void xRawLogViewerFrame::OnGenGPSTxt(wxCommandEvent& event) { WX_START_TRY wxString caption = wxT("Save as..."); wxString wildcard = wxT("Text files (*.txt)|*.txt|All files (*.*)|*.*"); wxString defaultDir( _U( iniFile->read_string(iniFileSect,"LastDir",".").c_str() ) ); wxString defaultFilename = _U( ( loadedFileName+string("_GPS.txt")).c_str() ); wxFileDialog dialog(this, caption, defaultDir, defaultFilename,wildcard, wxFD_SAVE | wxFD_OVERWRITE_PROMPT ); if (dialog.ShowModal() == wxID_OK) { wxString fileName = dialog.GetPath(); string fil( fileName.mbc_str() ); size_t i, M = 0, n = rawlog.size(); map<string, FILE*> lstFiles; TGeodeticCoords refCoords(0,0,0); bool ref_valid = false; // Load configuration block: CConfigFileMemory memFil; rawlog.getCommentTextAsConfigFile(memFil); refCoords.lat = memFil.read_double("GPS_ORIGIN","lat_deg",0); refCoords.lon = memFil.read_double("GPS_ORIGIN","lon_deg",0); refCoords.height = memFil.read_double("GPS_ORIGIN","height",0); ref_valid = !refCoords.isClear(); CPose3D local_ENU; if (ref_valid) { wxMessageBox(_("GPS origin coordinates taken from rawlog configuration block"),_("Export GPS data")); } // Ask the user for the reference? if (!ref_valid && wxYES!=wxMessageBox(_("Do you want to take the GPS reference automatically from the first found entry?"),_("Export GPS data"),wxYES_NO )) { wxString s = wxGetTextFromUser( _("Reference Latitude (degrees):"), _("GPS reference"), _("0.0"), this ); if (s.IsEmpty()) return; if (!s.ToDouble(&refCoords.lat.decimal_value)) { wxMessageBox(_("Invalid number")); return; } s = wxGetTextFromUser( _("Reference Longitude (degrees):"), _("GPS reference"), _("0.0"), this ); if (s.IsEmpty()) return; if (!s.ToDouble(&refCoords.lon.decimal_value)) { wxMessageBox(_("Invalid number")); return; } s = wxGetTextFromUser( _("Reference Height (meters):"), _("GPS reference"), _("0.0"), this ); if (s.IsEmpty()) return; if (!s.ToDouble(&refCoords.height)) { wxMessageBox(_("Invalid number")); return; } ref_valid=true; // Local coordinates reference: TPose3D _local_ENU; mrpt::topography::ENU_axes_from_WGS84( refCoords.lon, refCoords.lat, refCoords.height, _local_ENU, true); local_ENU = _local_ENU; } // All gps data: map< TTimeStamp, map<string,CPoint3D> > lstXYZallGPS; set< string > lstAllGPSlabels; for (i=0;i<n;i++) { switch ( rawlog.getType(i) ) { case CRawlog::etSensoryFrame: { CSensoryFramePtr sf = rawlog.getAsObservations(i); size_t ith_obs = 0; CObservationGPSPtr obs; do { obs = sf->getObservationByClass<CObservationGPS>(ith_obs++); if (obs) { map<string, FILE*>::const_iterator it = lstFiles.find( obs->sensorLabel ); FILE *f_this; if ( it==lstFiles.end() ) // A new fiile for this sensorlabel?? { f_this = lstFiles[ obs->sensorLabel ] = os::fopen( format("%s_%s.txt", fil.c_str(), fileNameStripInvalidChars( obs->sensorLabel ).c_str() ).c_str(),"wt"); if (!f_this) THROW_EXCEPTION("Cannot open output file for write."); } else f_this = it->second; if (obs->has_GGA_datum) // && obs->has_RMC_datum ) { TPoint3D p; // Transformed coordinates // The first gps datum? if (!ref_valid) { ref_valid=true; refCoords = obs->GGA_datum.getAsStruct<TGeodeticCoords>(); // Local coordinates reference: TPose3D _local_ENU; mrpt::topography::ENU_axes_from_WGS84( refCoords, _local_ENU, true); local_ENU = _local_ENU; } // Local XYZ coordinates transform: mrpt::topography::geodeticToENU_WGS84( obs->GGA_datum.getAsStruct<TGeodeticCoords>(), p, refCoords ); // Geocentric XYZ: TPoint3D geo; mrpt::topography::geodeticToGeocentric_WGS84( obs->GGA_datum.getAsStruct<TGeodeticCoords>(), geo); // Save file: double tim = mrpt::system::timestampTotime_t(obs->timestamp); /* obs->GGA_datum.UTCTime.hour * 3600 + obs->GGA_datum.UTCTime.minute * 60 + obs->GGA_datum.UTCTime.sec;*/ ::fprintf(f_this,"%.4f %.16f %.16f %f %u %u %f %f %.16f %.16f %f %i %.4f %.4f %.4f\n", tim, DEG2RAD(obs->GGA_datum.latitude_degrees), DEG2RAD(obs->GGA_datum.longitude_degrees), obs->GGA_datum.altitude_meters, obs->GGA_datum.fix_quality, obs->GGA_datum.satellitesUsed, obs->RMC_datum.speed_knots, DEG2RAD(obs->RMC_datum.direction_degrees), p.x,p.y,p.z, (int)i, // rawlog index geo.x, geo.y, geo.z ); M++; if (obs->GGA_datum.fix_quality==4) { lstXYZallGPS[obs->timestamp][obs->sensorLabel] = CPoint3D(p); lstAllGPSlabels.insert( obs->sensorLabel ); } } } } while (obs); } break; case CRawlog::etObservation: { CObservationPtr o = rawlog.getAsObservation(i); if (IS_CLASS(o,CObservationGPS)) { CObservationGPSPtr obs = CObservationGPSPtr(o); if (obs) { map<string, FILE*>::const_iterator it = lstFiles.find( obs->sensorLabel ); FILE *f_this; if ( it==lstFiles.end() ) // A new fiile for this sensorlabel?? { std::string temp = format("%s_%s.txt", fil.c_str(), fileNameStripInvalidChars( obs->sensorLabel ).c_str() ); f_this = lstFiles[ obs->sensorLabel ] = os::fopen( temp.c_str(), "wt"); if (!f_this) THROW_EXCEPTION("Cannot open output file for write."); // The first line is a description of the columns: ::fprintf(f_this, "%% " "%14s " // Time "%23s %23s %23s " // lat lon alt "%4s %4s %11s %11s " // fix #sats speed dir "%23s %23s %23s " // X Y Z local "%6s " // rawlog index "%21s %21s %21s " // X Y Z geocentric "%21s %21s %21s " // X Y Z Cartessian (GPS) "%21s %21s %21s " // VX VY VZ Cartessian (GPS) "%21s %21s %21s " // VX VY VZ Cartessian (Local) "\n" , "Time", "Lat","Lon","Alt", "fix","#sats", "speed","dir", "Local X","Local Y","Local Z", "rawlog ID", "Geocen X","Geocen Y","Geocen Z", "GPS X","GPS Y","GPS Z", "GPS VX","GPS VY","GPS VZ", "Local VX","Local VY","Local VZ" ); } else f_this = it->second; if (obs->has_GGA_datum) // && obs->has_RMC_datum ) { TPoint3D p; // Transformed coordinates // The first gps datum? if (!ref_valid) { ref_valid=true; refCoords.lon = obs->GGA_datum.longitude_degrees; refCoords.lat = obs->GGA_datum.latitude_degrees; refCoords.height = obs->GGA_datum.altitude_meters; // Local coordinates reference: TPose3D _local_ENU; mrpt::topography::ENU_axes_from_WGS84( refCoords.lon, refCoords.lat, refCoords.height, _local_ENU, true); local_ENU = _local_ENU; } // Local XYZ coordinates transform: mrpt::topography::geodeticToENU_WGS84( obs->GGA_datum.getAsStruct<TGeodeticCoords>(), p, refCoords); // Geocentric XYZ: TPoint3D geo; mrpt::topography::geodeticToGeocentric_WGS84( obs->GGA_datum.getAsStruct<TGeodeticCoords>(), geo ); // Save file: double tim = mrpt::system::timestampTotime_t(obs->timestamp); // If available, Cartessian X Y Z, VX VY VZ, as supplied by the GPS itself: TPoint3D cart_pos(0,0,0), cart_vel(0,0,0); TPoint3D cart_vel_local(0,0,0); if (obs->has_PZS_datum && obs->PZS_datum.hasCartesianPosVel) { cart_pos.x = obs->PZS_datum.cartesian_x; cart_pos.y = obs->PZS_datum.cartesian_y; cart_pos.z = obs->PZS_datum.cartesian_z; cart_vel.x = obs->PZS_datum.cartesian_vx; cart_vel.y = obs->PZS_datum.cartesian_vy; cart_vel.z = obs->PZS_datum.cartesian_vz; cart_vel_local = TPoint3D( CPoint3D(cart_vel) - local_ENU ); } ::fprintf(f_this, "%14.4f " // Time "%23.16f %23.16f %23.6f " // lat lon alt "%4u %4u %11.6f %11.6f " // fix #sats speed dir "%23.16f %23.16f %23.16f " // X Y Z local "%6i " // rawlog index "%21.16f %21.16f %21.16f " // X Y Z geocentric "%21.16f %21.16f %21.16f " // X Y Z Cartessian (GPS) "%21.16f %21.16f %21.16f " // VX VY VZ Cartessian (GPS) "%21.16f %21.16f %21.16f " // VX VY VZ Cartessian (Local) "\n", tim, DEG2RAD(obs->GGA_datum.latitude_degrees), DEG2RAD(obs->GGA_datum.longitude_degrees), obs->GGA_datum.altitude_meters, obs->GGA_datum.fix_quality, obs->GGA_datum.satellitesUsed, obs->RMC_datum.speed_knots, DEG2RAD(obs->RMC_datum.direction_degrees), p.x,p.y,p.z, (int)i, // rawlog index geo.x, geo.y, geo.z, cart_pos.x,cart_pos.y,cart_pos.z, cart_vel.x,cart_vel.y,cart_vel.z, cart_vel_local.x,cart_vel_local.y,cart_vel_local.z ); M++; if (obs->GGA_datum.fix_quality==4) { lstXYZallGPS[obs->timestamp][obs->sensorLabel] = CPoint3D(p); lstAllGPSlabels.insert( obs->sensorLabel ); } } } } } break; default: break; } } for (map<string, FILE*>::const_iterator it=lstFiles.begin();it!=lstFiles.end();++it) { os::fclose(it->second); } lstFiles.clear(); // Save the joint file: // ------------------------- // Remove those entries with not all the GPSs: for (map< TTimeStamp, map<string,CPoint3D> >::iterator a = lstXYZallGPS.begin();a!=lstXYZallGPS.end(); ) { if ( a->second.size()!=lstAllGPSlabels.size() ) { map< TTimeStamp, map<string,CPoint3D> >::iterator b = a; b++; lstXYZallGPS.erase(a); a = b; } else ++a; } cout << "# of gps entries with all the GPSs:" << lstXYZallGPS.size() << endl; CMatrixDouble MAT( lstXYZallGPS.size(), 1+3*lstAllGPSlabels.size() ); int nLabels = 0; for (map< TTimeStamp, map<string,CPoint3D> >::iterator a = lstXYZallGPS.begin();a!=lstXYZallGPS.end();++a, nLabels++ ) { MAT(nLabels,0) = timestampTotime_t(a->first); map<string,CPoint3D> &m = a->second; int k = 0; for (set< string >::iterator it=lstAllGPSlabels.begin();it!=lstAllGPSlabels.end();++it, k++) { MAT(nLabels,1 + 3*k + 0 ) = m[*it].x(); MAT(nLabels,1 + 3*k + 1 ) = m[*it].y(); MAT(nLabels,1 + 3*k + 2 ) = m[*it].z(); } } // The name of the file: string joint_name; for (set< string >::iterator it=lstAllGPSlabels.begin();it!=lstAllGPSlabels.end();++it) { joint_name += *it; } MAT.saveToTextFile( format("%s_JOINT_%s.txt",fil.c_str(), joint_name.c_str() ) ); CMatrixDouble MAT_REF(1,3); MAT_REF(0,0) = refCoords.lon; MAT_REF(0,1) = refCoords.lat; MAT_REF(0,2) = refCoords.height; MAT_REF.saveToTextFile( format("%s_JOINTREF_%s.txt",fil.c_str(), joint_name.c_str() ), MATRIX_FORMAT_FIXED ); wxMessageBox(_U( format("%u entries saved!",(unsigned)M).c_str() ),_("Done"),wxOK,this); } WX_END_TRY }
/*--------------------------------------------------------------- path_from_rtk_gps ---------------------------------------------------------------*/ void mrpt::topography::path_from_rtk_gps( mrpt::poses::CPose3DInterpolator &robot_path, const mrpt::slam::CRawlog &rawlog, size_t first, size_t last, bool isGUI, bool disableGPSInterp, int PATH_SMOOTH_FILTER , TPathFromRTKInfo *outInfo ) { MRPT_START #if MRPT_HAS_WXWIDGETS // Use a smart pointer so we are safe against exceptions: stlplus::smart_ptr<wxBusyCursor> waitCursorPtr; if (isGUI) waitCursorPtr = stlplus::smart_ptr<wxBusyCursor>( new wxBusyCursor() ); #endif // Go: generate the map: size_t i; ASSERT_(first<=last); ASSERT_(last<=rawlog.size()-1); set<string> lstGPSLabels; size_t count = 0; robot_path.clear(); robot_path.setMaxTimeInterpolation(3.0); // Max. seconds of GPS blackout not to interpolate. robot_path.setInterpolationMethod( CPose3DInterpolator::imSSLSLL ); TPathFromRTKInfo outInfoTemp; if (outInfo) *outInfo = outInfoTemp; map<string, map<TTimeStamp,TPoint3D> > gps_paths; // label -> (time -> 3D local coords) bool abort = false; bool ref_valid = false; // Load configuration block: CConfigFileMemory memFil; rawlog.getCommentTextAsConfigFile(memFil); TGeodeticCoords ref( memFil.read_double("GPS_ORIGIN","lat_deg",0), memFil.read_double("GPS_ORIGIN","lon_deg",0), memFil.read_double("GPS_ORIGIN","height",0) ); ref_valid = !ref.isClear(); // Do we have info for the consistency test? const double std_0 = memFil.read_double("CONSISTENCY_TEST","std_0",0); bool doConsistencyCheck = std_0>0; // Do we have the "reference uncertainty" matrix W^\star ?? memFil.read_matrix("UNCERTAINTY","W_star",outInfoTemp.W_star); const bool doUncertaintyCovs = size(outInfoTemp.W_star,1)!=0; if (doUncertaintyCovs && (size(outInfoTemp.W_star,1)!=6 || size(outInfoTemp.W_star,2)!=6)) THROW_EXCEPTION("ERROR: W_star matrix for uncertainty estimation is provided but it's not a 6x6 matrix."); // ------------------------------------------ // Look for the 2 observations: // ------------------------------------------ #if MRPT_HAS_WXWIDGETS wxProgressDialog *progDia=NULL; if (isGUI) { progDia = new wxProgressDialog( wxT("Building map"), wxT("Getting GPS observations..."), (int)(last-first+1), // range NULL, // parent wxPD_CAN_ABORT | wxPD_APP_MODAL | wxPD_SMOOTH | wxPD_AUTO_HIDE | wxPD_ELAPSED_TIME | wxPD_ESTIMATED_TIME | wxPD_REMAINING_TIME); } #endif // The list with all time ordered gps's in valid RTK mode typedef std::map< mrpt::system::TTimeStamp, std::map<std::string,CObservationGPSPtr> > TListGPSs; TListGPSs list_gps_obs; map<string,size_t> GPS_RTK_reads; // label-># of RTK readings map<string,TPoint3D> GPS_local_coords_on_vehicle; // label -> local pose on the vehicle for (i=first;!abort && i<=last;i++) { switch ( rawlog.getType(i) ) { default: break; case CRawlog::etObservation: { CObservationPtr o = rawlog.getAsObservation(i); if (o->GetRuntimeClass()==CLASS_ID(CObservationGPS)) { CObservationGPSPtr obs = CObservationGPSPtr(o); if (obs->has_GGA_datum && obs->GGA_datum.fix_quality==4) { // Add to the list: list_gps_obs[obs->timestamp][obs->sensorLabel] = obs; lstGPSLabels.insert(obs->sensorLabel); } // Save to GPS paths: if (obs->has_GGA_datum && (obs->GGA_datum.fix_quality==4 || obs->GGA_datum.fix_quality==5)) { GPS_RTK_reads[obs->sensorLabel]++; // map<string,TPoint3D> GPS_local_coords_on_vehicle; // label -> local pose on the vehicle if (GPS_local_coords_on_vehicle.find(obs->sensorLabel)==GPS_local_coords_on_vehicle.end()) GPS_local_coords_on_vehicle[obs->sensorLabel] = TPoint3D( obs->sensorPose ); //map<string, map<TTimeStamp,TPoint3D> > gps_paths; // label -> (time -> 3D local coords) gps_paths[obs->sensorLabel][obs->timestamp] = TPoint3D( obs->GGA_datum.longitude_degrees, obs->GGA_datum.latitude_degrees, obs->GGA_datum.altitude_meters ); } } } break; } // end switch type // Show progress: if ((count++ % 100)==0) { #if MRPT_HAS_WXWIDGETS if (progDia) { if (!progDia->Update((int)(i-first))) abort = true; wxTheApp->Yield(); } #endif } } // end for i #if MRPT_HAS_WXWIDGETS if (progDia) { delete progDia; progDia=NULL; } #endif // ----------------------------------------------------------- // At this point we already have the sensor positions, thus // we can estimate the covariance matrix D: // // TODO: Generalize equations for # of GPS > 3 // ----------------------------------------------------------- map< set<string>, double > Ad_ij; // InterGPS distances in 2D map< set<string>, double > phi_ij; // Directions on XY of the lines between i-j map< string, size_t> D_cov_indexes; // Sensor label-> index in the matrix (first=0, ...) map< size_t, string> D_cov_rev_indexes; // Reverse of D_cov_indexes CMatrixDouble D_cov; // square distances cov CMatrixDouble D_cov_1; // square distances cov (inverse) vector_double D_mean; // square distances mean if (doConsistencyCheck && GPS_local_coords_on_vehicle.size()==3) { unsigned int cnt = 0; for(map<string,TPoint3D>::iterator i=GPS_local_coords_on_vehicle.begin();i!=GPS_local_coords_on_vehicle.end();++i) { // Index tables: D_cov_indexes[i->first] = cnt; D_cov_rev_indexes[cnt] = i->first; cnt++; for(map<string,TPoint3D>::iterator j=i;j!=GPS_local_coords_on_vehicle.end();++j) { if (i!=j) { const TPoint3D &pi = i->second; const TPoint3D &pj = j->second; Ad_ij[ make_set(i->first,j->first) ] = pi.distanceTo( pj ); phi_ij[ make_set(i->first,j->first) ] = atan2( pj.y-pi.y, pj.x-pi.x ); } } } ASSERT_( D_cov_indexes.size()==3 && D_cov_rev_indexes.size()==3 ); D_cov.setSize( D_cov_indexes.size(), D_cov_indexes.size() ); D_mean.resize( D_cov_indexes.size() ); // See paper for the formulas! // TODO: generalize for N>3 D_cov(0,0) = 2*square( Ad_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[1])] ); D_cov(1,1) = 2*square( Ad_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[2])] ); D_cov(2,2) = 2*square( Ad_ij[ make_set(D_cov_rev_indexes[1],D_cov_rev_indexes[2])] ); D_cov(1,0) = Ad_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[1])] * Ad_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[2])] * cos( phi_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[1])] - phi_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[2])] ); D_cov(0,1) = D_cov(1,0); D_cov(2,0) =-Ad_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[1])] * Ad_ij[ make_set(D_cov_rev_indexes[1],D_cov_rev_indexes[2])] * cos( phi_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[1])] - phi_ij[ make_set(D_cov_rev_indexes[1],D_cov_rev_indexes[2])] ); D_cov(0,2) = D_cov(2,0); D_cov(2,1) = Ad_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[2])] * Ad_ij[ make_set(D_cov_rev_indexes[1],D_cov_rev_indexes[2])] * cos( phi_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[2])] - phi_ij[ make_set(D_cov_rev_indexes[1],D_cov_rev_indexes[2])] ); D_cov(1,2) = D_cov(2,1); D_cov *= 4*square(std_0); D_cov_1 = D_cov.inv(); //cout << D_cov.inMatlabFormat() << endl; D_mean[0] = square( Ad_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[1])] ); D_mean[1] = square( Ad_ij[ make_set(D_cov_rev_indexes[0],D_cov_rev_indexes[2])] ); D_mean[2] = square( Ad_ij[ make_set(D_cov_rev_indexes[1],D_cov_rev_indexes[2])] ); } else doConsistencyCheck =false; // ------------------------------------------ // Look for the 2 observations: // ------------------------------------------ int N_GPSs = list_gps_obs.size(); if (N_GPSs) { // loop interpolate 1-out-of-5: this solves the issue with JAVAD GPSs // that skip some readings at some times .0 .2 .4 .6 .8 if (list_gps_obs.size()>4) { TListGPSs::iterator F = list_gps_obs.begin(); ++F; ++F; TListGPSs::iterator E = list_gps_obs.end(); --E; --E; for (TListGPSs::iterator i=F;i!=E;++i) { // Now check if we have 3 gps with the same time stamp: //const size_t N = i->second.size(); std::map<std::string, CObservationGPSPtr> & GPS = i->second; // Check if any in "lstGPSLabels" is missing here: for (set<string>::iterator l=lstGPSLabels.begin();l!=lstGPSLabels.end();++l) { // For each GPS in the current timestamp: bool fnd = ( GPS.find(*l)!=GPS.end() ); if (fnd) continue; // this one is present. // Ok, we have "*l" missing in the set "*i". // Try to interpolate from neighbors: TListGPSs::iterator i_b1 = i; --i_b1; TListGPSs::iterator i_a1 = i; ++i_a1; CObservationGPSPtr GPS_b1, GPS_a1; if (i_b1->second.find( *l )!=i_b1->second.end()) GPS_b1 = i_b1->second.find( *l )->second; if (i_a1->second.find( *l )!=i_a1->second.end()) GPS_a1 = i_a1->second.find( *l )->second; if (!disableGPSInterp && GPS_a1 && GPS_b1) { if ( mrpt::system::timeDifference( GPS_b1->timestamp, GPS_a1->timestamp ) < 0.5 ) { CObservationGPSPtr new_gps = CObservationGPSPtr( new CObservationGPS(*GPS_a1) ); new_gps->sensorLabel = *l; //cout << mrpt::system::timeLocalToString(GPS_b1->timestamp) << " " << mrpt::system::timeLocalToString(GPS_a1->timestamp) << " " << *l; //cout << endl; new_gps->GGA_datum.longitude_degrees = 0.5 * ( GPS_a1->GGA_datum.longitude_degrees + GPS_b1->GGA_datum.longitude_degrees ); new_gps->GGA_datum.latitude_degrees = 0.5 * ( GPS_a1->GGA_datum.latitude_degrees + GPS_b1->GGA_datum.latitude_degrees ); new_gps->GGA_datum.altitude_meters = 0.5 * ( GPS_a1->GGA_datum.altitude_meters + GPS_b1->GGA_datum.altitude_meters ); new_gps->timestamp = (GPS_a1->timestamp + GPS_b1->timestamp) / 2; i->second[new_gps->sensorLabel] = new_gps; } } } } // end loop interpolate 1-out-of-5 } #if MRPT_HAS_WXWIDGETS wxProgressDialog *progDia3=NULL; if (isGUI) { progDia3 = new wxProgressDialog( wxT("Building map"), wxT("Estimating 6D path..."), N_GPSs, // range NULL, // parent wxPD_CAN_ABORT | wxPD_APP_MODAL | wxPD_SMOOTH | wxPD_AUTO_HIDE | wxPD_ELAPSED_TIME | wxPD_ESTIMATED_TIME | wxPD_REMAINING_TIME); } #endif int idx_in_GPSs = 0; for (TListGPSs::iterator i=list_gps_obs.begin();i!=list_gps_obs.end();++i, idx_in_GPSs++) { // Now check if we have 3 gps with the same time stamp: if (i->second.size()>=3) { const size_t N = i->second.size(); std::map<std::string, CObservationGPSPtr> & GPS = i->second; vector_double X(N),Y(N),Z(N); // Global XYZ coordinates std::map<string,size_t> XYZidxs; // Sensor label -> indices in X Y Z if (!ref_valid) // get the reference lat/lon, if it's not set from rawlog configuration block. { ref_valid = true; ref = GPS.begin()->second->GGA_datum.getAsStruct<TGeodeticCoords>(); } // Compute the XYZ coordinates of all sensors: TMatchingPairList corrs; unsigned int k; std::map<std::string, CObservationGPSPtr>::iterator g_it; for (k=0,g_it=GPS.begin();g_it!=GPS.end();g_it++,k++) { TPoint3D P; mrpt::topography::geodeticToENU_WGS84( g_it->second->GGA_datum.getAsStruct<TGeodeticCoords>(), P, ref ); // Correction of offsets: const string sect = string("OFFSET_")+g_it->second->sensorLabel; P.x += memFil.read_double( sect, "x", 0 ); P.y += memFil.read_double( sect, "y", 0 ); P.z += memFil.read_double( sect, "z", 0 ); XYZidxs[g_it->second->sensorLabel] = k; // Save index correspondence // Create the correspondence: corrs.push_back( TMatchingPair( k,k, // Indices P.x,P.y,P.z, // "This"/Global coords g_it->second->sensorPose.x(),g_it->second->sensorPose.y(),g_it->second->sensorPose.z() // "other"/local coordinates )); X[k] = P.x; Y[k] = P.y; Z[k] = P.z; } if (doConsistencyCheck && GPS.size()==3) { // XYZ[k] have the k'd final coordinates of each GPS // GPS[k] are the CObservations: // Compute the inter-GPS square distances: vector_double iGPSdist2(3); // [0]: sq dist between: D_cov_rev_indexes[0],D_cov_rev_indexes[1] TPoint3D P0( X[XYZidxs[D_cov_rev_indexes[0]]], Y[XYZidxs[D_cov_rev_indexes[0]]], Z[XYZidxs[D_cov_rev_indexes[0]]] ); TPoint3D P1( X[XYZidxs[D_cov_rev_indexes[1]]], Y[XYZidxs[D_cov_rev_indexes[1]]], Z[XYZidxs[D_cov_rev_indexes[1]]] ); TPoint3D P2( X[XYZidxs[D_cov_rev_indexes[2]]], Y[XYZidxs[D_cov_rev_indexes[2]]], Z[XYZidxs[D_cov_rev_indexes[2]]] ); iGPSdist2[0] = P0.sqrDistanceTo(P1); iGPSdist2[1] = P0.sqrDistanceTo(P2); iGPSdist2[2] = P1.sqrDistanceTo(P2); double mahaD = mrpt::math::mahalanobisDistance( iGPSdist2, D_mean, D_cov_1 ); outInfoTemp.mahalabis_quality_measure[i->first] = mahaD; //cout << "x: " << iGPSdist2 << " MU: " << D_mean << " -> " << mahaD << endl; } // end consistency // Use a 6D matching method to estimate the location of the vehicle: CPose3D optimal_pose; double optimal_scale; // "this" (reference map) -> GPS global coordinates // "other" -> GPS local coordinates on the vehicle mrpt::scanmatching::leastSquareErrorRigidTransformation6D( corrs,optimal_pose,optimal_scale, true ); // Force scale=1 //cout << "optimal pose: " << optimal_pose << " " << optimal_scale << endl; // Final vehicle pose: CPose3D &veh_pose= optimal_pose; // Add to the interpolator: MRPT_CHECK_NORMAL_NUMBER( veh_pose.x() ); MRPT_CHECK_NORMAL_NUMBER( veh_pose.y() ); MRPT_CHECK_NORMAL_NUMBER( veh_pose.z() ); MRPT_CHECK_NORMAL_NUMBER( veh_pose.yaw() ); MRPT_CHECK_NORMAL_NUMBER( veh_pose.pitch() ); MRPT_CHECK_NORMAL_NUMBER( veh_pose.roll() ); robot_path.insert( i->first, veh_pose ); // If we have W_star, compute the pose uncertainty: if (doUncertaintyCovs) { CPose3DPDFGaussian final_veh_uncert; final_veh_uncert.mean.setFromValues(0,0,0,0,0,0); final_veh_uncert.cov = outInfoTemp.W_star; // Rotate the covariance according to the real vehicle pose: final_veh_uncert.changeCoordinatesReference(veh_pose); outInfoTemp.vehicle_uncertainty[ i->first ] = final_veh_uncert.cov; } } // Show progress: if ((count++ % 100)==0) { #if MRPT_HAS_WXWIDGETS if (progDia3) { if (!progDia3->Update(idx_in_GPSs)) abort = true; wxTheApp->Yield(); } #endif } } // end for i #if MRPT_HAS_WXWIDGETS if (progDia3) { delete progDia3; progDia3=NULL; } #endif if (PATH_SMOOTH_FILTER>0 && robot_path.size()>1) { CPose3DInterpolator filtered_robot_path = robot_path; // Do Angles smoother filter of the path: // --------------------------------------------- const double MAX_DIST_TO_FILTER = 4.0; for (CPose3DInterpolator::iterator i=robot_path.begin();i!=robot_path.end();++i) { CPose3D p = i->second; vector_double pitchs, rolls; // The elements to average pitchs.push_back(p.pitch()); rolls.push_back(p.roll()); CPose3DInterpolator::iterator q=i; for (int k=0;k<PATH_SMOOTH_FILTER && q!=robot_path.begin();k++) { --q; if (abs( mrpt::system::timeDifference(q->first,i->first))<MAX_DIST_TO_FILTER ) { pitchs.push_back( q->second.pitch() ); rolls.push_back( q->second.roll() ); } } q=i; for (int k=0;k<PATH_SMOOTH_FILTER && q!=(--robot_path.end()) ;k++) { ++q; if (abs( mrpt::system::timeDifference(q->first,i->first))<MAX_DIST_TO_FILTER ) { pitchs.push_back( q->second.pitch() ); rolls.push_back( q->second.roll() ); } } p.setYawPitchRoll(p.yaw(), mrpt::math::averageWrap2Pi(pitchs), mrpt::math::averageWrap2Pi(rolls) ); // save in filtered path: filtered_robot_path.insert( i->first, p ); } // Replace: robot_path = filtered_robot_path; } // end PATH_SMOOTH_FILTER } // end step generate 6D path // Here we can set best_gps_path (that with the max. number of RTK fixed/foat readings): if (outInfo) { string bestLabel; size_t bestNum = 0; for (map<string,size_t>::iterator i=GPS_RTK_reads.begin();i!=GPS_RTK_reads.end();++i) { if (i->second>bestNum) { bestNum = i->second; bestLabel = i->first; } } outInfoTemp.best_gps_path = gps_paths[bestLabel]; // and transform to XYZ: // Correction of offsets: const string sect = string("OFFSET_")+bestLabel; const double off_X = memFil.read_double( sect, "x", 0 ); const double off_Y = memFil.read_double( sect, "y", 0 ); const double off_Z = memFil.read_double( sect, "z", 0 ); // map<TTimeStamp,TPoint3D> best_gps_path; // time -> 3D local coords for (map<TTimeStamp,TPoint3D>::iterator i=outInfoTemp.best_gps_path.begin();i!=outInfoTemp.best_gps_path.end();++i) { TPoint3D P; mrpt::topography::geodeticToENU_WGS84( TGeodeticCoords(i->second.x,i->second.y,i->second.z), // i->second.x,i->second.y,i->second.z, // lat, lon, heigh P, // X Y Z ref ); i->second.x = P.x + off_X; i->second.y = P.y + off_Y; i->second.z = P.z + off_Z; } } // end best_gps_path if (outInfo) *outInfo = outInfoTemp; MRPT_END }
void xRawLogViewerFrame::OnMenuDistanceBtwGPSs(wxCommandEvent& event) { WX_START_TRY wxMessageBox(_("It will be measured the distance between two GPSs, assuming they are fixed on the vehicle,\n and using only RTK fixed observations.")); if (listOfSensorLabels.empty()) { wxMessageBox(_("No sensors were found with proper sensor labels. Labels are required for this operation.")); return; } // List of labels: wxArrayString lstLabels; for (std::map<std::string,TInfoPerSensorLabel>::iterator i=listOfSensorLabels.begin();i!=listOfSensorLabels.end();++i) lstLabels.Add( _U( i->first.c_str() ) ); wxString ret = wxGetSingleChoice( _("Choose the first GPS:"), _("Sensor Labels"), lstLabels, this ); if (ret.IsEmpty()) return; string gps1 = string(ret.mb_str()); ret = wxGetSingleChoice( _("Choose the second GPS:"), _("Sensor Labels"), lstLabels, this ); if (ret.IsEmpty()) return; string gps2 = string(ret.mb_str()); size_t i, n = rawlog.size(); // Look for the 2 observations: CObservationGPSPtr last_GPS1, last_GPS2; vector_double dists; TGeodeticCoords refCoords(0,0,0); // Load configuration block: CConfigFileMemory memFil; rawlog.getCommentTextAsConfigFile(memFil); refCoords.lat = memFil.read_double("GPS_ORIGIN","lat_deg",0); refCoords.lon = memFil.read_double("GPS_ORIGIN","lon_deg",0); refCoords.height = memFil.read_double("GPS_ORIGIN","height",0); bool ref_valid = !refCoords.isClear(); for (i=0;i<n;i++) { switch ( rawlog.getType(i) ) { case CRawlog::etSensoryFrame: { CSensoryFramePtr sf = rawlog.getAsObservations(i); if (!ref_valid) { CObservationGPSPtr o = sf->getObservationByClass<CObservationGPS>(); if (o && o->has_GGA_datum) { refCoords = o->GGA_datum.getAsStruct<TGeodeticCoords>(); ref_valid = true; } } CObservationPtr o1 = sf->getObservationBySensorLabel(gps1); CObservationPtr o2 = sf->getObservationBySensorLabel(gps2); if (o1) { ASSERT_(o1->GetRuntimeClass()==CLASS_ID(CObservationGPS)); CObservationGPSPtr obs = CObservationGPSPtr(o1); if (obs->has_GGA_datum && obs->GGA_datum.fix_quality==4) last_GPS1 = obs; } if (o2) { ASSERT_(o2->GetRuntimeClass()==CLASS_ID(CObservationGPS)); CObservationGPSPtr obs = CObservationGPSPtr(o2); if (obs->has_GGA_datum && obs->GGA_datum.fix_quality==4) last_GPS2 = obs; } } break; case CRawlog::etObservation: { CObservationPtr o = rawlog.getAsObservation(i); if (!ref_valid && IS_CLASS(o,CObservationGPS)) { CObservationGPSPtr ob = CObservationGPSPtr(o); if (ob && ob->has_GGA_datum) { refCoords = ob->GGA_datum.getAsStruct<TGeodeticCoords>(); ref_valid = true; } } if (o->sensorLabel == gps1) { ASSERT_(IS_CLASS(o,CObservationGPS)); CObservationGPSPtr obs = CObservationGPSPtr(o); if (obs->has_GGA_datum && obs->GGA_datum.fix_quality==4) last_GPS1 = obs; } if (o->sensorLabel == gps2) { ASSERT_(IS_CLASS(o,CObservationGPS)); CObservationGPSPtr obs = CObservationGPSPtr(o); if (obs->has_GGA_datum && obs->GGA_datum.fix_quality==4) last_GPS2 = obs; } } break; default: break; } // end switch type // Now check if we have 2 gps with the same time stamp: if (last_GPS1 && last_GPS2) { if (last_GPS1->GGA_datum.UTCTime == last_GPS2->GGA_datum.UTCTime) { // Compute distance: TPoint3D p1; mrpt::topography::geodeticToENU_WGS84( last_GPS1->GGA_datum.getAsStruct<TGeodeticCoords>(), p1, refCoords); TPoint3D p2; mrpt::topography::geodeticToENU_WGS84( last_GPS2->GGA_datum.getAsStruct<TGeodeticCoords>(), p2, refCoords); // Fix offset: p1.x += memFil.read_double( string("OFFSET_")+last_GPS1->sensorLabel, "x", 0 ); p1.y += memFil.read_double( string("OFFSET_")+last_GPS1->sensorLabel, "y", 0 ); p1.z += memFil.read_double( string("OFFSET_")+last_GPS1->sensorLabel, "z", 0 ); p2.x += memFil.read_double( string("OFFSET_")+last_GPS2->sensorLabel, "x", 0 ); p2.y += memFil.read_double( string("OFFSET_")+last_GPS2->sensorLabel, "y", 0 ); p2.z += memFil.read_double( string("OFFSET_")+last_GPS2->sensorLabel, "z", 0 ); double d = mrpt::math::distance(p1,p2); dists.push_back(d); last_GPS1.clear_unique(); last_GPS2.clear_unique(); } } } // end for if (dists.empty()) { wxMessageBox(_("No valid GPS observations were found."),_("Done"),wxOK,this); } else { double d_mean,d_std; mrpt::math::meanAndStd(dists,d_mean,d_std); wxMessageBox(_U( format("The distance between GPS sensors is %.04fm, with\n a sigma=%.04fm, average from %u entries.", d_mean,d_std, (unsigned)dists.size()).c_str() ),_("Done"),wxOK,this); } WX_END_TRY }