public void InsertRays() { int no_of_stereo_features = 2000; int image_width = 640; int image_height = 480; int no_of_stereo_cameras = 1; int localisationRadius_mm = 16000; int maxMappingRange_mm = 16000; int cellSize_mm = 32; int dimension_cells = 16000 / cellSize_mm; int dimension_cells_vertical = dimension_cells/2; float vacancyWeighting = 0.5f; float FOV_horizontal = 78 * (float)Math.PI / 180.0f; // create a grid Console.WriteLine("Creating grid"); occupancygridSimple grid = new occupancygridSimple( dimension_cells, dimension_cells_vertical, cellSize_mm, localisationRadius_mm, maxMappingRange_mm, vacancyWeighting); Assert.AreNotEqual(grid, null, "object occupancygridSimple was not created"); Console.WriteLine("Creating sensor models"); stereoModel inverseSensorModel = new stereoModel(); inverseSensorModel.FOV_horizontal = FOV_horizontal; inverseSensorModel.FOV_vertical = FOV_horizontal * image_height / image_width; inverseSensorModel.createLookupTable(cellSize_mm, image_width, image_height); //Assert.AreNotEqual(0, inverseSensorModel.ray_model.probability[1][5], "Ray model probabilities not updated"); // observer parameters int pan_angle_degrees = 0; pos3D observer = new pos3D(0,0,0); observer.pan = pan_angle_degrees * (float)Math.PI / 180.0f; float stereo_camera_baseline_mm = 100; pos3D left_camera_location = new pos3D(stereo_camera_baseline_mm*0.5f,0,0); pos3D right_camera_location = new pos3D(-stereo_camera_baseline_mm*0.5f,0,0); left_camera_location = left_camera_location.rotate(observer.pan, observer.tilt, observer.roll); right_camera_location = right_camera_location.rotate(observer.pan, observer.tilt, observer.roll); left_camera_location = left_camera_location.translate(observer.x, observer.y, observer.z); right_camera_location = right_camera_location.translate(observer.x, observer.y, observer.z); float FOV_degrees = 78; float[] stereo_features = new float[no_of_stereo_features * 3]; byte[,] stereo_features_colour = new byte[no_of_stereo_features, 3]; float[] stereo_features_uncertainties = new float[no_of_stereo_features]; // create some stereo disparities within the field of view Console.WriteLine("Adding disparities"); //MersenneTwister rnd = new MersenneTwister(0); Random rnd = new Random(0); for (int correspondence = 0; correspondence < no_of_stereo_features; correspondence++) { float x = rnd.Next(image_width-1); float y = rnd.Next(image_height/50) + (image_height/2); float disparity = 7; if ((x < image_width/5) || (x > image_width * 4/5)) { disparity = 7; //15; } byte colour_red = (byte)rnd.Next(255); byte colour_green = (byte)rnd.Next(255); byte colour_blue = (byte)rnd.Next(255); stereo_features[correspondence*3] = x; stereo_features[(correspondence*3)+1] = y; stereo_features[(correspondence*3)+2] = disparity; stereo_features_colour[correspondence, 0] = colour_red; stereo_features_colour[correspondence, 1] = colour_green; stereo_features_colour[correspondence, 2] = colour_blue; stereo_features_uncertainties[correspondence] = 0; } // create an observation as a set of rays from the stereo correspondence results List<evidenceRay>[] stereo_rays = new List<evidenceRay>[no_of_stereo_cameras]; for (int cam = 0; cam < no_of_stereo_cameras; cam++) { Console.WriteLine("Creating rays"); stereo_rays[cam] = inverseSensorModel.createObservation( observer, stereo_camera_baseline_mm, image_width, image_height, FOV_degrees, stereo_features, stereo_features_colour, stereo_features_uncertainties, true); // insert rays into the grid Console.WriteLine("Throwing rays"); for (int ray = 0; ray < stereo_rays[cam].Count; ray++) { grid.Insert(stereo_rays[cam][ray], inverseSensorModel.ray_model, left_camera_location, right_camera_location, false); } } // save the result as an image Console.WriteLine("Saving grid"); int debug_img_width = 640; int debug_img_height = 480; byte[] debug_img = new byte[debug_img_width * debug_img_height * 3]; Bitmap bmp = new Bitmap(debug_img_width, debug_img_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb); grid.Show(debug_img, debug_img_width, debug_img_height, false, false); BitmapArrayConversions.updatebitmap_unsafe(debug_img, bmp); bmp.Save("tests_occupancygrid_simple_InsertRays_overhead.jpg", System.Drawing.Imaging.ImageFormat.Jpeg); grid.ShowFront(debug_img, debug_img_width, debug_img_height, true); BitmapArrayConversions.updatebitmap_unsafe(debug_img, bmp); bmp.Save("tests_occupancygrid_simple_InsertRays_front.jpg", System.Drawing.Imaging.ImageFormat.Jpeg); // side view of the probabilities float max_prob = -1; float min_prob = 1; float[] probs = new float[dimension_cells/2]; float[] mean_colour = new float[3]; for (int y = dimension_cells / 2; y < dimension_cells; y++) { float p = grid.GetProbability(dimension_cells / 2, y, mean_colour); probs[y - (dimension_cells / 2)] = p; if (p != occupancygridSimple.NO_OCCUPANCY_EVIDENCE) { if (p < min_prob) min_prob = p; if (p > max_prob) max_prob = p; } } for (int i = 0; i < debug_img.Length; i++) debug_img[i] = 255; int prev_x = -1; int prev_y = debug_img_height / 2; for (int i = 0; i < probs.Length; i++) { if (probs[i] != occupancygridSimple.NO_OCCUPANCY_EVIDENCE) { int x = i * (debug_img_width - 1) / probs.Length; int y = debug_img_height - 1 - (int)((probs[i] - min_prob) / (max_prob - min_prob) * (debug_img_height - 1)); int n = ((y * debug_img_width) + x) * 3; if (prev_x > -1) { int r = 255; int g = 0; int b = 0; if (probs[i] > 0.5f) { r = 0; g = 255; b = 0; } drawing.drawLine(debug_img, debug_img_width, debug_img_height, prev_x, prev_y, x, y, r, g, b, 0, false); } prev_x = x; prev_y = y; } } int y_zero = debug_img_height - 1 - (int)((0.5f-min_prob) / (max_prob - min_prob) * (debug_img_height - 1)); drawing.drawLine(debug_img, debug_img_width, debug_img_height, 0, y_zero, debug_img_width - 1, y_zero, 0, 0, 0, 0, false); BitmapArrayConversions.updatebitmap_unsafe(debug_img, bmp); bmp.Save("tests_occupancygrid_simple_InsertRays_probs.jpg", System.Drawing.Imaging.ImageFormat.Jpeg); }
public void EvidenceRayRotation() { int debug_img_width = 640; int debug_img_height = 480; byte[] debug_img = new byte[debug_img_width * debug_img_height * 3]; for (int i = (debug_img_width * debug_img_height * 3)-1; i >= 0; i--) debug_img[i] = 255; Bitmap bmp = new Bitmap(debug_img_width, debug_img_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb); int cellSize_mm = 32; int image_width = 320; int image_height = 240; Console.WriteLine("Creating sensor models"); stereoModel inverseSensorModel = new stereoModel(); inverseSensorModel.createLookupTable(cellSize_mm, image_width, image_height); // create a ray float FOV_horizontal = 78 * (float)Math.PI / 180.0f; inverseSensorModel.FOV_horizontal = FOV_horizontal; inverseSensorModel.FOV_vertical = FOV_horizontal * image_height / image_width; evidenceRay ray = inverseSensorModel.createRay( image_width/2, image_height/2, 4, 0, 255, 255, 255); Assert.AreNotEqual(null, ray, "No ray was created"); Assert.AreNotEqual(null, ray.vertices, "No ray vertices were created"); pos3D[] start_vertices = (pos3D[])ray.vertices.Clone(); Console.WriteLine("x,y,z: " + start_vertices[0].x.ToString() + ", " + start_vertices[0].y.ToString() + ", " + start_vertices[0].z.ToString()); for (int i = 0; i < ray.vertices.Length; i++) { int j = i + 1; if (j == ray.vertices.Length) j = 0; int x0 = (debug_img_width/2) + (int)ray.vertices[i].x/50; int y0 = (debug_img_height/2) + (int)ray.vertices[i].y/50; int x1 = (debug_img_width/2) + (int)ray.vertices[j].x/50; int y1 = (debug_img_height/2) + (int)ray.vertices[j].y/50; drawing.drawLine(debug_img, debug_img_width, debug_img_height, x0,y0,x1,y1,0,255,0,0,false); } float angle_degrees = 30; float angle_radians = angle_degrees / 180.0f * (float)Math.PI; pos3D rotation = new pos3D(0, 0, 0); rotation.pan = angle_degrees; ray.translateRotate(rotation); Console.WriteLine("x,y,z: " + ray.vertices[0].x.ToString() + ", " + ray.vertices[0].y.ToString() + ", " + ray.vertices[0].z.ToString()); for (int i = 0; i < ray.vertices.Length; i++) { int j = i + 1; if (j == ray.vertices.Length) j = 0; int x0 = (debug_img_width/2) + (int)ray.vertices[i].x/50; int y0 = (debug_img_height/2) + (int)ray.vertices[i].y/50; int x1 = (debug_img_width/2) + (int)ray.vertices[j].x/50; int y1 = (debug_img_height/2) + (int)ray.vertices[j].y/50; drawing.drawLine(debug_img, debug_img_width, debug_img_height, x0,y0,x1,y1,255,0,0,0,false); } BitmapArrayConversions.updatebitmap_unsafe(debug_img, bmp); bmp.Save("tests_occupancygrid_simple_EvidenceRayRotation.jpg", System.Drawing.Imaging.ImageFormat.Jpeg); }