public static void Main(string[] args)
{
//tests_metagridbuffer.LocaliseAlongPath();
// extract command line parameters
ArrayList parameters = commandline.ParseCommandLineParameters(args, "-", GetValidParameters());
string help_str = commandline.GetParameterValue("help", parameters);
if (help_str != "")
{
ShowHelp();
}
else
{
Console.WriteLine("steersman: creates sensor models to steer a robot along a path");
int body_width_mm = 465;
string body_width_mm_str = commandline.GetParameterValue("bodywidth", parameters);
if (body_width_mm_str != "")
body_width_mm = Convert.ToInt32(body_width_mm_str);
int body_length_mm = 375;
string body_length_mm_str = commandline.GetParameterValue("bodylength", parameters);
if (body_length_mm_str != "")
body_length_mm = Convert.ToInt32(body_length_mm_str);
int body_height_mm = 930;
string body_height_mm_str = commandline.GetParameterValue("bodyheight", parameters);
if (body_height_mm_str != "")
body_height_mm = Convert.ToInt32(body_height_mm_str);
int centre_of_rotation_x = body_width_mm/2;
string centre_of_rotation_x_str = commandline.GetParameterValue("centrex", parameters);
if (centre_of_rotation_x_str != "")
centre_of_rotation_x = Convert.ToInt32(centre_of_rotation_x_str);
int centre_of_rotation_y = 75; //body_length_mm/2;
string centre_of_rotation_y_str = commandline.GetParameterValue("centrey", parameters);
if (centre_of_rotation_y_str != "")
centre_of_rotation_y = Convert.ToInt32(centre_of_rotation_y_str);
int centre_of_rotation_z = 75;
string centre_of_rotation_z_str = commandline.GetParameterValue("centrez", parameters);
if (centre_of_rotation_z_str != "")
centre_of_rotation_z = Convert.ToInt32(centre_of_rotation_z_str);
int head_centroid_x = body_width_mm/2;
string head_centroid_x_str = commandline.GetParameterValue("headx", parameters);
if (head_centroid_x_str != "")
head_centroid_x = Convert.ToInt32(head_centroid_x_str);
int head_centroid_y = 65; //body_length_mm/2;
string head_centroid_y_str = commandline.GetParameterValue("heady", parameters);
if (head_centroid_y_str != "")
head_centroid_y = Convert.ToInt32(head_centroid_y_str);
int head_centroid_z = 1600; //body_height_mm;
string head_centroid_z_str = commandline.GetParameterValue("headz", parameters);
if (head_centroid_z_str != "")
head_centroid_z = Convert.ToInt32(head_centroid_z_str);
string sensormodels_filename = "";
int no_of_stereo_cameras = 2;
string no_of_stereo_cameras_str = commandline.GetParameterValue("cameras", parameters);
if (no_of_stereo_cameras_str != "")
no_of_stereo_cameras = Convert.ToInt32(no_of_stereo_cameras_str);
float baseline_mm = 120;
string baseline_mm_str = commandline.GetParameterValue("baseline", parameters);
if (baseline_mm_str != "")
baseline_mm = Convert.ToSingle(baseline_mm_str);
// height of the cameras above the head tilt axis
float dist_from_centre_of_tilt_mm = 0;
string dist_from_centre_of_tilt_str = commandline.GetParameterValue("disttilt", parameters);
if (dist_from_centre_of_tilt_str != "")
dist_from_centre_of_tilt_mm = Convert.ToSingle(dist_from_centre_of_tilt_str);
int image_width = 320;
int image_height = 240;
string resolution_str = commandline.GetParameterValue("resolution", parameters);
if (resolution_str != "")
{
string[] str = resolution_str.ToLower().Split('x');
if (str.Length == 2)
{
image_width = Convert.ToInt32(str[0]);
image_height = Convert.ToInt32(str[1]);
}
}
float FOV_degrees = 65;
string FOV_degrees_str = commandline.GetParameterValue("fov", parameters);
if (FOV_degrees_str != "")
FOV_degrees = Convert.ToSingle(FOV_degrees_str);
float head_diameter_mm = 215;
string head_diameter_mm_str = commandline.GetParameterValue("headdiam", parameters);
if (head_diameter_mm_str != "")
head_diameter_mm = Convert.ToSingle(head_diameter_mm_str);
float default_head_orientation_degrees = 0;
string default_head_orientation_degrees_str = commandline.GetParameterValue("orient", parameters);
if (default_head_orientation_degrees_str != "")
default_head_orientation_degrees = Convert.ToSingle(default_head_orientation_degrees_str);
int no_of_grid_levels = 1;
string no_of_grid_levels_str = commandline.GetParameterValue("gridlevels", parameters);
if (no_of_grid_levels_str != "")
no_of_grid_levels = Convert.ToInt32(no_of_grid_levels_str);
int dimension_mm = 8000;
string dimension_mm_str = commandline.GetParameterValue("griddim", parameters);
if (dimension_mm_str != "")
dimension_mm = Convert.ToInt32(dimension_mm_str);
int dimension_vertical_mm = 2000;
string dimension_vertical_mm_str = commandline.GetParameterValue("griddimvert", parameters);
if (dimension_vertical_mm_str != "")
dimension_vertical_mm = Convert.ToInt32(dimension_vertical_mm_str);
int cellSize_mm = 50;
string cellSize_mm_str = commandline.GetParameterValue("cellsize", parameters);
if (cellSize_mm_str != "")
cellSize_mm = Convert.ToInt32(cellSize_mm_str);
string filename = commandline.GetParameterValue("filename", parameters);
if (filename == "") filename = "steersman.xml";
Console.WriteLine("Computing sensor models...Please wait");
steersman visual_guidance = new steersman(
body_width_mm,
body_length_mm,
body_height_mm,
centre_of_rotation_x,
centre_of_rotation_y,
centre_of_rotation_z,
head_centroid_x,
head_centroid_y,
head_centroid_z,
sensormodels_filename,
no_of_stereo_cameras,
baseline_mm,
dist_from_centre_of_tilt_mm,
image_width,
image_height,
FOV_degrees,
head_diameter_mm,
default_head_orientation_degrees,
no_of_grid_levels,
dimension_mm,
dimension_vertical_mm,
cellSize_mm);
visual_guidance.Save(filename);
Console.WriteLine("Saved as " + filename);
}
}
public void LocaliseAlongPath()
{
// systematic bias
float bias_x_mm = -200;
float bias_y_mm = 0;
// 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 = 50;
string filename = "steersman_localise_along_path.dat";
float path_length_mm = 10000;
float start_orientation = 0;
float end_orientation = 0; //90 * (float)Math.PI / 180.0f;
float distance_between_poses_mm = 100;
float disparity = 15;
string steersman_filename = "tests_steersman_LocaliseAlongPath.xml";
int body_width_mm = 465;
int body_length_mm = 380;
int body_height_mm= 1660;
int centre_of_rotation_x = body_width_mm/2;
int centre_of_rotation_y = body_length_mm/2;
int centre_of_rotation_z = 10;
int head_centroid_x = body_width_mm/2;
int head_centroid_y = 65;
int head_centroid_z = 1600;
string sensormodels_filename = "";
int no_of_stereo_cameras = 2;
float baseline_mm = 120;
float dist_to_centre_of_tilt_mm = 0;
int image_width = 320;
int image_height = 240;
float FOV_degrees = 65;
float head_diameter_mm = 160;
float default_head_orientation_degrees = 0;
int no_of_grid_levels = 1;
int dimension_mm = 8000;
int dimension_vertical_mm = 2000;
int cellSize_mm = 50;
string[] str = filename.Split('.');
List<OdometryData> path = null;
tests_metagridbuffer.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"));
steersman visual_guidance = null;
if (File.Exists(steersman_filename))
{
visual_guidance = new steersman();
visual_guidance.Load(steersman_filename);
}
else
{
visual_guidance = new steersman(
body_width_mm,
body_length_mm,
body_height_mm,
centre_of_rotation_x,
centre_of_rotation_y,
centre_of_rotation_z,
head_centroid_x,
head_centroid_y,
head_centroid_z,
sensormodels_filename,
no_of_stereo_cameras,
baseline_mm,
dist_to_centre_of_tilt_mm,
image_width,
image_height,
FOV_degrees,
head_diameter_mm,
default_head_orientation_degrees,
no_of_grid_levels,
dimension_mm,
dimension_vertical_mm,
cellSize_mm);
visual_guidance.Save(steersman_filename);
}
visual_guidance.LoadPath(filename, str[0] + "_disparities_index.dat", str[0] + "_disparities.dat");
visual_guidance.ShowLocalisations("steersman_localise_along_path.jpg", 640, 480);
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;
DateTime start_time = DateTime.Now;
int no_of_localisations = 0;
for (int i = 0; i < path.Count-1; i += 5, no_of_localisations++)
{
string debug_mapping_filename = "steersman_localise_along_path_map_" + i.ToString() + ".jpg";
OdometryData p0 = path[i];
OdometryData p1 = path[i + 1];
float current_x_mm = p0.x + ((p1.x - p0.x)/2) + bias_x_mm;
float current_y_mm = p0.y + ((p1.y - p0.y)/2) + bias_y_mm;
float current_pan = p0.orientation + ((p1.orientation - p0.orientation)/2);
// create an intermediate pose
for (int cam = 0; cam < no_of_stereo_cameras; cam++)
{
// set the current pose
visual_guidance.SetCurrentPosition(
cam,
current_x_mm,
current_y_mm,
0,
current_pan,
0, 0);
// 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++] = image_width - 20;
stereo_features[cam][ctr++] = rnd.Next(239);
}
stereo_features[cam][ctr++] = disparity;
}
}
float offset_x_mm = 0;
float offset_y_mm = 0;
float offset_z_mm = 0;
float offset_pan = 0;
float offset_tilt = 0;
float offset_roll = 0;
bool valid_localisation = visual_guidance.Localise(
stereo_features,
stereo_features_colour,
stereo_features_uncertainties,
debug_mapping_filename,
bias_x_mm, bias_y_mm,
ref offset_x_mm,
ref offset_y_mm,
ref offset_z_mm,
ref offset_pan,
ref offset_tilt,
ref offset_roll);
if (valid_localisation)
{
Console.WriteLine("pose_offset (mm): " + offset_x_mm.ToString() + ", " + offset_y_mm.ToString() + ", " + offset_pan.ToString());
OdometryData estimated_pose = new OdometryData();
estimated_pose.x = current_x_mm + offset_x_mm;
estimated_pose.y = current_y_mm + offset_y_mm;
estimated_pose.orientation = current_pan + offset_pan;
estimated_path.Add(estimated_pose);
average_offset_x_mm += offset_x_mm;
average_offset_y_mm += offset_y_mm;
}
else
{
// fail!
no_of_localisation_failures++;
Console.WriteLine("Localisation failure");
}
}
TimeSpan diff = DateTime.Now.Subtract(start_time);
float time_per_localisation_sec = (float)diff.TotalSeconds / no_of_localisations;
Console.WriteLine("Time per localisation: " + time_per_localisation_sec.ToString() + " sec");
visual_guidance.ShowLocalisations("steersman_localisations_along_path.jpg", 640, 480);
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");
}