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);
      }
    }
  }
}
示例#2
0
// ------------------------------------------------------
//				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
}