BioXASXASScanActionController::BioXASXASScanActionController(BioXASXASScanConfiguration *configuration, QObject *parent) :
AMGenericStepScanController(configuration, parent), BioXASScanController()
{
useFeedback_ = true;
setScan(scan_);
bioXASConfiguration_ = configuration;
// Setup exporter option.
if (bioXASConfiguration_) {
AMExporterOptionXDIFormat *bioXASDefaultXAS = BioXAS::buildStandardXDIFormatExporterOption("BioXAS XAS (XDI Format)", bioXASConfiguration_->edge().split(" ").first(), bioXASConfiguration_->edge().split(" ").last(), true);
if (bioXASDefaultXAS->id() > 0)
AMAppControllerSupport::registerClass<BioXASXASScanConfiguration, AMExporterXDIFormat, AMExporterOptionXDIFormat>(bioXASDefaultXAS->id());
}
// Add the Ge detectors spectra, if a Ge detector is being used.
AMDetectorSet *geDetectors = BioXASBeamline::bioXAS()->ge32ElementDetectors();
if (geDetectors) {
for (int i = 0, detectorsCount = geDetectors->count(); i < detectorsCount; i++) {
BioXAS32ElementGeDetector *geDetector = qobject_cast<BioXAS32ElementGeDetector*>(geDetectors->at(i));
if (geDetector && bioXASConfiguration_->usingDetector(geDetector->name())) {
// Add spectra.
AMDetectorSet *elements = BioXASBeamline::bioXAS()->elementsForDetector(geDetector);
if (elements) {
for (int j = 0, elementsCount = elements->count(); j < elementsCount; j++) {
AMDetector *element = elements->at(j);
if (element && element->isConnected())
bioXASConfiguration_->addDetector(element->toInfo());
}
}
// Add ICRs, according to the preference set in the scan configuration.
AMDetectorSet *icrDetectors = BioXASBeamline::bioXAS()->icrsForDetector(geDetector);
if (icrDetectors && bioXASConfiguration_->canCollectICRs() && bioXASConfiguration_->collectICRsPreference()) {
for (int j = 0, icrsCount = icrDetectors->count(); j < icrsCount; j++) {
AMDetector *icrDetector = icrDetectors->at(j);
if (icrDetector && icrDetector->isConnected())
bioXASConfiguration_->addDetector(icrDetector->toInfo());
}
}
}
}
}
}
void CViewerContainer::showRangeScan(CNode* node)
{
CRangeScanNode* obsNode = dynamic_cast<CRangeScanNode*>(node);
ASSERT_(obsNode);
auto obj = mrpt::make_aligned_shared<mrpt::opengl::CPlanarLaserScan>();
obj->setScan(*(obsNode->observation().get()));
obj->setPose(obsNode->getPose());
obj->setSurfaceColor(1.0f, 0.0f, 0.0f, 0.5f);
forEachGl([obsNode, obj](CGlWidget* gl) {
gl->setSelected(obsNode->getPose().asTPose());
gl->setLaserScan(obj);
});
}
bool UResPassable::doFullAnalysis(ULaserData * laserData, UPose pose,
UPosRot laserPose,
UObstaclePool * obsts, bool outdoorContext,
double obstSearchExt,
UResRoadLine * roads)
{
double maxPassLeft;
double maxPassRight;
UPoseTime odoPose;
double maxLineRange;
//
// debug
//printf("doFullAnalysis scan %lu\n", laserData->getSerial());
// debug end
// get a fresh set of analysis oparameters
getSettingsFromVarPool();
// load sensor data into scan
setScan(laserData, pose, &laserPose);
// calculate variance along scan
scan->setVariance(lineFitWidth, lineFitMinCnt);
// divide into segments
pisCnt = 0;
makePassableIntervalsFit(&maxPassLeft, &maxPassRight, NULL, NULL, NULL);
// pose for obstacle correlation
odoPose.setPt(pose, laserData->getScanTime());
// update road lines
if (roads != NULL)
{
maxLineRange = laserData->getMaxValidRange() * 0.8;
roads->update(laserData->getSerial(), pis, pisCnt, odoPose, &laserPose, maxLineRange);
}
// do not look for obstacles near max range (last 20% is deemed unreliable for obstacles
if ((maxPassLeft + obstSearchExt) > (laserData->getMaxValidRange() * 0.8))
maxPassLeft = laserData->getMaxValidRange() * 0.8 - obstSearchExt;
if ((maxPassRight + obstSearchExt) > (laserData->getMaxValidRange() * 0.8))
maxPassRight = laserData->getMaxValidRange() * 0.8 - obstSearchExt;
// find and save obstacles in scan
if (obsts != NULL)
scan->findNearObstacles(obsts, odoPose, maxPassLeft, maxPassRight, varMinObstDist->getValued(),
outdoorContext, false, varIgnoreIfFixed->getBool(), obstSearchExt);
else
printf("UResPassable::doFullAnalysis Missing obstacle pool structure\n");
return true;
}
bool UResPassable::doObstAnalysis(ULaserData * laserData, UPose pose,
UPosRot laserPose,
UObstaclePool * obsts, bool outdoorContext)
{
double maxPassLeft;
double maxPassRight;
UPoseTime odoPoseOrigin, mapPose, odoPose;
int n;
UVariable vpo1, vpo2;
// UVariable * vpar[2] = {&vpo1, &vpo2};;
UResPoseHist * mapPoseHist;
//
// get mapped obstacles in odometry coordinates
mapPoseHist = (UResPoseHist*) getStaticResource("mapPose", false);
if (mapPoseHist != NULL)
{ // use odo pose origin
mapPose = mapPoseHist->getNewest();
odoPoseOrigin = mapPoseHist->getOdoPoseOrigin();
n = 1;
vpo1.setPose(&mapPose);
vpo2.setPose(&odoPoseOrigin);
// fixeds->clear();
// get near obstacles in odometry coordinate system
// isOK = callGlobalV("mapobst.getobst", "cc", vpar, (UDataBase**)&fixeds, &n);
}
// get a fresh set of analysis oparameters
getSettingsFromVarPool();
// load sensor data into scan
setScan(laserData, pose, &laserPose);
// pose for obstacle correlation
odoPose.setPt(pose, laserData->getScanTime());
/* if (isOK)
obsts->setFixedObstacles(fixeds);*/
// do not look for obstacles near max range (last 20% is deemed unreliable for obstacles
maxPassLeft = laserData->getMaxValidRange() * 0.9;
maxPassRight = maxPassLeft;
// find and save obstacles in scan
scan->findNearObstacles(obsts, odoPose, maxPassLeft, maxPassRight, varMinObstDist->getValued(),
outdoorContext, true, varIgnoreIfFixed->getBool(), 0.0);
return true;
}
