOG)
{
printf("Saving pose log information...");
mapBuilder.getCurrentPoseEstimation()->saveToTextFile(
format("%s/mapbuild_posepdf_%03u.txt", OUT_DIR, step));
printf("Ok\n");
}
}
// Save a 3D scene view of the mapping process:
if (0 == (step % LOG_FREQUENCY) || (SAVE_3D_SCENE || win3D))
{
CPose3D robotPose;
mapBuilder.getCurrentPoseEstimation()->getMean(robotPose);
COpenGLScene::Ptr scene =
mrpt::make_aligned_shared<COpenGLScene>();
COpenGLViewport::Ptr view = scene->getViewport("main");
ASSERT_(view);
COpenGLViewport::Ptr view_map =
scene->createViewport("mini-map");
view_map->setBorderSize(2);
view_map->setViewportPosition(0.01, 0.01, 0.35, 0.35);
view_map->setTransparent(false);
{
mrpt::opengl::CCamera& cam = view_map->getCamera();
cam.setAzimuthDegrees(-90);
cam.setElevationDegrees(90);
cam.setPointingAt(robotPose);
cam.setZoomDistance(20);
cam.setOrthogonal();
}
// The ground:
mrpt::opengl::CGridPlaneXY::Ptr groundPlane =
mrpt::make_aligned_shared<mrpt::opengl::CGridPlaneXY>(
-200, 200, -200, 200, 0, 5);
groundPlane->setColor(0.4, 0.4, 0.4);
view->insert(groundPlane);
view_map->insert(CRenderizable::Ptr(groundPlane)); // A copy
// The camera pointing to the current robot pose:
if (CAMERA_3DSCENE_FOLLOWS_ROBOT)
{
scene->enableFollowCamera(true);
mrpt::opengl::CCamera& cam = view_map->getCamera();
cam.setAzimuthDegrees(-45);
cam.setElevationDegrees(45);
cam.setPointingAt(robotPose);
}
// The maps:
{
opengl::CSetOfObjects::Ptr obj =
mrpt::make_aligned_shared<opengl::CSetOfObjects>();
mostLikMap->getAs3DObject(obj);
view->insert(obj);
// Only the point map:
opengl::CSetOfObjects::Ptr ptsMap =
mrpt::make_aligned_shared<opengl::CSetOfObjects>();
if (mostLikMap->m_pointsMaps.size())
{
mostLikMap->m_pointsMaps[0]->getAs3DObject(ptsMap);
view_map->insert(ptsMap);
}
}
// Draw the robot path:
CPose3DPDF::Ptr posePDF = mapBuilder.getCurrentPoseEstimation();
CPose3D curRobotPose;
posePDF->getMean(curRobotPose);
{
opengl::CSetOfObjects::Ptr obj =
opengl::stock_objects::RobotPioneer();
obj->setPose(curRobotPose);
view->insert(obj);
}
{
opengl::CSetOfObjects::Ptr obj =
opengl::stock_objects::RobotPioneer();
obj->setPose(curRobotPose);
view_map->insert(obj);
}
// Draw laser scanners in 3D:
if (SHOW_LASER_SCANS_3D)
{
for (size_t i = 0; i < lst_current_laser_scans.size(); i++)
{
// Create opengl object and load scan data from the scan
// observation:
opengl::CPlanarLaserScan::Ptr obj =
mrpt::make_aligned_shared<
opengl::CPlanarLaserScan>();
obj->setScan(*lst_current_laser_scans[i]);
obj->setPose(curRobotPose);
obj->setSurfaceColor(1.0f, 0.0f, 0.0f, 0.5f);
// inser into the scene:
view->insert(obj);
}
}
// Save as file:
if (0 == (step % LOG_FREQUENCY) && SAVE_3D_SCENE)
{
CFileGZOutputStream f(
format("%s/buildingmap_%05u.3Dscene", OUT_DIR, step));
f << *scene;
}
// Show 3D?
if (win3D)
{
opengl::COpenGLScene::Ptr& ptrScene =
win3D->get3DSceneAndLock();
ptrScene = scene;
win3D->unlockAccess3DScene();
// Move camera:
win3D->setCameraPointingToPoint(
curRobotPose.x(), curRobotPose.y(), curRobotPose.z());
// Update:
win3D->forceRepaint();
std::this_thread::sleep_for(
std::chrono::milliseconds(
SHOW_PROGRESS_3D_REAL_TIME_DELAY_MS));
}
}
// Save the memory usage:
// ------------------------------------------------------------------
{
printf("Saving memory usage...");
unsigned long memUsage = getMemoryUsage();
FILE* f = os::fopen(
format("%s/log_MemoryUsage.txt", OUT_DIR).c_str(), "at");
if (f)
{
os::fprintf(f, "%u\t%lu\n", step, memUsage);
os::fclose(f);
}
printf("Ok! (%.04fMb)\n", ((float)memUsage) / (1024 * 1024));
}
// Save the robot estimated pose for each step:
f_path.printf(
"%i %f %f %f\n", step,
mapBuilder.getCurrentPoseEstimation()->getMeanVal().x(),
mapBuilder.getCurrentPoseEstimation()->getMeanVal().y(),
mapBuilder.getCurrentPoseEstimation()->getMeanVal().yaw());
f_pathOdo.printf(
"%i %f %f %f\n", step, odoPose.x(), odoPose.y(), odoPose.phi());
} // end of if "rawlog_offset"...
step++;
printf(
"\n---------------- STEP %u | RAWLOG ENTRY %u ----------------\n",
step, (unsigned)rawlogEntry);
};
printf(
"\n---------------- END!! (total time: %.03f sec) ----------------\n",
tictacGlobal.Tac());
// Save map:
mapBuilder.getCurrentlyBuiltMap(finalMap);
str = format("%s/_finalmap_.simplemap", OUT_DIR);
printf("Dumping final map in binary format to: %s\n", str.c_str());
mapBuilder.saveCurrentMapToFile(str);
const CMultiMetricMap* finalPointsMap =
mapBuilder.getCurrentlyBuiltMetricMap();
str = format("%s/_finalmaps_.txt", OUT_DIR);
printf("Dumping final metric maps to %s_XXX\n", str.c_str());
finalPointsMap->saveMetricMapRepresentationToFile(str);
if (win3D) win3D->waitForKey();
MRPT_END
}
