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replace mrpt::poses::CPose3D with Eigen::Isometry3d

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add some std namespace.
This commit is contained in:
Jeremie Deray
2017-08-15 13:05:19 +02:00
parent 737f44b0db
commit 235d8c6fdf
3 changed files with 191 additions and 151 deletions
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72
include/rf2o_laser_odometry/CLaserOdometry2D.h
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@@ -45,34 +45,71 @@
#include <boost/bind.hpp> #include <boost/bind.hpp>
#include <Eigen/Dense> #include <Eigen/Dense>
#include <Eigen/Geometry>
#include <unsupported/Eigen/MatrixFunctions> #include <unsupported/Eigen/MatrixFunctions>
#include <iostream> #include <iostream>
#include <fstream> #include <fstream>
#include <numeric> #include <numeric>
namespace rf2o {
template <typename T>
inline int sign(T x) { return x<0 ? -1:1; }
template <typename Derived>
inline typename Eigen::MatrixBase<Derived>::Scalar
getYaw(const Eigen::MatrixBase<Derived>& r)
{
return std::atan2( r(1, 0), r(0, 0) );
}
template<typename T>
inline Eigen::Matrix<T, 3, 3> matrixRollPitchYaw(const T roll,
const T pitch,
const T yaw)
{
const Eigen::AngleAxis<T> ax = Eigen::AngleAxis<T>(roll, Eigen::Matrix<T, 3, 1>::UnitX());
const Eigen::AngleAxis<T> ay = Eigen::AngleAxis<T>(pitch, Eigen::Matrix<T, 3, 1>::UnitY());
const Eigen::AngleAxis<T> az = Eigen::AngleAxis<T>(yaw, Eigen::Matrix<T, 3, 1>::UnitZ());
return (az * ay * ax).toRotationMatrix().matrix();
}
template<typename T>
inline Eigen::Matrix<T, 3, 3> matrixYaw(const T yaw)
{
return matrixRollPitchYaw<T>(0, 0, yaw);
}
} // namespace rf2o
class CLaserOdometry2D class CLaserOdometry2D
{ {
public: public:
CLaserOdometry2D();
~CLaserOdometry2D();
void Init(const sensor_msgs::LaserScan& scan, using Scalar = float;
using Pose2d = Eigen::Isometry2d;
using Pose3d = Eigen::Isometry3d;
using MatrixF31 = Eigen::Matrix<Scalar, 3, 1>;
using IncrementCov = Eigen::Matrix<Scalar, 3, 3>;
CLaserOdometry2D();
virtual ~CLaserOdometry2D() = default;
void init(const sensor_msgs::LaserScan& scan,
const geometry_msgs::Pose& initial_robot_pose); const geometry_msgs::Pose& initial_robot_pose);
bool is_initialized(); bool is_initialized();
void odometryCalculation(const sensor_msgs::LaserScan& scan); bool odometryCalculation(const sensor_msgs::LaserScan& scan);
void setLaserPose(const mrpt::poses::CPose3D& laser_pose); void setLaserPose(const Pose3d& laser_pose);
const mrpt::poses::CPose3D& getIncrement() const; const Pose3d& getIncrement() const;
const Eigen::Matrix<float, 3, 3>& getIncrementCovariance() const; const IncrementCov& getIncrementCovariance() const;
mrpt::poses::CPose3D& getPose(); Pose3d& getPose();
const mrpt::poses::CPose3D& getPose() const; const Pose3d& getPose() const;
protected: protected:
@@ -132,15 +169,14 @@ protected:
mrpt::math::CMatrixFloat31 kai_loc_old; mrpt::math::CMatrixFloat31 kai_loc_old;
mrpt::math::CMatrixFloat31 kai_loc_level; mrpt::math::CMatrixFloat31 kai_loc_level;
mrpt::poses::CPose3D last_increment; Pose3d last_increment_;
Pose3d laser_pose_on_robot_;
Pose3d laser_pose_on_robot_inv_;
Pose3d laser_pose_;
Pose3d laser_oldpose_;
Pose3d robot_pose_;
Pose3d robot_oldpose_;
mrpt::poses::CPose3D laser_pose_on_robot;
mrpt::poses::CPose3D laser_pose_on_robot_inv;
mrpt::poses::CPose3D laser_pose;
mrpt::poses::CPose3D laser_oldpose;
mrpt::poses::CPose3D robot_pose;
mrpt::poses::CPose3D robot_oldpose;
bool test; bool test;
std::vector<double> last_m_lin_speeds; std::vector<double> last_m_lin_speeds;
std::vector<double> last_m_ang_speeds; std::vector<double> last_m_ang_speeds;
@@ -158,7 +194,7 @@ protected:
void solveSystemNonLinear(); void solveSystemNonLinear();
void filterLevelSolution(); void filterLevelSolution();
void PoseUpdate(); void PoseUpdate();
void Reset(mrpt::poses::CPose3D ini_pose, CObservation2DRangeScan scan); void Reset(const Pose3d& ini_pose, CObservation2DRangeScan scan);
}; };
#endif #endif

224
src/CLaserOdometry2D.cpp
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@@ -26,19 +26,12 @@ CLaserOdometry2D::CLaserOdometry2D() :
// //
} }
void CLaserOdometry2D::setLaserPose(const Pose3d& laser_pose)
CLaserOdometry2D::~CLaserOdometry2D()
{
//
}
void CLaserOdometry2D::setLaserPose(const mrpt::poses::CPose3D& laser_pose)
{ {
//Set laser pose on the robot //Set laser pose on the robot
laser_pose_on_robot = laser_pose; laser_pose_on_robot_ = laser_pose;
laser_pose_on_robot_inv = laser_pose_on_robot; laser_pose_on_robot_inv_ = laser_pose_on_robot_.inverse();
laser_pose_on_robot_inv.inverse();
} }
bool CLaserOdometry2D::is_initialized() bool CLaserOdometry2D::is_initialized()
@@ -46,7 +39,7 @@ bool CLaserOdometry2D::is_initialized()
return module_initialized; return module_initialized;
} }
void CLaserOdometry2D::Init(const sensor_msgs::LaserScan& scan, void CLaserOdometry2D::init(const sensor_msgs::LaserScan& scan,
const geometry_msgs::Pose& initial_robot_pose) const geometry_msgs::Pose& initial_robot_pose)
{ {
//Got an initial scan laser, obtain its parametes //Got an initial scan laser, obtain its parametes
@@ -59,26 +52,20 @@ void CLaserOdometry2D::Init(const sensor_msgs::LaserScan& scan,
ctf_levels = 5; // Coarse-to-Fine levels ctf_levels = 5; // Coarse-to-Fine levels
iter_irls = 5; //Num iterations to solve iterative reweighted least squares iter_irls = 5; //Num iterations to solve iterative reweighted least squares
//Robot initial pose (see MQTT:bridge) Pose3d robotInitialPose = Pose3d::Identity();
mrpt::poses::CPose3D robotInitialPose; const geometry_msgs::Pose _src = initial_robot_pose;
geometry_msgs::Pose _src = initial_robot_pose;
robotInitialPose.x(_src.position.x); robotInitialPose = Eigen::Quaterniond(_src.orientation.w,
robotInitialPose.y(_src.position.y); _src.orientation.x,
_src.orientation.y,
_src.orientation.z);
mrpt::math::CQuaternionDouble quat; robotInitialPose.translation()(0) = _src.position.x;
quat.x(_src.orientation.x); robotInitialPose.translation()(1) = _src.position.y;
quat.y(_src.orientation.y);
quat.z(_src.orientation.z);
quat.r(_src.orientation.w);
double roll, pitch, yaw;
quat.rpy(roll, pitch, yaw);
robotInitialPose.setYawPitchRoll(yaw,pitch,roll);
//robotInitialPose.phi(yaw);
//Set the initial pose //Set the initial pose
laser_pose = robotInitialPose + laser_pose_on_robot; laser_pose_ = robotInitialPose * laser_pose_on_robot_;
laser_oldpose = robotInitialPose + laser_pose_on_robot; laser_oldpose_ = laser_oldpose_;
// Init module (internal) // Init module (internal)
//------------------------ //------------------------
@@ -91,7 +78,7 @@ void CLaserOdometry2D::Init(const sensor_msgs::LaserScan& scan,
//Resize pyramid //Resize pyramid
unsigned int s, cols_i; unsigned int s, cols_i;
const unsigned int pyr_levels = round(log2(round(float(width) / float(cols)))) + ctf_levels; const unsigned int pyr_levels = std::round(std::log2(round(float(width) / float(cols)))) + ctf_levels;
range.resize(pyr_levels); range.resize(pyr_levels);
range_old.resize(pyr_levels); range_old.resize(pyr_levels);
range_inter.resize(pyr_levels); range_inter.resize(pyr_levels);
@@ -158,9 +145,9 @@ void CLaserOdometry2D::Init(const sensor_msgs::LaserScan& scan,
last_odom_time = ros::Time::now(); last_odom_time = ros::Time::now();
} }
const mrpt::poses::CPose3D& CLaserOdometry2D::getIncrement() const const CLaserOdometry2D::Pose3d& CLaserOdometry2D::getIncrement() const
{ {
return last_increment; return last_increment_;
} }
const Eigen::Matrix<float, 3, 3>& CLaserOdometry2D::getIncrementCovariance() const const Eigen::Matrix<float, 3, 3>& CLaserOdometry2D::getIncrementCovariance() const
@@ -168,17 +155,17 @@ const Eigen::Matrix<float, 3, 3>& CLaserOdometry2D::getIncrementCovariance() con
return cov_odo; return cov_odo;
} }
mrpt::poses::CPose3D& CLaserOdometry2D::getPose() CLaserOdometry2D::Pose3d& CLaserOdometry2D::getPose()
{ {
return robot_pose; return robot_pose_;
} }
const mrpt::poses::CPose3D& CLaserOdometry2D::getPose() const const CLaserOdometry2D::Pose3d& CLaserOdometry2D::getPose() const
{ {
return robot_pose; return robot_pose_;
} }
void CLaserOdometry2D::odometryCalculation(const sensor_msgs::LaserScan& scan) bool CLaserOdometry2D::odometryCalculation(const sensor_msgs::LaserScan& scan)
{ {
//================================================================================== //==================================================================================
// DIFERENTIAL ODOMETRY MULTILEVEL // DIFERENTIAL ODOMETRY MULTILEVEL
@@ -198,9 +185,9 @@ void CLaserOdometry2D::odometryCalculation(const sensor_msgs::LaserScan& scan)
transformations[i].setIdentity(); transformations[i].setIdentity();
level = i; level = i;
unsigned int s = pow(2.f,int(ctf_levels-(i+1))); unsigned int s = std::pow(2.f,int(ctf_levels-(i+1)));
cols_i = ceil(float(cols)/float(s)); cols_i = std::ceil(float(cols)/float(s));
image_level = ctf_levels - i + round(log2(round(float(width)/float(cols)))) - 1; image_level = ctf_levels - i + std::round(std::log2(std::round(float(width)/float(cols)))) - 1;
//1. Perform warping //1. Perform warping
if (i == 0) if (i == 0)
@@ -244,6 +231,8 @@ void CLaserOdometry2D::odometryCalculation(const sensor_msgs::LaserScan& scan)
//Update poses //Update poses
PoseUpdate(); PoseUpdate();
return true;
} }
@@ -259,13 +248,13 @@ void CLaserOdometry2D::createImagePyramid()
//The number of levels of the pyramid does not match the number of levels used //The number of levels of the pyramid does not match the number of levels used
//in the odometry computation (because we sometimes want to finish with lower resolutions) //in the odometry computation (because we sometimes want to finish with lower resolutions)
unsigned int pyr_levels = round(log2(round(float(width)/float(cols)))) + ctf_levels; unsigned int pyr_levels = std::round(std::log2(std::round(float(width)/float(cols)))) + ctf_levels;
//Generate levels //Generate levels
for (unsigned int i = 0; i<pyr_levels; i++) for (unsigned int i = 0; i<pyr_levels; i++)
{ {
unsigned int s = pow(2.f,int(i)); unsigned int s = std::pow(2.f,int(i));
cols_i = ceil(float(width)/float(s)); cols_i = std::ceil(float(width)/float(s));
const unsigned int i_1 = i-1; const unsigned int i_1 = i-1;
@@ -286,7 +275,7 @@ void CLaserOdometry2D::createImagePyramid()
for (int l=-2; l<3; l++) for (int l=-2; l<3; l++)
{ {
const float abs_dif = abs(range_wf(u+l)-dcenter); const float abs_dif = std::abs(range_wf(u+l)-dcenter);
if (abs_dif < max_range_dif) if (abs_dif < max_range_dif)
{ {
const float aux_w = g_mask[2+l]*(max_range_dif - abs_dif); const float aux_w = g_mask[2+l]*(max_range_dif - abs_dif);
@@ -314,7 +303,7 @@ void CLaserOdometry2D::createImagePyramid()
const int indu = u+l; const int indu = u+l;
if ((indu>=0)&&(indu<cols_i)) if ((indu>=0)&&(indu<cols_i))
{ {
const float abs_dif = abs(range_wf(indu)-dcenter); const float abs_dif = std::abs(range_wf(indu)-dcenter);
if (abs_dif < max_range_dif) if (abs_dif < max_range_dif)
{ {
const float aux_w = g_mask[2+l]*(max_range_dif - abs_dif); const float aux_w = g_mask[2+l]*(max_range_dif - abs_dif);
@@ -351,7 +340,7 @@ void CLaserOdometry2D::createImagePyramid()
for (int l=-2; l<3; l++) for (int l=-2; l<3; l++)
{ {
const float abs_dif = abs(range[i_1](u2+l)-dcenter); const float abs_dif = std::abs(range[i_1](u2+l)-dcenter);
if (abs_dif < max_range_dif) if (abs_dif < max_range_dif)
{ {
const float aux_w = g_mask[2+l]*(max_range_dif - abs_dif); const float aux_w = g_mask[2+l]*(max_range_dif - abs_dif);
@@ -381,7 +370,7 @@ void CLaserOdometry2D::createImagePyramid()
const int indu = u2+l; const int indu = u2+l;
if ((indu>=0)&&(indu<cols_i2)) if ((indu>=0)&&(indu<cols_i2))
{ {
const float abs_dif = abs(range[i_1](indu)-dcenter); const float abs_dif = std::abs(range[i_1](indu)-dcenter);
if (abs_dif < max_range_dif) if (abs_dif < max_range_dif)
{ {
const float aux_w = g_mask[2+l]*(max_range_dif - abs_dif); const float aux_w = g_mask[2+l]*(max_range_dif - abs_dif);
@@ -405,8 +394,8 @@ void CLaserOdometry2D::createImagePyramid()
if (range[i](u) > 0.f) if (range[i](u) > 0.f)
{ {
const float tita = -0.5*fovh + float(u)*fovh/float(cols_i-1); const float tita = -0.5*fovh + float(u)*fovh/float(cols_i-1);
xx[i](u) = range[i](u)*cos(tita); xx[i](u) = range[i](u)*std::cos(tita);
yy[i](u) = range[i](u)*sin(tita); yy[i](u) = range[i](u)*std::sin(tita);
} }
else else
{ {
@@ -449,15 +438,21 @@ void CLaserOdometry2D::calculaterangeDerivativesSurface()
for (unsigned int u = 0; u < cols_i-1; u++) for (unsigned int u = 0; u < cols_i-1; u++)
{ {
const float dist = mrpt::math::square(xx_inter[image_level](u+1) - xx_inter[image_level](u)) float dista = xx_inter[image_level](u+1) - xx_inter[image_level](u);
+ mrpt::math::square(yy_inter[image_level](u+1) - yy_inter[image_level](u)); dista *= dista;
float distb = yy_inter[image_level](u+1) - yy_inter[image_level](u);
distb *= distb;
const float dist = dista + distb;
if (dist > 0.f) if (dist > 0.f)
rtita(u) = sqrt(dist); rtita(u) = std::sqrt(dist);
} }
//Spatial derivatives //Spatial derivatives
for (unsigned int u = 1; u < cols_i-1; u++) for (unsigned int u = 1; u < cols_i-1; u++)
dtita(u) = (rtita(u-1)*(range_inter[image_level](u+1)-range_inter[image_level](u)) + rtita(u)*(range_inter[image_level](u) - range_inter[image_level](u-1)))/(rtita(u)+rtita(u-1)); dtita(u) = (rtita(u-1)*(range_inter[image_level](u+1)-
range_inter[image_level](u)) + rtita(u)*(range_inter[image_level](u) -
range_inter[image_level](u-1)))/(rtita(u)+rtita(u-1));
dtita(0) = dtita(1); dtita(0) = dtita(1);
dtita(cols_i-1) = dtita(cols_i-2); dtita(cols_i-1) = dtita(cols_i-2);
@@ -503,7 +498,7 @@ void CLaserOdometry2D::computeNormals()
if (null(u) == 0.f) if (null(u) == 0.f)
{ {
const float tita = -0.5f*fovh + float(u)*incr_tita; const float tita = -0.5f*fovh + float(u)*incr_tita;
const float alfa = -atan2(2.f*dtita(u), 2.f*range[image_level](u)*incr_tita); const float alfa = -std::atan2(2.f*dtita(u), 2.f*range[image_level](u)*incr_tita);
norm_ang(u) = tita + alfa; norm_ang(u) = tita + alfa;
if (norm_ang(u) < -M_PI) if (norm_ang(u) < -M_PI)
norm_ang(u) += 2.f*M_PI; norm_ang(u) += 2.f*M_PI;
@@ -512,8 +507,8 @@ void CLaserOdometry2D::computeNormals()
else if (norm_ang(u) > M_PI) else if (norm_ang(u) > M_PI)
norm_ang(u) -= M_PI; norm_ang(u) -= M_PI;
normx(u) = cos(tita + alfa); normx(u) = std::cos(tita + alfa);
normy(u) = sin(tita + alfa); normy(u) = std::sin(tita + alfa);
} }
} }
} }
@@ -526,7 +521,7 @@ void CLaserOdometry2D::computeWeights()
//Parameters for error_linearization //Parameters for error_linearization
const float kdtita = 1.f; const float kdtita = 1.f;
const float kdt = kdtita/mrpt::math::square(fps); const float kdt = kdtita / (fps*fps);
const float k2d = 0.2f; const float k2d = 0.2f;
for (unsigned int u = 1; u < cols_i-1; u++) for (unsigned int u = 1; u < cols_i-1; u++)
@@ -540,9 +535,11 @@ void CLaserOdometry2D::computeWeights()
const float dtitat = ini_dtita - final_dtita; const float dtitat = ini_dtita - final_dtita;
const float dtita2 = dtita(u+1) - dtita(u-1); const float dtita2 = dtita(u+1) - dtita(u-1);
const float w_der = kdt*mrpt::math::square(dt(u)) + kdtita*mrpt::math::square(dtita(u)) + k2d*(abs(dtitat) + abs(dtita2)); const float w_der = kdt*(dt(u)*dt(u)) +
kdtita*(dtita(u)*dtita(u)) +
k2d*(std::abs(dtitat) + std::abs(dtita2));
weights(u) = sqrt(1.f/w_der); weights(u) = std::sqrt(1.f/w_der);
} }
const float inv_max = 1.f/weights.maximum(); const float inv_max = 1.f/weights.maximum();
@@ -587,10 +584,10 @@ void CLaserOdometry2D::solveSystemOneLevel()
const float tita = -0.5*fovh + u/kdtita; const float tita = -0.5*fovh + u/kdtita;
//Fill the matrix A //Fill the matrix A
A(cont, 0) = tw*(cos(tita) + dtita(u)*kdtita*sin(tita)/range_inter[image_level](u)); A(cont, 0) = tw*(std::cos(tita) + dtita(u)*kdtita*std::sin(tita)/range_inter[image_level](u));
A(cont, 1) = tw*(sin(tita) - dtita(u)*kdtita*cos(tita)/range_inter[image_level](u)); A(cont, 1) = tw*(std::sin(tita) - dtita(u)*kdtita*std::cos(tita)/range_inter[image_level](u));
A(cont, 2) = tw*(-yy[image_level](u)*cos(tita) + xx[image_level](u)*sin(tita) - dtita(u)*kdtita); A(cont, 2) = tw*(-yy[image_level](u)*std::cos(tita) + xx[image_level](u)*std::sin(tita) - dtita(u)*kdtita);
B(cont,0) = tw*(-dt(u)); B(cont, 0) = tw*(-dt(u));
cont++; cont++;
} }
@@ -629,10 +626,10 @@ void CLaserOdometry2D::solveSystemNonLinear()
const float tita = -0.5*fovh + u/kdtita; const float tita = -0.5*fovh + u/kdtita;
//Fill the matrix A //Fill the matrix A
A(cont, 0) = tw*(cos(tita) + dtita(u)*kdtita*sin(tita)/range_inter[image_level](u)); A(cont, 0) = tw*(std::cos(tita) + dtita(u)*kdtita*std::sin(tita)/range_inter[image_level](u));
A(cont, 1) = tw*(sin(tita) - dtita(u)*kdtita*cos(tita)/range_inter[image_level](u)); A(cont, 1) = tw*(std::sin(tita) - dtita(u)*kdtita*std::cos(tita)/range_inter[image_level](u));
A(cont, 2) = tw*(-yy[image_level](u)*cos(tita) + xx[image_level](u)*sin(tita) - dtita(u)*kdtita); A(cont, 2) = tw*(-yy[image_level](u)*std::cos(tita) + xx[image_level](u)*std::sin(tita) - dtita(u)*kdtita);
B(cont,0) = tw*(-dt(u)); B(cont, 0) = tw*(-dt(u));
cont++; cont++;
} }
@@ -655,8 +652,8 @@ void CLaserOdometry2D::solveSystemNonLinear()
for (unsigned int u = 1; u < cols_i-1; u++) for (unsigned int u = 1; u < cols_i-1; u++)
if (null(u) == 0) if (null(u) == 0)
{ {
aver_dt += fabsf(dt(u)); aver_dt += std::abs(dt(u));
aver_res += fabsf(res(ind++)); aver_res += std::abs(res(ind++));
} }
aver_dt /= cont; aver_res /= cont; aver_dt /= cont; aver_res /= cont;
// printf("\n Aver dt = %f, aver res = %f", aver_dt, aver_res); // printf("\n Aver dt = %f, aver res = %f", aver_dt, aver_res);
@@ -677,7 +674,7 @@ void CLaserOdometry2D::solveSystemNonLinear()
for (unsigned int u = 1; u < cols_i-1; u++) for (unsigned int u = 1; u < cols_i-1; u++)
if (null(u) == 0) if (null(u) == 0)
{ {
const float res_weight = sqrt(1.f/(1.f + mrpt::math::square(k*res(cont)))); const float res_weight = std::sqrt(1.f/(1.f + ((k*res(cont))*(k*res(cont)))));
//Fill the matrix Aw //Fill the matrix Aw
Aw(cont,0) = res_weight*A(cont,0); Aw(cont,0) = res_weight*A(cont,0);
@@ -706,11 +703,11 @@ void CLaserOdometry2D::solveSystemNonLinear()
ROS_INFO_STREAM_COND(verbose, "[rf2o] COV_ODO: " << cov_odo); ROS_INFO_STREAM_COND(verbose, "[rf2o] COV_ODO: " << cov_odo);
} }
void CLaserOdometry2D::Reset(mrpt::poses::CPose3D ini_pose, CObservation2DRangeScan scan) void CLaserOdometry2D::Reset(const Pose3d& ini_pose, CObservation2DRangeScan scan)
{ {
//Set the initial pose //Set the initial pose
laser_pose = ini_pose; laser_pose_ = ini_pose;
laser_oldpose = ini_pose; laser_oldpose_ = ini_pose;
//readLaser(scan); //readLaser(scan);
createImagePyramid(); createImagePyramid();
@@ -741,8 +738,8 @@ void CLaserOdometry2D::performWarping()
//Transform point to the warped reference frame //Transform point to the warped reference frame
const float x_w = acu_trans(0,0)*xx[image_level](j) + acu_trans(0,1)*yy[image_level](j) + acu_trans(0,2); const float x_w = acu_trans(0,0)*xx[image_level](j) + acu_trans(0,1)*yy[image_level](j) + acu_trans(0,2);
const float y_w = acu_trans(1,0)*xx[image_level](j) + acu_trans(1,1)*yy[image_level](j) + acu_trans(1,2); const float y_w = acu_trans(1,0)*xx[image_level](j) + acu_trans(1,1)*yy[image_level](j) + acu_trans(1,2);
const float tita_w = atan2(y_w, x_w); const float tita_w = std::atan2(y_w, x_w);
const float range_w = sqrt(x_w*x_w + y_w*y_w); const float range_w = std::sqrt(x_w*x_w + y_w*y_w);
//Calculate warping //Calculate warping
const float uwarp = kdtita*(tita_w + 0.5*fovh); const float uwarp = kdtita*(tita_w + 0.5*fovh);
@@ -756,18 +753,18 @@ void CLaserOdometry2D::performWarping()
const float delta_l = uwarp - float(uwarp_l); const float delta_l = uwarp - float(uwarp_l);
//Very close pixel //Very close pixel
if (abs(round(uwarp) - uwarp) < 0.05f) if (std::abs(std::round(uwarp) - uwarp) < 0.05f)
{ {
range_warped[image_level](round(uwarp)) += range_w; range_warped[image_level](round(uwarp)) += range_w;
wacu(round(uwarp)) += 1.f; wacu(std::round(uwarp)) += 1.f;
} }
else else
{ {
const float w_r = mrpt::math::square(delta_l); const float w_r = delta_l*delta_l;
range_warped[image_level](uwarp_r) += w_r*range_w; range_warped[image_level](uwarp_r) += w_r*range_w;
wacu(uwarp_r) += w_r; wacu(uwarp_r) += w_r;
const float w_l = mrpt::math::square(delta_r); const float w_l = delta_r*delta_r;
range_warped[image_level](uwarp_l) += w_l*range_w; range_warped[image_level](uwarp_l) += w_l*range_w;
wacu(uwarp_l) += w_l; wacu(uwarp_l) += w_l;
} }
@@ -782,8 +779,8 @@ void CLaserOdometry2D::performWarping()
{ {
const float tita = -0.5f*fovh + float(u)/kdtita; const float tita = -0.5f*fovh + float(u)/kdtita;
range_warped[image_level](u) /= wacu(u); range_warped[image_level](u) /= wacu(u);
xx_warped[image_level](u) = range_warped[image_level](u)*cos(tita); xx_warped[image_level](u) = range_warped[image_level](u)*std::cos(tita);
yy_warped[image_level](u) = range_warped[image_level](u)*sin(tita); yy_warped[image_level](u) = range_warped[image_level](u)*std::sin(tita);
} }
else else
{ {
@@ -833,11 +830,7 @@ void CLaserOdometry2D::filterLevelSolution()
kai_loc_sub(2) = 0.f; kai_loc_sub(2) = 0.f;
else else
{ {
#if MRPT_VERSION>=0x130 kai_loc_sub(2) = -fps*std::acos(acu_trans(0,0))*rf2o::sign(acu_trans(1,0));
kai_loc_sub(2) = -fps*acos(acu_trans(0,0))*mrpt::utils::sign(acu_trans(1,0));
#else
kai_loc_sub(2) = -fps*acos(acu_trans(0,0))*mrpt::math::sign(acu_trans(1,0));
#endif
} }
kai_loc_sub += kai_loc_old; kai_loc_sub += kai_loc_old;
@@ -845,7 +838,8 @@ void CLaserOdometry2D::filterLevelSolution()
kai_b_old = Bii.colPivHouseholderQr().solve(kai_loc_sub); kai_b_old = Bii.colPivHouseholderQr().solve(kai_loc_sub);
//Filter speed //Filter speed
const float cf = 15e3f*expf(-int(level)), df = 0.05f*expf(-int(level)); const float cf = 15e3f*std::exp(-float(int(level))),
df = 0.05f*std::exp(-float(int(level)));
Eigen::Matrix<float,3,1> kai_b_fil; Eigen::Matrix<float,3,1> kai_b_fil;
for (unsigned int i=0; i<3; i++) for (unsigned int i=0; i<3; i++)
@@ -861,10 +855,10 @@ void CLaserOdometry2D::filterLevelSolution()
const float incrx = kai_loc_fil(0)/fps; const float incrx = kai_loc_fil(0)/fps;
const float incry = kai_loc_fil(1)/fps; const float incry = kai_loc_fil(1)/fps;
const float rot = kai_loc_fil(2)/fps; const float rot = kai_loc_fil(2)/fps;
transformations[level](0,0) = cos(rot); transformations[level](0,0) = std::cos(rot);
transformations[level](0,1) = -sin(rot); transformations[level](0,1) = -std::sin(rot);
transformations[level](1,0) = sin(rot); transformations[level](1,0) = std::sin(rot);
transformations[level](1,1) = cos(rot); transformations[level](1,1) = std::cos(rot);
transformations[level](0,2) = incrx; transformations[level](0,2) = incrx;
transformations[level](1,2) = incry; transformations[level](1,2) = incry;
} }
@@ -888,45 +882,53 @@ void CLaserOdometry2D::PoseUpdate()
kai_loc(2) = 0.f; kai_loc(2) = 0.f;
else else
{ {
#if MRPT_VERSION>=0x130 kai_loc(2) = fps*acos(acu_trans(0,0))*rf2o::sign(acu_trans(1,0));
kai_loc(2) = fps*acos(acu_trans(0,0))*mrpt::utils::sign(acu_trans(1,0));
#else
kai_loc(2) = fps*acos(acu_trans(0,0))*mrpt::math::sign(acu_trans(1,0));
#endif
} }
//cout << endl << "Arc cos (incr tita): " << kai_loc(2); //cout << endl << "Arc cos (incr tita): " << kai_loc(2);
float phi = laser_pose.yaw(); float phi = rf2o::getYaw(laser_pose_.rotation());
kai_abs(0) = kai_loc(0)*cos(phi) - kai_loc(1)*sin(phi); kai_abs(0) = kai_loc(0)*std::cos(phi) - kai_loc(1)*std::sin(phi);
kai_abs(1) = kai_loc(0)*sin(phi) + kai_loc(1)*cos(phi); kai_abs(1) = kai_loc(0)*std::sin(phi) + kai_loc(1)*std::cos(phi);
kai_abs(2) = kai_loc(2); kai_abs(2) = kai_loc(2);
// Update poses // Update poses
//------------------------------------------------------- //-------------------------------------------------------
laser_oldpose = laser_pose; laser_oldpose_ = laser_pose_;
mrpt::math::CMatrixDouble33 aux_acu = acu_trans; mrpt::math::CMatrixDouble33 aux_acu = acu_trans;
mrpt::poses::CPose2D pose_aux_2D(acu_trans(0,2), acu_trans(1,2), kai_loc(2)/fps); Pose3d pose_aux_2D = Pose3d::Identity();
laser_pose = laser_pose + mrpt::poses::CPose3D(pose_aux_2D);
last_increment = pose_aux_2D; pose_aux_2D = rf2o::matrixYaw(double(kai_loc(2)/fps));
pose_aux_2D.translation()(0) = acu_trans(0,2);
pose_aux_2D.translation()(1) = acu_trans(1,2);
laser_pose_ = laser_pose_ * pose_aux_2D;
last_increment_ = pose_aux_2D;
// Compute kai_loc_old // Compute kai_loc_old
//------------------------------------------------------- //-------------------------------------------------------
phi = laser_pose.yaw(); phi = rf2o::getYaw(laser_pose_.rotation());
kai_loc_old(0) = kai_abs(0)*cos(phi) + kai_abs(1)*sin(phi); kai_loc_old(0) = kai_abs(0)*std::cos(phi) + kai_abs(1)*std::sin(phi);
kai_loc_old(1) = -kai_abs(0)*sin(phi) + kai_abs(1)*cos(phi); kai_loc_old(1) = -kai_abs(0)*std::sin(phi) + kai_abs(1)*std::cos(phi);
kai_loc_old(2) = kai_abs(2); kai_loc_old(2) = kai_abs(2);
ROS_INFO_COND(verbose, "[rf2o] LASERodom = [%f %f %f]",laser_pose.x(),laser_pose.y(),laser_pose.yaw()); ROS_INFO_COND(verbose, "[rf2o] LASERodom = [%f %f %f]",
laser_pose_.translation()(0),
laser_pose_.translation()(1),
0/*TODOlaser_pose_.rotation()*/);
//Compose Transformations //Compose Transformations
robot_pose = laser_pose + laser_pose_on_robot_inv; robot_pose_ = laser_pose_ * laser_pose_on_robot_inv_;
ROS_INFO_COND(verbose, "BASEodom = [%f %f %f]",robot_pose.x(),robot_pose.y(),robot_pose.yaw());
ROS_INFO_COND(verbose, "BASEodom = [%f %f %f]",
robot_pose_.translation()(0),
robot_pose_.translation()(1),
0/*TODOrobot_pose_.rotation()*/);
// Estimate linear/angular speeds (mandatory for base_local_planner) // Estimate linear/angular speeds (mandatory for base_local_planner)
// last_scan -> the last scan received // last_scan -> the last scan received
@@ -936,13 +938,17 @@ void CLaserOdometry2D::PoseUpdate()
last_odom_time = current_scan_time; last_odom_time = current_scan_time;
lin_speed = acu_trans(0,2) / time_inc_sec; lin_speed = acu_trans(0,2) / time_inc_sec;
//double lin_speed = sqrt( mrpt::math::square(robot_oldpose.x()-robot_pose.x()) + mrpt::math::square(robot_oldpose.y()-robot_pose.y()) )/time_inc_sec; //double lin_speed = sqrt( mrpt::math::square(robot_oldpose.x()-robot_pose.x()) + mrpt::math::square(robot_oldpose.y()-robot_pose.y()) )/time_inc_sec;
double ang_inc = robot_pose.yaw() - robot_oldpose.yaw();
double ang_inc = rf2o::getYaw(robot_pose_.rotation()) -
rf2o::getYaw(robot_oldpose_.rotation());
if (ang_inc > 3.14159) if (ang_inc > 3.14159)
ang_inc -= 2*3.14159; ang_inc -= 2*3.14159;
if (ang_inc < -3.14159) if (ang_inc < -3.14159)
ang_inc += 2*3.14159; ang_inc += 2*3.14159;
ang_speed = ang_inc/time_inc_sec; ang_speed = ang_inc/time_inc_sec;
robot_oldpose = robot_pose; robot_oldpose_ = robot_pose_;
//filter speeds //filter speeds
/* /*

42
src/CLaserOdometry2DNode.cpp
View File

@@ -23,7 +23,7 @@ class CLaserOdometry2DNode : CLaserOdometry2D
public: public:
CLaserOdometry2DNode(); CLaserOdometry2DNode();
~CLaserOdometry2DNode(); ~CLaserOdometry2DNode() = default;
void process(const ros::TimerEvent &); void process(const ros::TimerEvent &);
void publish(); void publish();
@@ -32,7 +32,7 @@ public:
public: public:
bool publish_tf,new_scan_available; bool publish_tf, new_scan_available;
double freq; double freq;
@@ -109,11 +109,6 @@ CLaserOdometry2DNode::CLaserOdometry2DNode() :
ROS_INFO_STREAM("Listening laser scan from topic: " << laser_sub.getTopic()); ROS_INFO_STREAM("Listening laser scan from topic: " << laser_sub.getTopic());
} }
CLaserOdometry2DNode::~CLaserOdometry2DNode()
{
//
}
bool CLaserOdometry2DNode::setLaserPoseFromTf() bool CLaserOdometry2DNode::setLaserPoseFromTf()
{ {
bool retrieved = false; bool retrieved = false;
@@ -134,18 +129,21 @@ bool CLaserOdometry2DNode::setLaserPoseFromTf()
retrieved = false; retrieved = false;
} }
//TF:transform -> mrpt::CPose3D (see mrpt-ros-bridge) //TF:transform -> Eigen::Isometry3d
mrpt::poses::CPose3D laser_tf;
const tf::Vector3 &t = transform.getOrigin();
laser_tf.x() = t[0];
laser_tf.y() = t[1];
laser_tf.z() = t[2];
const tf::Matrix3x3 &basis = transform.getBasis(); const tf::Matrix3x3 &basis = transform.getBasis();
mrpt::math::CMatrixDouble33 R; Eigen::Matrix3d R;
for(int r = 0; r < 3; r++) for(int r = 0; r < 3; r++)
for(int c = 0; c < 3; c++) for(int c = 0; c < 3; c++)
R(r,c) = basis[r][c]; R(r,c) = basis[r][c];
laser_tf.setRotationMatrix(R);
Pose3d laser_tf(R);
const tf::Vector3 &t = transform.getOrigin();
laser_tf.translation()(0) = t[0];
laser_tf.translation()(1) = t[1];
laser_tf.translation()(2) = t[2];
setLaserPose(laser_tf); setLaserPose(laser_tf);
@@ -194,7 +192,7 @@ void CLaserOdometry2DNode::LaserCallBack(const sensor_msgs::LaserScan::ConstPtr&
} }
else else
{ {
Init(last_scan, initial_robot_pose.pose.pose); init(last_scan, initial_robot_pose.pose.pose);
first_laser_scan = false; first_laser_scan = false;
} }
} }
@@ -221,10 +219,10 @@ void CLaserOdometry2DNode::publish()
odom_trans.header.stamp = ros::Time::now(); odom_trans.header.stamp = ros::Time::now();
odom_trans.header.frame_id = odom_frame_id; odom_trans.header.frame_id = odom_frame_id;
odom_trans.child_frame_id = base_frame_id; odom_trans.child_frame_id = base_frame_id;
odom_trans.transform.translation.x = robot_pose.x(); odom_trans.transform.translation.x = robot_pose_.translation()(0);
odom_trans.transform.translation.y = robot_pose.y(); odom_trans.transform.translation.y = robot_pose_.translation()(1);
odom_trans.transform.translation.z = 0.0; odom_trans.transform.translation.z = 0.0;
odom_trans.transform.rotation = tf::createQuaternionMsgFromYaw(robot_pose.yaw()); odom_trans.transform.rotation = tf::createQuaternionMsgFromYaw(rf2o::getYaw(robot_pose_.rotation()));
//send the transform //send the transform
odom_broadcaster.sendTransform(odom_trans); odom_broadcaster.sendTransform(odom_trans);
} }
@@ -236,10 +234,10 @@ void CLaserOdometry2DNode::publish()
odom.header.stamp = ros::Time::now(); odom.header.stamp = ros::Time::now();
odom.header.frame_id = odom_frame_id; odom.header.frame_id = odom_frame_id;
//set the position //set the position
odom.pose.pose.position.x = robot_pose.x(); odom.pose.pose.position.x = robot_pose_.translation()(0);
odom.pose.pose.position.y = robot_pose.y(); odom.pose.pose.position.y = robot_pose_.translation()(1);
odom.pose.pose.position.z = 0.0; odom.pose.pose.position.z = 0.0;
odom.pose.pose.orientation = tf::createQuaternionMsgFromYaw(robot_pose.yaw()); odom.pose.pose.orientation = tf::createQuaternionMsgFromYaw(rf2o::getYaw(robot_pose_.rotation()));
//set the velocity //set the velocity
odom.child_frame_id = base_frame_id; odom.child_frame_id = base_frame_id;
odom.twist.twist.linear.x = lin_speed; //linear speed odom.twist.twist.linear.x = lin_speed; //linear speed