X-lanni
726 lines
22 KiB
C++
726 lines
22 KiB
C++
#include <cstring>
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#include <limits>
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#include <list>
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#include <iostream>
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#include <gmapping/scanmatcher/scanmatcher.h>
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#include "gridlinetraversal.h"
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//#define GENERATE_MAPS
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namespace GMapping {
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using namespace std;
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const double ScanMatcher::nullLikelihood=-.5;
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ScanMatcher::ScanMatcher(): m_laserPose(0,0,0){
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//m_laserAngles=0;
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m_laserBeams=0;
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m_optRecursiveIterations=3;
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m_activeAreaComputed=false;
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// This are the dafault settings for a grid map of 5 cm
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m_llsamplerange=0.01;
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m_llsamplestep=0.01;
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m_lasamplerange=0.005;
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m_lasamplestep=0.005;
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m_enlargeStep=10.;
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m_fullnessThreshold=0.1;
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m_angularOdometryReliability=0.;
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m_linearOdometryReliability=0.;
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m_freeCellRatio=sqrt(2.);
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m_initialBeamsSkip=0;
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/*
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// This are the dafault settings for a grid map of 10 cm
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m_llsamplerange=0.1;
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m_llsamplestep=0.1;
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m_lasamplerange=0.02;
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m_lasamplestep=0.01;
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*/
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// This are the dafault settings for a grid map of 20/25 cm
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/*
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m_llsamplerange=0.2;
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m_llsamplestep=0.1;
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m_lasamplerange=0.02;
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m_lasamplestep=0.01;
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m_generateMap=false;
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*/
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m_linePoints = new IntPoint[20000];
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}
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ScanMatcher::~ScanMatcher(){
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delete [] m_linePoints;
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}
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void ScanMatcher::invalidateActiveArea(){
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m_activeAreaComputed=false;
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}
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/*
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void ScanMatcher::computeActiveArea(ScanMatcherMap& map, const OrientedPoint& p, const double* readings){
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if (m_activeAreaComputed)
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return;
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HierarchicalArray2D<PointAccumulator>::PointSet activeArea;
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OrientedPoint lp=p;
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lp.x+=cos(p.theta)*m_laserPose.x-sin(p.theta)*m_laserPose.y;
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lp.y+=sin(p.theta)*m_laserPose.x+cos(p.theta)*m_laserPose.y;
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lp.theta+=m_laserPose.theta;
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IntPoint p0=map.world2map(lp);
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const double * angle=m_laserAngles;
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for (const double* r=readings; r<readings+m_laserBeams; r++, angle++)
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if (m_generateMap){
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double d=*r;
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if (d>m_laserMaxRange)
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continue;
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if (d>m_usableRange)
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d=m_usableRange;
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Point phit=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle));
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IntPoint p1=map.world2map(phit);
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d+=map.getDelta();
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//Point phit2=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle));
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//IntPoint p2=map.world2map(phit2);
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IntPoint linePoints[20000] ;
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GridLineTraversalLine line;
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line.points=linePoints;
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//GridLineTraversal::gridLine(p0, p2, &line);
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GridLineTraversal::gridLine(p0, p1, &line);
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for (int i=0; i<line.num_points-1; i++){
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activeArea.insert(map.storage().patchIndexes(linePoints[i]));
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}
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if (d<=m_usableRange){
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activeArea.insert(map.storage().patchIndexes(p1));
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//activeArea.insert(map.storage().patchIndexes(p2));
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}
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} else {
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if (*r>m_laserMaxRange||*r>m_usableRange) continue;
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Point phit=lp;
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phit.x+=*r*cos(lp.theta+*angle);
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phit.y+=*r*sin(lp.theta+*angle);
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IntPoint p1=map.world2map(phit);
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assert(p1.x>=0 && p1.y>=0);
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IntPoint cp=map.storage().patchIndexes(p1);
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assert(cp.x>=0 && cp.y>=0);
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activeArea.insert(cp);
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}
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//this allocates the unallocated cells in the active area of the map
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//cout << "activeArea::size() " << activeArea.size() << endl;
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map.storage().setActiveArea(activeArea, true);
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m_activeAreaComputed=true;
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}
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*/
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void ScanMatcher::computeActiveArea(ScanMatcherMap& map, const OrientedPoint& p, const double* readings){
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if (m_activeAreaComputed)
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return;
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OrientedPoint lp=p;
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lp.x+=cos(p.theta)*m_laserPose.x-sin(p.theta)*m_laserPose.y;
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lp.y+=sin(p.theta)*m_laserPose.x+cos(p.theta)*m_laserPose.y;
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lp.theta+=m_laserPose.theta;
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IntPoint p0=map.world2map(lp);
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Point min(map.map2world(0,0));
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Point max(map.map2world(map.getMapSizeX()-1,map.getMapSizeY()-1));
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if (lp.x<min.x) min.x=lp.x;
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if (lp.y<min.y) min.y=lp.y;
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if (lp.x>max.x) max.x=lp.x;
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if (lp.y>max.y) max.y=lp.y;
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/*determine the size of the area*/
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const double * angle=m_laserAngles+m_initialBeamsSkip;
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for (const double* r=readings+m_initialBeamsSkip; r<readings+m_laserBeams; r++, angle++){
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if (*r>m_laserMaxRange||*r==0.0||isnan(*r)) continue;
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double d=*r>m_usableRange?m_usableRange:*r;
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Point phit=lp;
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phit.x+=d*cos(lp.theta+*angle);
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phit.y+=d*sin(lp.theta+*angle);
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if (phit.x<min.x) min.x=phit.x;
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if (phit.y<min.y) min.y=phit.y;
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if (phit.x>max.x) max.x=phit.x;
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if (phit.y>max.y) max.y=phit.y;
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}
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//min=min-Point(map.getDelta(),map.getDelta());
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//max=max+Point(map.getDelta(),map.getDelta());
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if ( !map.isInside(min) || !map.isInside(max)){
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Point lmin(map.map2world(0,0));
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Point lmax(map.map2world(map.getMapSizeX()-1,map.getMapSizeY()-1));
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//cerr << "CURRENT MAP " << lmin.x << " " << lmin.y << " " << lmax.x << " " << lmax.y << endl;
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//cerr << "BOUNDARY OVERRIDE " << min.x << " " << min.y << " " << max.x << " " << max.y << endl;
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min.x=( min.x >= lmin.x )? lmin.x: min.x-m_enlargeStep;
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max.x=( max.x <= lmax.x )? lmax.x: max.x+m_enlargeStep;
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min.y=( min.y >= lmin.y )? lmin.y: min.y-m_enlargeStep;
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max.y=( max.y <= lmax.y )? lmax.y: max.y+m_enlargeStep;
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map.resize(min.x, min.y, max.x, max.y);
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//cerr << "RESIZE " << min.x << " " << min.y << " " << max.x << " " << max.y << endl;
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}
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HierarchicalArray2D<PointAccumulator>::PointSet activeArea;
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/*allocate the active area*/
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angle=m_laserAngles+m_initialBeamsSkip;
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for (const double* r=readings+m_initialBeamsSkip; r<readings+m_laserBeams; r++, angle++)
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if (m_generateMap){
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double d=*r;
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if (d>m_laserMaxRange||d==0.0||isnan(d))
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continue;
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if (d>m_usableRange)
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d=m_usableRange;
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Point phit=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle));
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IntPoint p0=map.world2map(lp);
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IntPoint p1=map.world2map(phit);
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//IntPoint linePoints[20000] ;
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GridLineTraversalLine line;
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line.points=m_linePoints;
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GridLineTraversal::gridLine(p0, p1, &line);
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for (int i=0; i<line.num_points-1; i++){
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assert(map.isInside(m_linePoints[i]));
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activeArea.insert(map.storage().patchIndexes(m_linePoints[i]));
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assert(m_linePoints[i].x>=0 && m_linePoints[i].y>=0);
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}
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if (d<m_usableRange){
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IntPoint cp=map.storage().patchIndexes(p1);
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assert(cp.x>=0 && cp.y>=0);
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activeArea.insert(cp);
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}
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} else {
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if (*r>m_laserMaxRange||*r>m_usableRange||*r==0.0||isnan(*r)) continue;
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Point phit=lp;
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phit.x+=*r*cos(lp.theta+*angle);
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phit.y+=*r*sin(lp.theta+*angle);
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IntPoint p1=map.world2map(phit);
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assert(p1.x>=0 && p1.y>=0);
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IntPoint cp=map.storage().patchIndexes(p1);
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assert(cp.x>=0 && cp.y>=0);
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activeArea.insert(cp);
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}
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//this allocates the unallocated cells in the active area of the map
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//cout << "activeArea::size() " << activeArea.size() << endl;
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/*
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cerr << "ActiveArea=";
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for (HierarchicalArray2D<PointAccumulator>::PointSet::const_iterator it=activeArea.begin(); it!= activeArea.end(); it++){
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cerr << "(" << it->x <<"," << it->y << ") ";
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}
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cerr << endl;
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*/
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map.storage().setActiveArea(activeArea, true);
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m_activeAreaComputed=true;
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}
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double ScanMatcher::registerScan(ScanMatcherMap& map, const OrientedPoint& p, const double* readings){
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if (!m_activeAreaComputed)
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computeActiveArea(map, p, readings);
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//this operation replicates the cells that will be changed in the registration operation
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map.storage().allocActiveArea();
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OrientedPoint lp=p;
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lp.x+=cos(p.theta)*m_laserPose.x-sin(p.theta)*m_laserPose.y;
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lp.y+=sin(p.theta)*m_laserPose.x+cos(p.theta)*m_laserPose.y;
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lp.theta+=m_laserPose.theta;
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IntPoint p0=map.world2map(lp);
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const double * angle=m_laserAngles+m_initialBeamsSkip;
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double esum=0;
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for (const double* r=readings+m_initialBeamsSkip; r<readings+m_laserBeams; r++, angle++)
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if (m_generateMap){
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double d=*r;
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if (d>m_laserMaxRange||d==0.0||isnan(d))
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continue;
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if (d>m_usableRange)
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d=m_usableRange;
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Point phit=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle));
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IntPoint p1=map.world2map(phit);
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//IntPoint linePoints[20000] ;
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GridLineTraversalLine line;
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line.points=m_linePoints;
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GridLineTraversal::gridLine(p0, p1, &line);
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for (int i=0; i<line.num_points-1; i++){
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PointAccumulator& cell=map.cell(line.points[i]);
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double e=-cell.entropy();
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cell.update(false, Point(0,0));
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e+=cell.entropy();
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esum+=e;
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}
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if (d<m_usableRange){
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double e=-map.cell(p1).entropy();
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map.cell(p1).update(true, phit);
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e+=map.cell(p1).entropy();
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esum+=e;
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}
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} else {
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if (*r>m_laserMaxRange||*r>m_usableRange||*r==0.0||isnan(*r)) continue;
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Point phit=lp;
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phit.x+=*r*cos(lp.theta+*angle);
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phit.y+=*r*sin(lp.theta+*angle);
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IntPoint p1=map.world2map(phit);
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assert(p1.x>=0 && p1.y>=0);
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map.cell(p1).update(true,phit);
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}
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//cout << "informationGain=" << -esum << endl;
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return esum;
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}
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/*
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void ScanMatcher::registerScan(ScanMatcherMap& map, const OrientedPoint& p, const double* readings){
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if (!m_activeAreaComputed)
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computeActiveArea(map, p, readings);
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//this operation replicates the cells that will be changed in the registration operation
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map.storage().allocActiveArea();
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OrientedPoint lp=p;
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lp.x+=cos(p.theta)*m_laserPose.x-sin(p.theta)*m_laserPose.y;
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lp.y+=sin(p.theta)*m_laserPose.x+cos(p.theta)*m_laserPose.y;
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lp.theta+=m_laserPose.theta;
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IntPoint p0=map.world2map(lp);
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const double * angle=m_laserAngles;
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for (const double* r=readings; r<readings+m_laserBeams; r++, angle++)
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if (m_generateMap){
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double d=*r;
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if (d>m_laserMaxRange)
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continue;
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if (d>m_usableRange)
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d=m_usableRange;
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Point phit=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle));
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IntPoint p1=map.world2map(phit);
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IntPoint linePoints[20000] ;
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GridLineTraversalLine line;
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line.points=linePoints;
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GridLineTraversal::gridLine(p0, p1, &line);
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for (int i=0; i<line.num_points-1; i++){
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IntPoint ci=map.storage().patchIndexes(line.points[i]);
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if (map.storage().getActiveArea().find(ci)==map.storage().getActiveArea().end())
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cerr << "BIG ERROR" <<endl;
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map.cell(line.points[i]).update(false, Point(0,0));
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}
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if (d<=m_usableRange){
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map.cell(p1).update(true,phit);
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}
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} else {
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if (*r>m_laserMaxRange||*r>m_usableRange) continue;
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Point phit=lp;
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phit.x+=*r*cos(lp.theta+*angle);
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phit.y+=*r*sin(lp.theta+*angle);
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map.cell(phit).update(true,phit);
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}
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}
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*/
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double ScanMatcher::icpOptimize(OrientedPoint& pnew, const ScanMatcherMap& map, const OrientedPoint& init, const double* readings) const{
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double currentScore;
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double sc=score(map, init, readings);;
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OrientedPoint start=init;
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pnew=init;
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int iterations=0;
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do{
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currentScore=sc;
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sc=icpStep(pnew, map, start, readings);
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//cerr << "pstart=" << start.x << " " <<start.y << " " << start.theta << endl;
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//cerr << "pret=" << pnew.x << " " <<pnew.y << " " << pnew.theta << endl;
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start=pnew;
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iterations++;
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} while (sc>currentScore);
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cerr << "i="<< iterations << endl;
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return currentScore;
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}
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double ScanMatcher::optimize(OrientedPoint& pnew, const ScanMatcherMap& map, const OrientedPoint& init, const double* readings) const{
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double bestScore=-1;
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OrientedPoint currentPose=init;
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double currentScore=score(map, currentPose, readings);
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double adelta=m_optAngularDelta, ldelta=m_optLinearDelta;
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unsigned int refinement=0;
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enum Move{Front, Back, Left, Right, TurnLeft, TurnRight, Done};
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/* cout << __PRETTY_FUNCTION__<< " readings: ";
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for (int i=0; i<m_laserBeams; i++){
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cout << readings[i] << " ";
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}
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cout << endl;
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*/ int c_iterations=0;
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do{
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if (bestScore>=currentScore){
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refinement++;
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adelta*=.5;
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ldelta*=.5;
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}
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bestScore=currentScore;
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// cout <<"score="<< currentScore << " refinement=" << refinement;
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// cout << "pose=" << currentPose.x << " " << currentPose.y << " " << currentPose.theta << endl;
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OrientedPoint bestLocalPose=currentPose;
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OrientedPoint localPose=currentPose;
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Move move=Front;
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do {
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localPose=currentPose;
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switch(move){
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case Front:
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localPose.x+=ldelta;
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move=Back;
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break;
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case Back:
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localPose.x-=ldelta;
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move=Left;
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break;
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case Left:
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localPose.y-=ldelta;
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move=Right;
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break;
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case Right:
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localPose.y+=ldelta;
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move=TurnLeft;
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break;
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case TurnLeft:
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localPose.theta+=adelta;
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move=TurnRight;
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break;
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case TurnRight:
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localPose.theta-=adelta;
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move=Done;
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break;
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default:;
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}
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double odo_gain=1;
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if (m_angularOdometryReliability>0.){
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double dth=init.theta-localPose.theta; dth=atan2(sin(dth), cos(dth)); dth*=dth;
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odo_gain*=exp(-m_angularOdometryReliability*dth);
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}
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if (m_linearOdometryReliability>0.){
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double dx=init.x-localPose.x;
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double dy=init.y-localPose.y;
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double drho=dx*dx+dy*dy;
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odo_gain*=exp(-m_linearOdometryReliability*drho);
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}
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double localScore=odo_gain*score(map, localPose, readings);
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if (localScore>currentScore){
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currentScore=localScore;
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bestLocalPose=localPose;
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}
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c_iterations++;
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} while(move!=Done);
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currentPose=bestLocalPose;
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// cout << "currentScore=" << currentScore<< endl;
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//here we look for the best move;
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}while (currentScore>bestScore || refinement<m_optRecursiveIterations);
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//cout << __PRETTY_FUNCTION__ << "bestScore=" << bestScore<< endl;
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//cout << __PRETTY_FUNCTION__ << "iterations=" << c_iterations<< endl;
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pnew=currentPose;
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return bestScore;
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}
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struct ScoredMove{
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OrientedPoint pose;
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double score;
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double likelihood;
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};
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typedef std::list<ScoredMove> ScoredMoveList;
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double ScanMatcher::optimize(OrientedPoint& _mean, ScanMatcher::CovarianceMatrix& _cov, const ScanMatcherMap& map, const OrientedPoint& init, const double* readings) const{
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ScoredMoveList moveList;
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double bestScore=-1;
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OrientedPoint currentPose=init;
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ScoredMove sm={currentPose,0,0};
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unsigned int matched=likelihoodAndScore(sm.score, sm.likelihood, map, currentPose, readings);
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double currentScore=sm.score;
|
|
moveList.push_back(sm);
|
|
double adelta=m_optAngularDelta, ldelta=m_optLinearDelta;
|
|
unsigned int refinement=0;
|
|
int count=0;
|
|
enum Move{Front, Back, Left, Right, TurnLeft, TurnRight, Done};
|
|
do{
|
|
if (bestScore>=currentScore){
|
|
refinement++;
|
|
adelta*=.5;
|
|
ldelta*=.5;
|
|
}
|
|
bestScore=currentScore;
|
|
// cout <<"score="<< currentScore << " refinement=" << refinement;
|
|
// cout << "pose=" << currentPose.x << " " << currentPose.y << " " << currentPose.theta << endl;
|
|
OrientedPoint bestLocalPose=currentPose;
|
|
OrientedPoint localPose=currentPose;
|
|
|
|
Move move=Front;
|
|
do {
|
|
localPose=currentPose;
|
|
switch(move){
|
|
case Front:
|
|
localPose.x+=ldelta;
|
|
move=Back;
|
|
break;
|
|
case Back:
|
|
localPose.x-=ldelta;
|
|
move=Left;
|
|
break;
|
|
case Left:
|
|
localPose.y-=ldelta;
|
|
move=Right;
|
|
break;
|
|
case Right:
|
|
localPose.y+=ldelta;
|
|
move=TurnLeft;
|
|
break;
|
|
case TurnLeft:
|
|
localPose.theta+=adelta;
|
|
move=TurnRight;
|
|
break;
|
|
case TurnRight:
|
|
localPose.theta-=adelta;
|
|
move=Done;
|
|
break;
|
|
default:;
|
|
}
|
|
double localScore, localLikelihood;
|
|
|
|
double odo_gain=1;
|
|
if (m_angularOdometryReliability>0.){
|
|
double dth=init.theta-localPose.theta; dth=atan2(sin(dth), cos(dth)); dth*=dth;
|
|
odo_gain*=exp(-m_angularOdometryReliability*dth);
|
|
}
|
|
if (m_linearOdometryReliability>0.){
|
|
double dx=init.x-localPose.x;
|
|
double dy=init.y-localPose.y;
|
|
double drho=dx*dx+dy*dy;
|
|
odo_gain*=exp(-m_linearOdometryReliability*drho);
|
|
}
|
|
localScore=odo_gain*score(map, localPose, readings);
|
|
//update the score
|
|
count++;
|
|
matched=likelihoodAndScore(localScore, localLikelihood, map, localPose, readings);
|
|
if (localScore>currentScore){
|
|
currentScore=localScore;
|
|
bestLocalPose=localPose;
|
|
}
|
|
sm.score=localScore;
|
|
sm.likelihood=localLikelihood;//+log(odo_gain);
|
|
sm.pose=localPose;
|
|
moveList.push_back(sm);
|
|
//update the move list
|
|
} while(move!=Done);
|
|
currentPose=bestLocalPose;
|
|
//cout << __PRETTY_FUNCTION__ << "currentScore=" << currentScore<< endl;
|
|
//here we look for the best move;
|
|
}while (currentScore>bestScore || refinement<m_optRecursiveIterations);
|
|
//cout << __PRETTY_FUNCTION__ << "bestScore=" << bestScore<< endl;
|
|
//cout << __PRETTY_FUNCTION__ << "iterations=" << count<< endl;
|
|
|
|
//normalize the likelihood
|
|
double lmin=1e9;
|
|
double lmax=-1e9;
|
|
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
|
|
lmin=it->likelihood<lmin?it->likelihood:lmin;
|
|
lmax=it->likelihood>lmax?it->likelihood:lmax;
|
|
}
|
|
//cout << "lmin=" << lmin << " lmax=" << lmax<< endl;
|
|
for (ScoredMoveList::iterator it=moveList.begin(); it!=moveList.end(); it++){
|
|
it->likelihood=exp(it->likelihood-lmax);
|
|
//cout << "l=" << it->likelihood << endl;
|
|
}
|
|
//compute the mean
|
|
OrientedPoint mean(0,0,0);
|
|
double lacc=0;
|
|
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
|
|
mean=mean+it->pose*it->likelihood;
|
|
lacc+=it->likelihood;
|
|
}
|
|
mean=mean*(1./lacc);
|
|
//OrientedPoint delta=mean-currentPose;
|
|
//cout << "delta.x=" << delta.x << " delta.y=" << delta.y << " delta.theta=" << delta.theta << endl;
|
|
CovarianceMatrix cov={0.,0.,0.,0.,0.,0.};
|
|
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
|
|
OrientedPoint delta=it->pose-mean;
|
|
delta.theta=atan2(sin(delta.theta), cos(delta.theta));
|
|
cov.xx+=delta.x*delta.x*it->likelihood;
|
|
cov.yy+=delta.y*delta.y*it->likelihood;
|
|
cov.tt+=delta.theta*delta.theta*it->likelihood;
|
|
cov.xy+=delta.x*delta.y*it->likelihood;
|
|
cov.xt+=delta.x*delta.theta*it->likelihood;
|
|
cov.yt+=delta.y*delta.theta*it->likelihood;
|
|
}
|
|
cov.xx/=lacc, cov.xy/=lacc, cov.xt/=lacc, cov.yy/=lacc, cov.yt/=lacc, cov.tt/=lacc;
|
|
|
|
_mean=currentPose;
|
|
_cov=cov;
|
|
return bestScore;
|
|
}
|
|
|
|
void ScanMatcher::setLaserParameters
|
|
(unsigned int beams, double* angles, const OrientedPoint& lpose){
|
|
/*if (m_laserAngles)
|
|
delete [] m_laserAngles;
|
|
*/
|
|
assert(beams<LASER_MAXBEAMS);
|
|
m_laserPose=lpose;
|
|
m_laserBeams=beams;
|
|
//m_laserAngles=new double[beams];
|
|
memcpy(m_laserAngles, angles, sizeof(double)*m_laserBeams);
|
|
}
|
|
|
|
|
|
double ScanMatcher::likelihood
|
|
(double& _lmax, OrientedPoint& _mean, CovarianceMatrix& _cov, const ScanMatcherMap& map, const OrientedPoint& p, const double* readings){
|
|
ScoredMoveList moveList;
|
|
|
|
for (double xx=-m_llsamplerange; xx<=m_llsamplerange; xx+=m_llsamplestep)
|
|
for (double yy=-m_llsamplerange; yy<=m_llsamplerange; yy+=m_llsamplestep)
|
|
for (double tt=-m_lasamplerange; tt<=m_lasamplerange; tt+=m_lasamplestep){
|
|
|
|
OrientedPoint rp=p;
|
|
rp.x+=xx;
|
|
rp.y+=yy;
|
|
rp.theta+=tt;
|
|
|
|
ScoredMove sm;
|
|
sm.pose=rp;
|
|
|
|
likelihoodAndScore(sm.score, sm.likelihood, map, rp, readings);
|
|
moveList.push_back(sm);
|
|
}
|
|
|
|
//OrientedPoint delta=mean-currentPose;
|
|
//cout << "delta.x=" << delta.x << " delta.y=" << delta.y << " delta.theta=" << delta.theta << endl;
|
|
//normalize the likelihood
|
|
double lmax=-1e9;
|
|
double lcum=0;
|
|
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
|
|
lmax=it->likelihood>lmax?it->likelihood:lmax;
|
|
}
|
|
for (ScoredMoveList::iterator it=moveList.begin(); it!=moveList.end(); it++){
|
|
//it->likelihood=exp(it->likelihood-lmax);
|
|
lcum+=exp(it->likelihood-lmax);
|
|
it->likelihood=exp(it->likelihood-lmax);
|
|
//cout << "l=" << it->likelihood << endl;
|
|
}
|
|
|
|
OrientedPoint mean(0,0,0);
|
|
double s=0,c=0;
|
|
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
|
|
mean=mean+it->pose*it->likelihood;
|
|
s+=it->likelihood*sin(it->pose.theta);
|
|
c+=it->likelihood*cos(it->pose.theta);
|
|
}
|
|
mean=mean*(1./lcum);
|
|
s/=lcum;
|
|
c/=lcum;
|
|
mean.theta=atan2(s,c);
|
|
|
|
|
|
CovarianceMatrix cov={0.,0.,0.,0.,0.,0.};
|
|
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
|
|
OrientedPoint delta=it->pose-mean;
|
|
delta.theta=atan2(sin(delta.theta), cos(delta.theta));
|
|
cov.xx+=delta.x*delta.x*it->likelihood;
|
|
cov.yy+=delta.y*delta.y*it->likelihood;
|
|
cov.tt+=delta.theta*delta.theta*it->likelihood;
|
|
cov.xy+=delta.x*delta.y*it->likelihood;
|
|
cov.xt+=delta.x*delta.theta*it->likelihood;
|
|
cov.yt+=delta.y*delta.theta*it->likelihood;
|
|
}
|
|
cov.xx/=lcum, cov.xy/=lcum, cov.xt/=lcum, cov.yy/=lcum, cov.yt/=lcum, cov.tt/=lcum;
|
|
|
|
_mean=mean;
|
|
_cov=cov;
|
|
_lmax=lmax;
|
|
return log(lcum)+lmax;
|
|
}
|
|
|
|
double ScanMatcher::likelihood
|
|
(double& _lmax, OrientedPoint& _mean, CovarianceMatrix& _cov, const ScanMatcherMap& map, const OrientedPoint& p,
|
|
Gaussian3& odometry, const double* readings, double gain){
|
|
ScoredMoveList moveList;
|
|
|
|
|
|
for (double xx=-m_llsamplerange; xx<=m_llsamplerange; xx+=m_llsamplestep)
|
|
for (double yy=-m_llsamplerange; yy<=m_llsamplerange; yy+=m_llsamplestep)
|
|
for (double tt=-m_lasamplerange; tt<=m_lasamplerange; tt+=m_lasamplestep){
|
|
|
|
OrientedPoint rp=p;
|
|
rp.x+=xx;
|
|
rp.y+=yy;
|
|
rp.theta+=tt;
|
|
|
|
ScoredMove sm;
|
|
sm.pose=rp;
|
|
|
|
likelihoodAndScore(sm.score, sm.likelihood, map, rp, readings);
|
|
sm.likelihood+=odometry.eval(rp)/gain;
|
|
assert(!isnan(sm.likelihood));
|
|
moveList.push_back(sm);
|
|
}
|
|
|
|
//OrientedPoint delta=mean-currentPose;
|
|
//cout << "delta.x=" << delta.x << " delta.y=" << delta.y << " delta.theta=" << delta.theta << endl;
|
|
//normalize the likelihood
|
|
double lmax=-std::numeric_limits<double>::max();
|
|
double lcum=0;
|
|
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
|
|
lmax=it->likelihood>lmax?it->likelihood:lmax;
|
|
}
|
|
for (ScoredMoveList::iterator it=moveList.begin(); it!=moveList.end(); it++){
|
|
//it->likelihood=exp(it->likelihood-lmax);
|
|
lcum+=exp(it->likelihood-lmax);
|
|
it->likelihood=exp(it->likelihood-lmax);
|
|
//cout << "l=" << it->likelihood << endl;
|
|
}
|
|
|
|
OrientedPoint mean(0,0,0);
|
|
double s=0,c=0;
|
|
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
|
|
mean=mean+it->pose*it->likelihood;
|
|
s+=it->likelihood*sin(it->pose.theta);
|
|
c+=it->likelihood*cos(it->pose.theta);
|
|
}
|
|
mean=mean*(1./lcum);
|
|
s/=lcum;
|
|
c/=lcum;
|
|
mean.theta=atan2(s,c);
|
|
|
|
|
|
CovarianceMatrix cov={0.,0.,0.,0.,0.,0.};
|
|
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
|
|
OrientedPoint delta=it->pose-mean;
|
|
delta.theta=atan2(sin(delta.theta), cos(delta.theta));
|
|
cov.xx+=delta.x*delta.x*it->likelihood;
|
|
cov.yy+=delta.y*delta.y*it->likelihood;
|
|
cov.tt+=delta.theta*delta.theta*it->likelihood;
|
|
cov.xy+=delta.x*delta.y*it->likelihood;
|
|
cov.xt+=delta.x*delta.theta*it->likelihood;
|
|
cov.yt+=delta.y*delta.theta*it->likelihood;
|
|
}
|
|
cov.xx/=lcum, cov.xy/=lcum, cov.xt/=lcum, cov.yy/=lcum, cov.yt/=lcum, cov.tt/=lcum;
|
|
|
|
_mean=mean;
|
|
_cov=cov;
|
|
_lmax=lmax;
|
|
double v=log(lcum)+lmax;
|
|
assert(!isnan(v));
|
|
return v;
|
|
}
|
|
|
|
void ScanMatcher::setMatchingParameters
|
|
(double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, double likelihoodSigma, unsigned int likelihoodSkip){
|
|
m_usableRange=urange;
|
|
m_laserMaxRange=range;
|
|
m_kernelSize=kernsize;
|
|
m_optLinearDelta=lopt;
|
|
m_optAngularDelta=aopt;
|
|
m_optRecursiveIterations=iterations;
|
|
m_gaussianSigma=sigma;
|
|
m_likelihoodSigma=likelihoodSigma;
|
|
m_likelihoodSkip=likelihoodSkip;
|
|
}
|
|
|
|
};
|
|
|