/// <summary>
/// generate scores for poses. This is only for testing purposes.
/// </summary>
/// <param name="rob"></param>
private void surveyPosesDummy(robot rob)
{
motionModel motion_model = rob.motion;
// examine the pose list
for (int sample = 0; sample < motion_model.survey_trial_poses; sample++)
{
particlePath path = (particlePath)motion_model.Poses[sample];
particlePose pose = path.current_pose;
float dx = rob.x - pose.x;
float dy = rob.y - pose.y;
float dist = (float)Math.Sqrt((dx * dx) + (dy * dy));
float score = 1.0f / (1 + dist);
// update the score for this pose
motion_model.updatePoseScore(path, score);
}
// indicate that the pose scores have been updated
motion_model.PosesEvaluated = true;
}
public void SampleNormalDistribution()
{
int image_width = 640;
robot rob = new robot(1);
motionModel mm = new motionModel(rob, rob.LocalGrid, 1);
byte[] img_rays = new byte[image_width*image_width*3];
Bitmap bmp = new Bitmap(image_width, image_width, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
int[] hist = new int[20];
int max = 1;
int max_index = 0;
for (int sample = 0; sample < 2000; sample++)
{
float v = mm.sample_normal_distribution(20);
int index = (hist.Length/2) + ((int)v/(hist.Length/2));
if ((index > -1) && (index < hist.Length))
{
hist[index]++;
if (hist[index] > max)
{
max = hist[index];
max_index = index;
}
}
}
max += 5;
for (int x = 0; x < image_width; x++)
{
int index = x * hist.Length / image_width;
drawing.drawLine(img_rays, image_width, image_width, x,image_width-1, x, image_width-1-(hist[index] * image_width / max), 255,255,255,0,false);
}
BitmapArrayConversions.updatebitmap_unsafe(img_rays, bmp);
bmp.Save("motionmodel_tests_SampleNormalDistribution.bmp", System.Drawing.Imaging.ImageFormat.Bmp);
Assert.IsTrue(max_index == hist.Length/2, "Peak of normal distribution is offset");
}
/// <summary>
/// calculate the position of the robots head and cameras for this pose
/// </summary>
/// <param name="rob">robot object</param>
/// <param name="head_location">location of the centre of the head</param>
/// <param name="camera_centre_location">location of the centre of each stereo camera</param>
/// <param name="left_camera_location">location of the left camera within each stereo camera</param>
/// <param name="right_camera_location">location of the right camera within each stereo camera</param>
protected void calculateCameraPositions(
robot rob,
ref pos3D head_location,
ref pos3D[] camera_centre_location,
ref pos3D[] left_camera_location,
ref pos3D[] right_camera_location)
{
// calculate the position of the centre of the head relative to
// the centre of rotation of the robots body
pos3D head_centroid =
new pos3D(
-(rob.BodyWidth_mm / 2) + rob.head.x,
-(rob.BodyLength_mm / 2) + rob.head.y,
rob.head.z);
// location of the centre of the head on the grid map
// adjusted for the robot pose and the head pan and tilt angle.
// Note that the positions and orientations of individual cameras
// on the head have already been accounted for within stereoModel.createObservation
pos3D head_locn = head_centroid.rotate(rob.head.pan + pan, rob.head.tilt, 0);
head_locn = head_locn.translate(x, y, 0);
head_location.copyFrom(head_locn);
for (int cam = 0; cam < rob.head.no_of_stereo_cameras; cam++)
{
// calculate the position of the centre of the stereo camera
// (baseline centre point)
pos3D camera_centre_locn = new pos3D(rob.head.cameraPositionHeadRelative[cam].x, rob.head.cameraPositionHeadRelative[cam].y, rob.head.cameraPositionHeadRelative[cam].y);
camera_centre_locn = camera_centre_locn.rotate(rob.head.cameraPositionHeadRelative[cam].pan + rob.head.pan + pan, rob.head.cameraPositionHeadRelative[cam].tilt, rob.head.cameraPositionHeadRelative[cam].roll);
camera_centre_location[cam] = camera_centre_locn.translate(head_location.x, head_location.y, head_location.z);
// where are the left and right cameras?
// we need to know this for the origins of the vacancy models
float half_baseline_length = rob.head.cameraBaseline[cam] / 2;
pos3D left_camera_locn = new pos3D(-half_baseline_length, 0, 0);
left_camera_locn = left_camera_locn.rotate(rob.head.cameraPositionHeadRelative[cam].pan + rob.head.pan + pan, rob.head.cameraPositionHeadRelative[cam].tilt, rob.head.cameraPositionHeadRelative[cam].roll);
pos3D right_camera_locn = new pos3D(-left_camera_locn.x, -left_camera_locn.y, -left_camera_locn.z);
left_camera_location[cam] = left_camera_locn.translate(camera_centre_location[cam].x, camera_centre_location[cam].y, camera_centre_location[cam].z);
right_camera_location[cam] = right_camera_locn.translate(camera_centre_location[cam].x, camera_centre_location[cam].y, camera_centre_location[cam].z);
right_camera_location[cam].pan = left_camera_location[cam].pan;
}
}
/// <summary>
/// create a list of rays using the current grid as a simulation
/// </summary>
/// <param name="robot">rob</param>
/// <param name="stereo_camera_index">index of the stereo camera</param>
/// <returns>list of evidence rays, centred at (0, 0, 0)</returns>
public List<evidenceRay> createSimulatedObservation(
robot rob,
int stereo_camera_index)
{
stereoHead head = rob.head;
stereoModel inverseSensorModel = rob.inverseSensorModel;
float max_range_mm = rob.LocalGridMappingRange_mm;
List<evidenceRay> result = new List<evidenceRay>();
// get essential data for this stereo camera
int image_width = head.cameraImageWidth[stereo_camera_index];
int image_height = head.cameraImageHeight[stereo_camera_index];
// probe the map and return ranges
pos3D camPose = head.cameraPosition[stereo_camera_index];
int step_size = 10;
float[] range_buffer = new float[(image_width/step_size)*(image_height/step_size)];
ProbeView(
null,
camPose.x, camPose.y, camPose.z,
camPose.pan, camPose.tilt, camPose.roll,
head.cameraFOVdegrees[stereo_camera_index],
image_width, image_height,
step_size,
max_range_mm, true,
range_buffer);
// generate stereo features from the ranges
bool nothing_seen = true;
float focal_length_pixels =
head.cameraFocalLengthMm[stereo_camera_index] * image_width /
head.cameraSensorSizeMm[stereo_camera_index];
float baseline_mm = head.cameraBaseline[stereo_camera_index];
int n = 0;
int idx = 0;
int no_of_features = 0;
float[] features = new float[range_buffer.Length*4];
byte[] featureColours = new byte[range_buffer.Length*3];
for (int i = 0; i < featureColours.Length; i++) featureColours[i] = 100;
for (int camy = 0; camy < image_height; camy+=step_size)
{
for (int camx = 0; camx < image_width; camx+=step_size, n++)
{
if (idx < head.MAX_STEREO_FEATURES-5)
{
if (range_buffer[n] > -1) nothing_seen = false;
float disparity_pixels =
stereoModel.DistanceToDisparity(
range_buffer[n],
focal_length_pixels,
baseline_mm);
//Console.WriteLine("range: " + range_buffer[n].ToString());
//Console.WriteLine("focal length: " + head.cameraFocalLengthMm[stereo_camera_index] + " " + focal_length_pixels.ToString());
//Console.WriteLine("disparity: " + disparity_pixels.ToString());
features[idx++] = 1;
features[idx++] = camx;
features[idx++] = camy;
features[idx++] = disparity_pixels;
no_of_features++;
}
}
}
Console.WriteLine("no_of_features " + no_of_features.ToString());
if (nothing_seen) Console.WriteLine("createSimulatedObservation: nothing seen");
head.setStereoFeatures(stereo_camera_index, features, no_of_features);
head.setStereoFeatureColours(stereo_camera_index, featureColours, no_of_features);
result = inverseSensorModel.createObservation(
head.cameraPosition[stereo_camera_index],
head.cameraBaseline[stereo_camera_index],
head.cameraImageWidth[stereo_camera_index],
head.cameraImageHeight[stereo_camera_index],
head.cameraFOVdegrees[stereo_camera_index],
head.features[stereo_camera_index],
head.featureColours[stereo_camera_index],
false);
return (result);
}
//[Test()]
public static void CreateSim()
{
int dimension_cells = 100;
int dimension_cells_vertical = 20;
int cellSize_mm = 50;
int localisationRadius_mm = 2000;
int maxMappingRange_mm = 2000;
float vacancyWeighting = 0.8f;
int map_dim = 14;
byte[] map = {
0,0,0,0,0,0,0,0,0,0,0,0,0,0,
0,0,0,0,0,0,0,0,0,0,0,0,0,0,
0,0,0,0,1,1,1,1,0,0,0,0,0,0,
0,0,0,0,1,0,0,1,0,0,0,0,0,0,
0,0,0,0,1,0,0,1,0,0,0,0,0,0,
0,0,0,0,1,0,0,1,1,1,1,0,0,0,
0,0,0,0,1,0,0,0,0,0,1,0,0,0,
0,0,0,0,1,0,0,0,0,0,1,0,0,0,
0,0,0,0,1,0,0,0,0,0,1,0,0,0,
0,0,0,0,1,1,1,0,1,1,1,0,0,0,
0,0,0,0,0,0,0,0,0,0,0,0,0,0,
0,0,0,0,0,0,0,0,0,0,0,0,0,0,
0,0,0,0,0,0,0,0,0,0,0,0,0,0,
0,0,0,0,0,0,0,0,0,0,0,0,0,0
};
dpslam sim = CreateSimulation(map_dim, map, 50);
particlePose pose = null;
int img_width = 640;
byte[] img = new byte[img_width * img_width * 3];
sim.Show(0, img, img_width, img_width, pose, true, true);
Bitmap bmp = new Bitmap(img_width, img_width, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
BitmapArrayConversions.updatebitmap_unsafe(img, bmp);
bmp.Save("dpslam_tests_CreateSimulation1.bmp", System.Drawing.Imaging.ImageFormat.Bmp);
robot rob = new robot(1);
rob.WheelBase_mm = 90;
rob.WheelDiameter_mm = 30;
rob.x = 0;
rob.y = 0;
rob.pan = 90 * (float)Math.PI / 180.0f;
rob.head.cameraFOVdegrees[0] = 90;
rob.head.cameraSensorSizeMm[0] = 4.17f;
rob.head.cameraFocalLengthMm[0] = 3.6f;
rob.head.cameraImageWidth[0] = 320;
rob.head.cameraImageHeight[0] = 240;
rayModelLookup sensor_model = new rayModelLookup(10, 10);
sensor_model.InitSurveyorSVS();
rob.head.sensormodel[0] = sensor_model;
float time_elapsed_sec = 1;
float forward_velocity = 50;
float angular_velocity_pan = 0;
float angular_velocity_tilt = 0;
float angular_velocity_roll = 0;
float min_x_mm = -((dimension_cells / 2) * cellSize_mm) / 3;
float min_y_mm = -((dimension_cells / 2) * cellSize_mm) / 3;
float max_x_mm = -min_x_mm;
float max_y_mm = -min_y_mm;
for (float t = 0.0f; t < 4; t += time_elapsed_sec)
{
rob.updateFromVelocities(sim, forward_velocity, angular_velocity_pan, angular_velocity_tilt, angular_velocity_roll, time_elapsed_sec);
Console.WriteLine("xy: " + rob.x.ToString() + " " + rob.y.ToString());
rob.motion.Show(img, img_width, img_width, min_x_mm, min_y_mm, max_x_mm, max_y_mm, true, false, t == 0.0f);
}
rob.SaveGridImage("dpslam_tests_CreateSimulation2.bmp");
BitmapArrayConversions.updatebitmap_unsafe(img, bmp);
bmp.Save("dpslam_tests_CreateSimulation3.bmp", System.Drawing.Imaging.ImageFormat.Bmp);
}
public motionModel(
robot rob,
dpslam LocalGrid,
int random_seed)
{
// seed the random number generator
//rnd = new Random(random_seed);
rnd = new MersenneTwister(random_seed);
this.rob = rob;
this.LocalGrid = LocalGrid;
Poses = new List<particlePath>();
ActivePoses = new List<particlePath>();
motion_noise = new float[6];
// some default noise values
int i = 0;
while (i < 2)
{
motion_noise[i] = default_motion_noise_1;
i++;
}
while (i < 4)
{
motion_noise[i] = default_motion_noise_2;
i++;
}
while (i < motion_noise.Length)
{
motion_noise[i] = default_motion_noise_3;
i++;
}
// create some initial poses
createNewPoses(rob.x, rob.y, rob.z, rob.pan, rob.tilt, rob.roll);
}
public void OpenLoop()
{
int image_width = 640;
byte[] img_rays = new byte[image_width*image_width*3];
Bitmap bmp = new Bitmap(image_width, image_width, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
bool closed_loop = false;
robot rob = new robot(1);
int min_x_mm = 0;
int min_y_mm = 0;
int max_x_mm = 1000;
int max_y_mm = 1000;
int step_size = (max_y_mm - min_y_mm) / 15;
int x = min_x_mm + ((max_x_mm - min_x_mm) / 2);
bool initial = true;
float pan = 0; // (float)Math.PI / 4;
for (int y = min_y_mm; y <= max_y_mm; y += step_size)
{
if (closed_loop) surveyPosesDummy(rob);
List<ushort[]> stereo_matches = new List<ushort[]>();
rob.updateFromKnownPosition(stereo_matches, x, y, 0, pan, 0, 0);
rob.motion.Show(
img_rays, image_width, image_width,
min_x_mm, min_y_mm, max_x_mm, max_y_mm,
true, false,
initial);
initial = false;
}
BitmapArrayConversions.updatebitmap_unsafe(img_rays, bmp);
bmp.Save("motionmodel_tests_OpenLoop.bmp", System.Drawing.Imaging.ImageFormat.Bmp);
Assert.IsTrue(rob.y > max_y_mm-50, "The robot did not move far enough " + rob.y.ToString());
}
public dpslamServer(int no_of_stereo_cameras)
{
rob = new robot(no_of_stereo_cameras);
dpslam_tests.CreateSim();
}
/// <summary>
/// add an observation taken from this pose
/// </summary>
/// <param name="stereo_rays">list of ray objects in this observation</param>
/// <param name="rob">robot object</param>
/// <param name="LocalGrid">occupancy grid into which to insert the observation</param>
/// <param name="localiseOnly">if true does not add any mapping particles (pure localisation)</param>
/// <returns>localisation matching score</returns>
public float AddObservation(
List<evidenceRay>[] stereo_rays,
robot rob,
dpslam LocalGrid,
bool localiseOnly)
{
// clear the localisation score
float localisation_score = occupancygridCellMultiHypothesis.NO_OCCUPANCY_EVIDENCE;
// get the positions of the head and cameras for this pose
pos3D head_location = new pos3D(0,0,0);
pos3D[] camera_centre_location = new pos3D[rob.head.no_of_stereo_cameras];
pos3D[] left_camera_location = new pos3D[rob.head.no_of_stereo_cameras];
pos3D[] right_camera_location = new pos3D[rob.head.no_of_stereo_cameras];
calculateCameraPositions(
rob,
ref head_location,
ref camera_centre_location,
ref left_camera_location,
ref right_camera_location);
// itterate for each stereo camera
int cam = stereo_rays.Length - 1;
while (cam >= 0)
{
// itterate through each ray
int r = stereo_rays[cam].Count - 1;
while (r >= 0)
{
// observed ray. Note that this is in an egocentric
// coordinate frame relative to the head of the robot
evidenceRay ray = stereo_rays[cam][r];
// translate and rotate this ray appropriately for the pose
evidenceRay trial_ray =
ray.trialPose(
camera_centre_location[cam].pan,
camera_centre_location[cam].tilt,
camera_centre_location[cam].roll,
camera_centre_location[cam].x,
camera_centre_location[cam].y,
camera_centre_location[cam].z);
//Console.WriteLine("ray.vert[0] " + (trial_ray.vertices[0] == null).ToString());
//Console.WriteLine("ray.vert[1] " + (trial_ray.vertices[1] == null).ToString());
// update the grid cells for this ray and update the
// localisation score accordingly
float score =
LocalGrid.Insert(
trial_ray, this,
rob.head.sensormodel[cam],
left_camera_location[cam],
right_camera_location[cam],
localiseOnly);
if (score != occupancygridCellMultiHypothesis.NO_OCCUPANCY_EVIDENCE)
if (localisation_score != occupancygridCellMultiHypothesis.NO_OCCUPANCY_EVIDENCE)
localisation_score += score;
else
localisation_score = score;
r--;
}
cam--;
}
return (localisation_score);
}
/// <summary>
/// Show a diagram of the robot in this pose
/// This is useful for checking that the positions of cameras have
/// been calculated correctly
/// </summary>
/// <param name="robot">robot object</param>
/// <param name="img">image as a byte array</param>
/// <param name="width">width of the image</param>
/// <param name="height">height of the image</param>
/// <param name="clearBackground">clear the background before drawing</param>
/// <param name="min_x_mm">top left x coordinate</param>
/// <param name="min_y_mm">top left y coordinate</param>
/// <param name="max_x_mm">bottom right x coordinate</param>
/// <param name="max_y_mm">bottom right y coordinate</param>
/// <param name="showFieldOfView">whether to show the field of view of each camera</param>
public void Show(
robot rob,
byte[] img, int width, int height, bool clearBackground,
int min_x_mm, int min_y_mm,
int max_x_mm, int max_y_mm, int line_width,
bool showFieldOfView)
{
if (clearBackground)
for (int i = 0; i < width * height * 3; i++)
img[i] = 255;
// get the positions of the head and cameras for this pose
pos3D head_location = new pos3D(0, 0, 0);
pos3D[] camera_centre_location = new pos3D[rob.head.no_of_stereo_cameras];
pos3D[] left_camera_location = new pos3D[rob.head.no_of_stereo_cameras];
pos3D[] right_camera_location = new pos3D[rob.head.no_of_stereo_cameras];
calculateCameraPositions(rob, ref head_location,
ref camera_centre_location,
ref left_camera_location,
ref right_camera_location);
int w = max_x_mm - min_x_mm;
int h = max_y_mm - min_y_mm;
// draw the body
int xx = (int)((x - min_x_mm) * width / w);
int yy = (int)((y - min_y_mm) * height / h);
int wdth = (int)(rob.BodyWidth_mm * width / w);
int hght = (int)(rob.BodyLength_mm * height / h);
drawing.drawBox(img, width, height, xx, yy, wdth, hght, pan, 0, 255, 0, line_width);
// draw the head
xx = (int)((head_location.x - min_x_mm) * width / w);
yy = (int)((head_location.y - min_y_mm) * height / h);
int radius = (int)(rob.HeadSize_mm * width / w);
drawing.drawBox(img, width, height, xx, yy, radius, radius, head_location.pan, 0, 255, 0, line_width);
// draw the cameras
for (int cam = 0; cam < rob.head.no_of_stereo_cameras; cam++)
{
// draw the left camera
int xx1 = (int)((left_camera_location[cam].x - min_x_mm) * width / w);
int yy1 = (int)((left_camera_location[cam].y - min_y_mm) * height / h);
wdth = (int)((rob.head.cameraBaseline[cam] / 4) * width / w);
hght = (int)((rob.head.cameraBaseline[cam] / 12) * height / h);
if (hght < 1) hght = 1;
drawing.drawBox(img, width, height, xx1, yy1, wdth, hght, left_camera_location[cam].pan + (float)(Math.PI / 2), 0, 255, 0, line_width);
// draw the right camera
int xx2 = (int)((right_camera_location[cam].x - min_x_mm) * width / w);
int yy2 = (int)((right_camera_location[cam].y - min_y_mm) * height / h);
drawing.drawBox(img, width, height, xx2, yy2, wdth, hght, right_camera_location[cam].pan + (float)(Math.PI / 2), 0, 255, 0, line_width);
if (showFieldOfView)
{
float half_FOV = rob.head.cameraFOVdegrees[cam] * (float)Math.PI / 360.0f;
int xx_ray = xx1 + (int)(width * Math.Sin(left_camera_location[cam].pan + half_FOV));
int yy_ray = yy1 + (int)(width * Math.Cos(left_camera_location[cam].pan + half_FOV));
drawing.drawLine(img, width, height, xx1, yy1, xx_ray, yy_ray, 200, 200, 255, 0, false);
xx_ray = xx1 + (int)(width * Math.Sin(left_camera_location[cam].pan - half_FOV));
yy_ray = yy1 + (int)(width * Math.Cos(left_camera_location[cam].pan - half_FOV));
drawing.drawLine(img, width, height, xx1, yy1, xx_ray, yy_ray, 200, 200, 255, 0, false);
xx_ray = xx2 + (int)(width * Math.Sin(right_camera_location[cam].pan + half_FOV));
yy_ray = yy2 + (int)(width * Math.Cos(right_camera_location[cam].pan + half_FOV));
drawing.drawLine(img, width, height, xx2, yy2, xx_ray, yy_ray, 200, 200, 255, 0, false);
xx_ray = xx2 + (int)(width * Math.Sin(right_camera_location[cam].pan - half_FOV));
yy_ray = yy2 + (int)(width * Math.Cos(right_camera_location[cam].pan - half_FOV));
drawing.drawLine(img, width, height, xx2, yy2, xx_ray, yy_ray, 200, 200, 255, 0, false);
}
}
}