bool MyReactiveInterface::senseObstacles(CSimplePointsMap &obstacles){ cout << "senseObstacles" << endl; CObservation2DRangeScan laserScan; CPose2D rPose; CPose3D rPose3D; getCurrentMeasures(laserScan,rPose); rPose3D=rPose; obstacles.insertionOptions.minDistBetweenLaserPoints=0.005f; obstacles.insertionOptions.also_interpolate=false; obstacles.clear(); obstacles.insertObservation(&laserScan); // Update data for plot thread pthread_mutex_lock(&m_mutex); path.AddVertex(rPose.x(),rPose.y()); laserCurrentMap.loadFromRangeScan(laserScan,&rPose3D); newScan=true; pthread_mutex_unlock(&m_mutex); refreshPlot(); return true; }
/*--------------------------------------------------------------- computeObservationLikelihood_likelihoodField_Thrun ---------------------------------------------------------------*/ double COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun( const CObservation *obs, const CPose2D &takenFrom ) { MRPT_START double ret=0; // This function depends on the observation type: // ----------------------------------------------------- if ( IS_CLASS(obs, CObservation2DRangeScan) ) { // Observation is a laser range scan: // ------------------------------------------- const CObservation2DRangeScan *o = static_cast<const CObservation2DRangeScan*>( obs ); // Insert only HORIZONTAL scans, since the grid is supposed to // be a horizontal representation of space. if (!o->isPlanarScan(insertionOptions.horizontalTolerance)) return -10; // Assure we have a 2D points-map representation of the points from the scan: CPointsMap::TInsertionOptions opts; opts.minDistBetweenLaserPoints = resolution*0.5f; opts.isPlanarMap = true; // Already filtered above! opts.horizontalTolerance = insertionOptions.horizontalTolerance; // Compute the likelihood of the points in this grid map: ret = computeLikelihoodField_Thrun( o->buildAuxPointsMap<mrpt::maps::CPointsMap>(&opts), &takenFrom ); } // end of observation is a scan range 2D else if ( IS_CLASS(obs, CObservationRange) ) { // Sonar-like observations: // --------------------------------------- const CObservationRange *o = static_cast<const CObservationRange*>( obs ); // Create a point map representation of the observation: CSimplePointsMap pts; pts.insertionOptions.minDistBetweenLaserPoints = resolution*0.5f; pts.insertObservation(o); // Compute the likelihood of the points in this grid map: ret = computeLikelihoodField_Thrun( &pts, &takenFrom ); } return ret; MRPT_END }
// Test function void laserTest(){ initLaser(); #if MRPT_HAS_WXWIDGETS CDisplayWindowPlots win("Sick Laser scaner"); #endif CSimplePointsMap receiveMap; // CObservation2DRangeScan* obs = new CObservation2DRangeScan(); CObservation* obs = new CObservation2DRangeScan(); while(!mrpt::system::os::kbhit()){ if(BREAK){ cout << index << "frame, Input the any key to continue" << endl; //cin >> temp; getc(stdin); fflush(stdin); } if(receiveDataFromSensor((CObservation2DRangeScan*)obs, SICK)) { ((CObservation2DRangeScan*)obs)->sensorPose = CPose3D(0,0,0); receiveMap.clear(); receiveMap.insertionOptions.minDistBetweenLaserPoints = 0; receiveMap.insertObservation( obs ); } #if MRPT_HAS_WXWIDGETS vector_float xs, ys, zs; receiveMap.getAllPoints(xs,ys,zs); win.plot(xs,ys,".r3","t1"); win.axis_equal(); // win.axis_fit(); #endif } delete obs; sick.stop(); }
double grid_test_9(int a1, int a2) { // test 9: computeMatchingWith2D // ---------------------------------------- // prepare the laser scan: CObservation2DRangeScan scan1; scan1.aperture = M_PIf; scan1.rightToLeft = true; scan1.validRange.resize( sizeof(SCAN_RANGES_1)/sizeof(SCAN_RANGES_1[0]) ); scan1.scan.resize( sizeof(SCAN_RANGES_1)/sizeof(SCAN_RANGES_1[0]) ); memcpy( &scan1.scan[0], SCAN_RANGES_1, sizeof(SCAN_RANGES_1) ); memcpy( &scan1.validRange[0], SCAN_VALID_1, sizeof(SCAN_VALID_1) ); CSimplePointsMap gridmap; CSimplePointsMap pt_map2; pt_map2.insertionOptions.minDistBetweenLaserPoints = 0.03; CPose3D pose; gridmap.insertObservation(&scan1, &pose); CPose3D pose2(0.05,0.04,0, DEG2RAD(4), 0,0); pt_map2.insertObservation(&scan1, &pose2); const CPose2D nullPose(0,0,0); TMatchingPairList correspondences; TMatchingParams matchParams; TMatchingExtraResults matchExtraResults; matchParams.maxDistForCorrespondence = 0.10; matchParams.maxAngularDistForCorrespondence = 0; CTicTac tictac; for (long i=0;i<a1;i++) { gridmap.determineMatching2D( &pt_map2, // The other map nullPose, // The other map's pose correspondences, matchParams, matchExtraResults); } return tictac.Tac()/a1; }
void MyLaser::plot(CObservation2DRangeScan obs){ if(simulateLaser){ CSimplePointsMap map; map.insertionOptions.minDistBetweenLaserPoints=0; map.insertionOptions.also_interpolate=false; map.insertionOptions.isPlanarMap=true; map.clear(); map.insertObservation(&obs); vector_float xs,ys,zs; map.getAllPoints(xs,ys,zs); float width(gridMap.getXMax()-gridMap.getXMin()),height(gridMap.getYMax()-gridMap.getYMin()); win.image(mapImage,-x_center_pixel*res*1000,-y_center_pixel*res*1000,width*1000,height*1000); win.plot(xs*1000,ys*1000,".b3"); } else{ } }
// ------------------------------------------------------ // 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 }