/// <summary>
/// localise and return offset values
/// </summary>
/// <param name="stereo_features">disparities for each stereo camera (x,y,disparity)</param>
/// <param name="stereo_features_colour">colour for each disparity</param>
/// <param name="stereo_features_uncertainties">uncertainty for each disparity</param>
/// <param name="debug_mapping_filename">optional filename used for saving debugging info</param>
/// <param name="known_offset_x_mm">ideal x offset, if known</param>
/// <param name="known_offset_y_mm">ideal y offset, if known</param>
/// <param name="offset_x_mm">returned x offset</param>
/// <param name="offset_y_mm">returned y offset</param>
/// <param name="offset_z_mm">returned z offset</param>
/// <param name="offset_pan_radians">returned pan</param>
/// <param name="offset_tilt_radians">returned tilt</param>
/// <param name="offset_roll_radians">returned roll</param>
/// <returns>true if the localisation was valid</returns>
public bool Localise(
float[][] stereo_features,
byte[][,] stereo_features_colour,
float[][] stereo_features_uncertainties,
string debug_mapping_filename,
float known_offset_x_mm,
float known_offset_y_mm,
ref float offset_x_mm,
ref float offset_y_mm,
ref float offset_z_mm,
ref float offset_pan_radians,
ref float offset_tilt_radians,
ref float offset_roll_radians)
{
int overall_img_width = 640;
int overall_img_height = 480;
bool valid_localisation = true;
pos3D pose_offset = new pos3D(0, 0, 0);
bool buffer_transition = false;
float matching_score = buffer.Localise(
robot_geometry,
stereo_features,
stereo_features_colour,
stereo_features_uncertainties,
rnd,
ref pose_offset,
ref buffer_transition,
debug_mapping_filename,
known_offset_x_mm,
known_offset_y_mm,
overall_map_filename,
ref overall_map_img,
overall_img_width,
overall_img_height,
overall_map_dimension_mm,
overall_map_centre_x_mm,
overall_map_centre_y_mm);
if (matching_score == occupancygridBase.NO_OCCUPANCY_EVIDENCE)
{
valid_localisation = false;
}
offset_x_mm = pose_offset.x;
offset_y_mm = pose_offset.y;
offset_z_mm = pose_offset.z;
offset_pan_radians = pose_offset.pan;
offset_tilt_radians = pose_offset.tilt;
offset_roll_radians = pose_offset.roll;
return(valid_localisation);
}
public void LocaliseAlongPath()
{
// systematic bias
float bias_x_mm = -200;
float bias_y_mm = 0;
// number of stereo cameras on the robot's head
int no_of_stereo_cameras = 2;
// diameter of the robot's head
float head_diameter_mm = 100;
// number of stereo features per step during mapping
int no_of_mapping_stereo_features = 300;
// number of stereo features observed per localisation step
int no_of_localisation_stereo_features = 100;
string filename = "localise_along_path.dat";
float path_length_mm = 20000;
float start_orientation = 0;
float end_orientation = 0; // 90 * (float)Math.PI / 180.0f;
float distance_between_poses_mm = 100;
float disparity = 15;
string overall_map_filename = "overall_map.jpg";
byte[] overall_map_img = null;
int overall_img_width = 640;
int overall_img_height = 480;
int overall_map_dimension_mm = 0;
int overall_map_centre_x_mm = 0;
int overall_map_centre_y_mm = 0;
string[] str = filename.Split('.');
List <OdometryData> path = null;
SavePath(
filename,
path_length_mm,
start_orientation,
end_orientation,
distance_between_poses_mm,
disparity,
no_of_mapping_stereo_features,
no_of_stereo_cameras,
ref path);
Assert.AreEqual(true, File.Exists(filename));
Assert.AreEqual(true, File.Exists(str[0] + "_disparities_index.dat"));
Assert.AreEqual(true, File.Exists(str[0] + "_disparities.dat"));
int no_of_grids = 1;
int grid_type = metagrid.TYPE_SIMPLE;
int dimension_mm = 8000;
int dimension_vertical_mm = 2000;
int cellSize_mm = 50;
int localisationRadius_mm = 8000;
int maxMappingRange_mm = 10000;
float vacancyWeighting = 0.5f;
metagridBuffer buffer =
new metagridBuffer(
no_of_grids,
grid_type,
dimension_mm,
dimension_vertical_mm,
cellSize_mm,
localisationRadius_mm,
maxMappingRange_mm,
vacancyWeighting);
buffer.LoadPath(
filename,
str[0] + "_disparities_index.dat",
str[0] + "_disparities.dat",
ref overall_map_dimension_mm,
ref overall_map_centre_x_mm,
ref overall_map_centre_y_mm);
int img_width = 640;
int img_height = 640;
byte[] img = new byte[img_width * img_height * 3];
Bitmap bmp = new Bitmap(img_width, img_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
buffer.ShowPath(img, img_width, img_height, true, true);
BitmapArrayConversions.updatebitmap_unsafe(img, bmp);
bmp.Save("localise_along_path.jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
robotGeometry geom = new robotGeometry();
geom.CreateStereoCameras(
no_of_stereo_cameras, 120, 0,
320, 240,
65,
head_diameter_mm,
0);
geom.CreateSensorModels(buffer);
Random rnd = new Random(0);
pos3D pose_offset = null;
bool buffer_transition = false;
float[][] stereo_features = new float[no_of_stereo_cameras][];
byte[][,] stereo_features_colour = new byte[no_of_stereo_cameras][, ];
float[][] stereo_features_uncertainties = new float[no_of_stereo_cameras][];
for (int i = 0; i < no_of_stereo_cameras; i++)
{
stereo_features_uncertainties[i] = new float[no_of_localisation_stereo_features];
for (int j = 0; j < no_of_localisation_stereo_features; j++)
{
stereo_features_uncertainties[i][j] = 1;
}
}
float average_offset_x_mm = 0;
float average_offset_y_mm = 0;
List <OdometryData> estimated_path = new List <OdometryData>();
int no_of_localisation_failures = 0;
for (int i = 0; i < path.Count - 1; i += 5)
{
string debug_mapping_filename = "localise_along_path_map_" + i.ToString() + ".jpg";
OdometryData p0 = path[i];
OdometryData p1 = path[i + 1];
// create an intermediate pose
for (int cam = 0; cam < no_of_stereo_cameras; cam++)
{
geom.pose[cam].x = p0.x + ((p1.x - p0.x) / 2) + bias_x_mm;
geom.pose[cam].y = p0.y + ((p1.y - p0.y) / 2) + bias_y_mm;
geom.pose[cam].z = 0;
geom.pose[cam].pan = p0.orientation + ((p1.orientation - p0.orientation) / 2);
// create stereo features
int ctr = 0;
stereo_features[cam] = new float[no_of_localisation_stereo_features * 3];
stereo_features_colour[cam] = new byte[no_of_localisation_stereo_features, 3];
for (int f = 0; f < no_of_localisation_stereo_features; f += 5)
{
if (f < no_of_localisation_stereo_features / 2)
{
stereo_features[cam][ctr++] = 20;
stereo_features[cam][ctr++] = rnd.Next(239);
}
else
{
stereo_features[cam][ctr++] = geom.image_width[cam] - 20;
stereo_features[cam][ctr++] = rnd.Next(239);
}
stereo_features[cam][ctr++] = disparity;
}
}
float matching_score = buffer.Localise(
geom,
stereo_features,
stereo_features_colour,
stereo_features_uncertainties,
rnd,
ref pose_offset,
ref buffer_transition,
debug_mapping_filename,
bias_x_mm, bias_y_mm,
overall_map_filename,
ref overall_map_img,
overall_img_width,
overall_img_height,
overall_map_dimension_mm,
overall_map_centre_x_mm,
overall_map_centre_y_mm);
if (matching_score != occupancygridBase.NO_OCCUPANCY_EVIDENCE)
{
Console.WriteLine("pose_offset (mm): " + pose_offset.x.ToString() + ", " + pose_offset.y.ToString() + ", " + pose_offset.pan.ToString());
OdometryData estimated_pose = new OdometryData();
estimated_pose.x = geom.pose[0].x + pose_offset.x;
estimated_pose.y = geom.pose[0].y + pose_offset.y;
estimated_pose.orientation = geom.pose[0].pan + pose_offset.pan;
estimated_path.Add(estimated_pose);
average_offset_x_mm += pose_offset.x;
average_offset_y_mm += pose_offset.y;
}
else
{
// fail!
no_of_localisation_failures++;
Console.WriteLine("Localisation failure");
}
}
buffer.ShowPath(img, img_width, img_height, true, true);
BitmapArrayConversions.updatebitmap_unsafe(img, bmp);
bmp.Save("localisations_along_path.jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
average_offset_x_mm /= estimated_path.Count;
average_offset_y_mm /= estimated_path.Count;
Console.WriteLine("Average offsets: " + average_offset_x_mm.ToString() + ", " + average_offset_y_mm.ToString());
float diff_x_mm = Math.Abs(average_offset_x_mm - bias_x_mm);
float diff_y_mm = Math.Abs(average_offset_y_mm - bias_y_mm);
Assert.Less(diff_x_mm, cellSize_mm * 3 / 2, "x bias not detected");
Assert.Less(diff_y_mm, cellSize_mm * 3 / 2, "y bias not detected");
if (no_of_localisation_failures > 0)
{
Console.WriteLine("Localisation failures: " + no_of_localisation_failures.ToString());
}
else
{
Console.WriteLine("No localisation failures!");
}
Assert.Less(no_of_localisation_failures, 4, "Too many localisation failures");
}
