void PFLocalizationCore::observation(CSensoryFramePtr _sf, CObservationOdometryPtr _odometry) {

	CActionCollectionPtr action = CActionCollection::Create();
	CActionRobotMovement2D odom_move;
    odom_move.timestamp = _sf->getObservationByIndex(0)->timestamp;
    if(_odometry) {
        if(odomLastObservation_.empty()) {
            odomLastObservation_ = _odometry->odometry;
        }
        mrpt::poses::CPose2D incOdoPose = _odometry->odometry - odomLastObservation_;
        odomLastObservation_ = _odometry->odometry;
        odom_move.computeFromOdometry(incOdoPose, motion_model_options_);
        action->insert(odom_move);
        updateFilter(action, _sf);
    } else {
      if(use_motion_model_default_options_){
        log_info("No odometry at update %4i -> using dummy", update_counter_);
		odom_move.computeFromOdometry(mrpt::poses::CPose2D(0,0,0), motion_model_default_options_);
        action->insert(odom_move);
        updateFilter(action, _sf);
      } else {
        log_info("No odometry at update %4i -> skipping observation", update_counter_);
      }
    }
}
Exemplo n.º 2
0
// ------------------------------------------------------
//				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
}
Exemplo n.º 3
0
void xRawLogViewerFrame::OnMenuLossLessDecFILE(wxCommandEvent& event)
{
	WX_START_TRY

	string 	filToOpen;
	if ( !AskForOpenRawlog( filToOpen ) ) return;

	wxString strDecimation = wxGetTextFromUser(
								 _("The number of observations will be decimated (only 1 out of M will be kept). Enter the decimation ratio M:"),
								 _("Decimation"),
								 _("1") );
	long	DECIMATE_RATIO;
	strDecimation.ToLong( &DECIMATE_RATIO );

	ASSERT_(DECIMATE_RATIO>=1)

	string filToSave;
	AskForSaveRawlog(filToSave);

	CFileGZInputStream	fil(filToOpen);
	CFileGZOutputStream	f_out(filToSave);

	wxBusyCursor        waitCursor;
	unsigned int        filSize = (unsigned int)fil.getTotalBytesCount();

	wxString            auxStr;
	wxProgressDialog    progDia(
		wxT("Progress"),
		wxT("Parsing file..."),
		filSize, // range
		this, // parent
		wxPD_CAN_ABORT |
		wxPD_APP_MODAL |
		wxPD_SMOOTH |
		wxPD_AUTO_HIDE |
		wxPD_ELAPSED_TIME |
		wxPD_ESTIMATED_TIME |
		wxPD_REMAINING_TIME);

	wxTheApp->Yield();  // Let the app. process messages

	unsigned int        countLoop = 0;
	int					entryIndex = 0;
	bool                keepLoading=true;
	string              errorMsg;

	// ------------------------------------------------------------------------------
	// METHOD TO BE MEMORY EFFICIENT:
	//  To free the memory of the current rawlog entries as we create the new one,
	//  then call "clearWithoutDelete" at the end.
	// ------------------------------------------------------------------------------
	CSensoryFramePtr		accum_sf;
	CActionRobotMovement2D::TMotionModelOptions	odometryOptions;
	bool					cummMovementInit = false;
	long 					SF_counter = 0;

	// Reset cummulative pose change:
	CPose2D		accumMovement(0,0,0);

	TTimeStamp	timestamp_lastAction = INVALID_TIMESTAMP;


	while (keepLoading)
	{
		if (countLoop++ % 100 == 0)
		{
			auxStr.sprintf(wxT("Parsing file... %u objects"),entryIndex );
			if (!progDia.Update( (int)fil.getPosition(), auxStr ))
				keepLoading = false;
			wxTheApp->Yield();  // Let the app. process messages
		}

		CSerializablePtr newObj;
		try
		{
			fil >> newObj;
			entryIndex++;

			// Check type:
			if ( newObj->GetRuntimeClass() == CLASS_ID(CSensoryFrame) )
			{
				// Decimate Observations
				// ---------------------------

				// Add observations to the accum. SF:
				if (!accum_sf)
					accum_sf = CSensoryFrame::Create();

				// Copy pointers to observations only (fast):
				accum_sf->moveFrom( *CSensoryFramePtr(newObj) );

				if ( ++SF_counter >= DECIMATE_RATIO )
				{
					SF_counter = 0;

					// INSERT OBSERVATIONS:
					f_out << *accum_sf;
					accum_sf.clear_unique();

					// INSERT ACTIONS:
					CActionCollectionPtr actsCol = CActionCollection::Create();
					if (cummMovementInit)
					{
						CActionRobotMovement2D	cummMovement;
						cummMovement.computeFromOdometry(accumMovement, odometryOptions );
						cummMovement.timestamp = timestamp_lastAction;
						actsCol->insert( cummMovement );
						// Reset odometry accumulation:
						accumMovement = CPose2D(0,0,0);
					}
					f_out << *actsCol;
					actsCol.clear_unique();
				}
			}
			else if ( newObj->GetRuntimeClass() == CLASS_ID(CActionCollection) )
			{
				// Accumulate Actions
				// ----------------------
				CActionCollectionPtr curActs = CActionCollectionPtr( newObj );
				CActionRobotMovement2DPtr mov = curActs->getBestMovementEstimation();
				if (mov)
				{
					timestamp_lastAction = mov->timestamp;
					CPose2D  	incrPose = mov->poseChange->getMeanVal();

					// If we have previous observations, shift them according to this new increment:
					if (accum_sf)
					{
						CPose3D	inv_incrPose3D(  CPose3D(0,0,0) - CPose3D(incrPose) );

						for (CSensoryFrame::iterator it=accum_sf->begin();it!=accum_sf->end();++it)
						{
							CPose3D		tmpPose;

							(*it)->getSensorPose(tmpPose);
							tmpPose = inv_incrPose3D + tmpPose;
							(*it)->setSensorPose(tmpPose);
						}
					}

					// Accumulate from odometry:
					accumMovement = accumMovement + incrPose;

					// Copy the probabilistic options from the first entry we find:
					if (!cummMovementInit)
					{
						odometryOptions = mov->motionModelConfiguration;
						cummMovementInit = true;
					}
				}
			}
			else
			{
				// Unknown class:
				THROW_EXCEPTION("Unknown class found in the file!");
			}

		}
		catch (exception &e)
		{
			errorMsg = e.what();
			keepLoading = false;
		}
		catch (...)
		{
			keepLoading = false;
		}
	} // end while keep loading

	progDia.Update( filSize );


	wxTheApp->Yield();  // Let the app. process messages



	WX_END_TRY

}
Exemplo n.º 4
0
void  CRawlog::addAction( CAction &action )
{
	CActionCollectionPtr temp = CActionCollection::Create();
	temp->insert( action );
	m_seqOfActObs.push_back( temp );
}