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scanmatcher.cpp
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scanmatcher.cpp
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#include <cstring>
#include <limits>
#include <list>
#include <iostream>
#include "scanmatcher.h"
#include "gridlinetraversal.h"
//#define GENERATE_MAPS
namespace GMapping {
using namespace std;
const double ScanMatcher::nullLikelihood=-.5;
ScanMatcher::ScanMatcher(): m_laserPose(0,0,0){
//m_laserAngles=0;
m_laserBeams=0;
m_optRecursiveIterations=3;
m_activeAreaComputed=false;
// This are the dafault settings for a grid map of 5 cm
m_llsamplerange=0.01;
m_llsamplestep=0.01;
m_lasamplerange=0.005;
m_lasamplestep=0.005;
m_enlargeStep=10.;
m_fullnessThreshold=0.1;
m_angularOdometryReliability=0.;
m_linearOdometryReliability=0.;
m_freeCellRatio=sqrt(2.);
m_initialBeamsSkip=0;
/*
// This are the dafault settings for a grid map of 10 cm
m_llsamplerange=0.1;
m_llsamplestep=0.1;
m_lasamplerange=0.02;
m_lasamplestep=0.01;
*/
// This are the dafault settings for a grid map of 20/25 cm
/*
m_llsamplerange=0.2;
m_llsamplestep=0.1;
m_lasamplerange=0.02;
m_lasamplestep=0.01;
m_generateMap=false;
*/
}
void ScanMatcher::invalidateActiveArea(){
m_activeAreaComputed=false;
}
/*
void ScanMatcher::computeActiveArea(ScanMatcherMap& map, const OrientedPoint& p, const double* readings){
if (m_activeAreaComputed)
return;
HierarchicalArray2D<PointAccumulator>::PointSet activeArea;
OrientedPoint lp=p;
lp.x+=cos(p.theta)*m_laserPose.x-sin(p.theta)*m_laserPose.y;
lp.y+=sin(p.theta)*m_laserPose.x+cos(p.theta)*m_laserPose.y;
lp.theta+=m_laserPose.theta;
IntPoint p0=map.world2map(lp);
const double * angle=m_laserAngles;
for (const double* r=readings; r<readings+m_laserBeams; r++, angle++)
if (m_generateMap){
double d=*r;
if (d>m_laserMaxRange)
continue;
if (d>m_usableRange)
d=m_usableRange;
Point phit=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle));
IntPoint p1=map.world2map(phit);
d+=map.getDelta();
//Point phit2=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle));
//IntPoint p2=map.world2map(phit2);
IntPoint linePoints[20000] ;
GridLineTraversalLine line;
line.points=linePoints;
//GridLineTraversal::gridLine(p0, p2, &line);
GridLineTraversal::gridLine(p0, p1, &line);
for (int i=0; i<line.num_points-1; i++){
activeArea.insert(map.storage().patchIndexes(linePoints[i]));
}
if (d<=m_usableRange){
activeArea.insert(map.storage().patchIndexes(p1));
//activeArea.insert(map.storage().patchIndexes(p2));
}
} else {
if (*r>m_laserMaxRange||*r>m_usableRange) continue;
Point phit=lp;
phit.x+=*r*cos(lp.theta+*angle);
phit.y+=*r*sin(lp.theta+*angle);
IntPoint p1=map.world2map(phit);
assert(p1.x>=0 && p1.y>=0);
IntPoint cp=map.storage().patchIndexes(p1);
assert(cp.x>=0 && cp.y>=0);
activeArea.insert(cp);
}
//this allocates the unallocated cells in the active area of the map
//cout << "activeArea::size() " << activeArea.size() << endl;
map.storage().setActiveArea(activeArea, true);
m_activeAreaComputed=true;
}
*/
void ScanMatcher::computeActiveArea(ScanMatcherMap& map, const OrientedPoint& p, const double* readings){
if (m_activeAreaComputed)
return;
OrientedPoint lp=p;
lp.x+=cos(p.theta)*m_laserPose.x-sin(p.theta)*m_laserPose.y;
lp.y+=sin(p.theta)*m_laserPose.x+cos(p.theta)*m_laserPose.y;
lp.theta+=m_laserPose.theta;
IntPoint p0=map.world2map(lp);
Point min(map.map2world(0,0));
Point max(map.map2world(map.getMapSizeX()-1,map.getMapSizeY()-1));
if (lp.x<min.x) min.x=lp.x;
if (lp.y<min.y) min.y=lp.y;
if (lp.x>max.x) max.x=lp.x;
if (lp.y>max.y) max.y=lp.y;
/*determine the size of the area*/
const double * angle=m_laserAngles+m_initialBeamsSkip;
for (const double* r=readings+m_initialBeamsSkip; r<readings+m_laserBeams; r++, angle++){
if (*r>m_laserMaxRange) continue;
double d=*r>m_usableRange?m_usableRange:*r;
Point phit=lp;
phit.x+=d*cos(lp.theta+*angle);
phit.y+=d*sin(lp.theta+*angle);
if (phit.x<min.x) min.x=phit.x;
if (phit.y<min.y) min.y=phit.y;
if (phit.x>max.x) max.x=phit.x;
if (phit.y>max.y) max.y=phit.y;
}
//min=min-Point(map.getDelta(),map.getDelta());
//max=max+Point(map.getDelta(),map.getDelta());
if ( !map.isInside(min) || !map.isInside(max)){
Point lmin(map.map2world(0,0));
Point lmax(map.map2world(map.getMapSizeX()-1,map.getMapSizeY()-1));
//cerr << "CURRENT MAP " << lmin.x << " " << lmin.y << " " << lmax.x << " " << lmax.y << endl;
//cerr << "BOUNDARY OVERRIDE " << min.x << " " << min.y << " " << max.x << " " << max.y << endl;
min.x=( min.x >= lmin.x )? lmin.x: min.x-m_enlargeStep;
max.x=( max.x <= lmax.x )? lmax.x: max.x+m_enlargeStep;
min.y=( min.y >= lmin.y )? lmin.y: min.y-m_enlargeStep;
max.y=( max.y <= lmax.y )? lmax.y: max.y+m_enlargeStep;
map.resize(min.x, min.y, max.x, max.y);
//cerr << "RESIZE " << min.x << " " << min.y << " " << max.x << " " << max.y << endl;
}
HierarchicalArray2D<PointAccumulator>::PointSet activeArea;
/*allocate the active area*/
angle=m_laserAngles+m_initialBeamsSkip;
for (const double* r=readings+m_initialBeamsSkip; r<readings+m_laserBeams; r++, angle++)
if (m_generateMap){
double d=*r;
if (d>m_laserMaxRange)
continue;
if (d>m_usableRange)
d=m_usableRange;
Point phit=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle));
IntPoint p0=map.world2map(lp);
IntPoint p1=map.world2map(phit);
IntPoint linePoints[20000] ;
GridLineTraversalLine line;
line.points=linePoints;
GridLineTraversal::gridLine(p0, p1, &line);
for (int i=0; i<line.num_points-1; i++){
assert(map.isInside(linePoints[i]));
activeArea.insert(map.storage().patchIndexes(linePoints[i]));
assert(linePoints[i].x>=0 && linePoints[i].y>=0);
}
if (d<m_usableRange){
IntPoint cp=map.storage().patchIndexes(p1);
assert(cp.x>=0 && cp.y>=0);
activeArea.insert(cp);
}
} else {
if (*r>m_laserMaxRange||*r>m_usableRange) continue;
Point phit=lp;
phit.x+=*r*cos(lp.theta+*angle);
phit.y+=*r*sin(lp.theta+*angle);
IntPoint p1=map.world2map(phit);
assert(p1.x>=0 && p1.y>=0);
IntPoint cp=map.storage().patchIndexes(p1);
assert(cp.x>=0 && cp.y>=0);
activeArea.insert(cp);
}
//this allocates the unallocated cells in the active area of the map
//cout << "activeArea::size() " << activeArea.size() << endl;
/*
cerr << "ActiveArea=";
for (HierarchicalArray2D<PointAccumulator>::PointSet::const_iterator it=activeArea.begin(); it!= activeArea.end(); it++){
cerr << "(" << it->x <<"," << it->y << ") ";
}
cerr << endl;
*/
map.storage().setActiveArea(activeArea, true);
m_activeAreaComputed=true;
}
double ScanMatcher::registerScan(ScanMatcherMap& map, const OrientedPoint& p, const double* readings){
if (!m_activeAreaComputed)
computeActiveArea(map, p, readings);
//this operation replicates the cells that will be changed in the registration operation
map.storage().allocActiveArea();
OrientedPoint lp=p;
lp.x+=cos(p.theta)*m_laserPose.x-sin(p.theta)*m_laserPose.y;
lp.y+=sin(p.theta)*m_laserPose.x+cos(p.theta)*m_laserPose.y;
lp.theta+=m_laserPose.theta;
IntPoint p0=map.world2map(lp);
const double * angle=m_laserAngles+m_initialBeamsSkip;
double esum=0;
for (const double* r=readings+m_initialBeamsSkip; r<readings+m_laserBeams; r++, angle++)
if (m_generateMap){
double d=*r;
if (d>m_laserMaxRange)
continue;
if (d>m_usableRange)
d=m_usableRange;
Point phit=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle));
IntPoint p1=map.world2map(phit);
IntPoint linePoints[20000] ;
GridLineTraversalLine line;
line.points=linePoints;
GridLineTraversal::gridLine(p0, p1, &line);
for (int i=0; i<line.num_points-1; i++){
PointAccumulator& cell=map.cell(line.points[i]);
double e=-cell.entropy();
cell.update(false, Point(0,0));
e+=cell.entropy();
esum+=e;
}
if (d<m_usableRange){
double e=-map.cell(p1).entropy();
map.cell(p1).update(true, phit);
e+=map.cell(p1).entropy();
esum+=e;
}
} else {
if (*r>m_laserMaxRange||*r>m_usableRange) continue;
Point phit=lp;
phit.x+=*r*cos(lp.theta+*angle);
phit.y+=*r*sin(lp.theta+*angle);
IntPoint p1=map.world2map(phit);
assert(p1.x>=0 && p1.y>=0);
map.cell(p1).update(true,phit);
}
//cout << "informationGain=" << -esum << endl;
return esum;
}
/*
void ScanMatcher::registerScan(ScanMatcherMap& map, const OrientedPoint& p, const double* readings){
if (!m_activeAreaComputed)
computeActiveArea(map, p, readings);
//this operation replicates the cells that will be changed in the registration operation
map.storage().allocActiveArea();
OrientedPoint lp=p;
lp.x+=cos(p.theta)*m_laserPose.x-sin(p.theta)*m_laserPose.y;
lp.y+=sin(p.theta)*m_laserPose.x+cos(p.theta)*m_laserPose.y;
lp.theta+=m_laserPose.theta;
IntPoint p0=map.world2map(lp);
const double * angle=m_laserAngles;
for (const double* r=readings; r<readings+m_laserBeams; r++, angle++)
if (m_generateMap){
double d=*r;
if (d>m_laserMaxRange)
continue;
if (d>m_usableRange)
d=m_usableRange;
Point phit=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle));
IntPoint p1=map.world2map(phit);
IntPoint linePoints[20000] ;
GridLineTraversalLine line;
line.points=linePoints;
GridLineTraversal::gridLine(p0, p1, &line);
for (int i=0; i<line.num_points-1; i++){
IntPoint ci=map.storage().patchIndexes(line.points[i]);
if (map.storage().getActiveArea().find(ci)==map.storage().getActiveArea().end())
cerr << "BIG ERROR" <<endl;
map.cell(line.points[i]).update(false, Point(0,0));
}
if (d<=m_usableRange){
map.cell(p1).update(true,phit);
}
} else {
if (*r>m_laserMaxRange||*r>m_usableRange) continue;
Point phit=lp;
phit.x+=*r*cos(lp.theta+*angle);
phit.y+=*r*sin(lp.theta+*angle);
map.cell(phit).update(true,phit);
}
}
*/
double ScanMatcher::icpOptimize(OrientedPoint& pnew, const ScanMatcherMap& map, const OrientedPoint& init, const double* readings) const{
double currentScore;
double sc=score(map, init, readings);;
OrientedPoint start=init;
pnew=init;
int iterations=0;
do{
currentScore=sc;
sc=icpStep(pnew, map, start, readings);
//cerr << "pstart=" << start.x << " " <<start.y << " " << start.theta << endl;
//cerr << "pret=" << pnew.x << " " <<pnew.y << " " << pnew.theta << endl;
start=pnew;
iterations++;
} while (sc>currentScore);
cerr << "i="<< iterations << endl;
return currentScore;
}
// 通过对初始位姿添加扰动得到最优的位姿
// init 为粒子位姿
double ScanMatcher::optimize(OrientedPoint& pnew, const ScanMatcherMap& map, const OrientedPoint& init, const double* readings) const{
double bestScore=-1;
// 使用给定的初始值初始化当前位姿
OrientedPoint currentPose=init;
double currentScore=score(map, currentPose, readings);
double adelta=m_optAngularDelta, ldelta=m_optLinearDelta;
unsigned int refinement=0;
enum Move{Front, Back, Left, Right, TurnLeft, TurnRight, Done};
/* cout << __PRETTY_FUNCTION__<< " readings: ";
for (int i=0; i<m_laserBeams; i++){
cout << readings[i] << " ";
}
cout << endl;
*/ int c_iterations=0;
do{
// 说明上一次做好得分比当前得分好,说明上次优化的不好,则减小扰动步长
if (bestScore>=currentScore){
refinement++;
adelta*=.5;
ldelta*=.5;
}
bestScore=currentScore;
// cout <<"score="<< currentScore << " refinement=" << refinement;
// cout << "pose=" << currentPose.x << " " << currentPose.y << " " << currentPose.theta << endl;
OrientedPoint bestLocalPose=currentPose;
OrientedPoint localPose=currentPose;
Move move=Front;
// 对几种假设的运动对初始化位姿进行扰动
// 记录其中最高得分,即最有扰动后的位姿
do {
// 每次都用初始位姿作为起始位姿,然后添加下列几种扰动
localPose=currentPose;
switch(move){
case Front:
localPose.x+=ldelta;
move=Back;
break;
case Back:
localPose.x-=ldelta;
move=Left;
break;
case Left:
localPose.y-=ldelta;
move=Right;
break;
case Right:
localPose.y+=ldelta;
move=TurnLeft;
break;
case TurnLeft:
localPose.theta+=adelta;
move=TurnRight;
break;
case TurnRight:
localPose.theta-=adelta;
move=Done;
break;
default:;
}
double odo_gain=1;
// 默认都为 0
if (m_angularOdometryReliability>0.){
double dth=init.theta-localPose.theta; dth=atan2(sin(dth), cos(dth)); dth*=dth;
odo_gain*=exp(-m_angularOdometryReliability*dth);
}
if (m_linearOdometryReliability>0.){
double dx=init.x-localPose.x;
double dy=init.y-localPose.y;
double drho=dx*dx+dy*dy;
odo_gain*=exp(-m_linearOdometryReliability*drho);
}
// 使用扰动后的位姿再次计算得分
double localScore=odo_gain*score(map, localPose, readings);
// 如果得分变高了,说明扰动更优,则记录最好的得分,并记录最好的扰动位姿
if (localScore>currentScore){
currentScore=localScore;
bestLocalPose=localPose;
}
c_iterations++;
} while(move!=Done);
// 将最优位姿更新到 currentPose
currentPose=bestLocalPose;
// cout << "currentScore=" << currentScore<< endl;
//here we look for the best move;
// 只要当前扰动后的位姿得分比上次好,则继续进行扰动优化
}while (currentScore>bestScore || refinement<m_optRecursiveIterations);
//cout << __PRETTY_FUNCTION__ << "bestScore=" << bestScore<< endl;
//cout << __PRETTY_FUNCTION__ << "iterations=" << c_iterations<< endl;
// 更新得到的最优位姿
pnew=currentPose;
// 返回对应的最高得分
return bestScore;
}
struct ScoredMove{
OrientedPoint pose;
double score;
double likelihood;
};
typedef std::list<ScoredMove> ScoredMoveList;
double ScanMatcher::optimize(OrientedPoint& _mean, ScanMatcher::CovarianceMatrix& _cov, const ScanMatcherMap& map, const OrientedPoint& init, const double* readings) const{
ScoredMoveList moveList;
double bestScore=-1;
OrientedPoint currentPose=init;
ScoredMove sm={currentPose,0,0};
unsigned int matched=likelihoodAndScore(sm.score, sm.likelihood, map, currentPose, readings);
double currentScore=sm.score;
moveList.push_back(sm);
double adelta=m_optAngularDelta, ldelta=m_optLinearDelta;
unsigned int refinement=0;
int count=0;
enum Move{Front, Back, Left, Right, TurnLeft, TurnRight, Done};
do{
if (bestScore>=currentScore){
refinement++;
adelta*=.5;
ldelta*=.5;
}
bestScore=currentScore;
// cout <<"score="<< currentScore << " refinement=" << refinement;
// cout << "pose=" << currentPose.x << " " << currentPose.y << " " << currentPose.theta << endl;
OrientedPoint bestLocalPose=currentPose;
OrientedPoint localPose=currentPose;
Move move=Front;
do {
localPose=currentPose;
switch(move){
case Front:
localPose.x+=ldelta;
move=Back;
break;
case Back:
localPose.x-=ldelta;
move=Left;
break;
case Left:
localPose.y-=ldelta;
move=Right;
break;
case Right:
localPose.y+=ldelta;
move=TurnLeft;
break;
case TurnLeft:
localPose.theta+=adelta;
move=TurnRight;
break;
case TurnRight:
localPose.theta-=adelta;
move=Done;
break;
default:;
}
double localScore, localLikelihood;
double odo_gain=1;
if (m_angularOdometryReliability>0.){
double dth=init.theta-localPose.theta; dth=atan2(sin(dth), cos(dth)); dth*=dth;
odo_gain*=exp(-m_angularOdometryReliability*dth);
}
if (m_linearOdometryReliability>0.){
double dx=init.x-localPose.x;
double dy=init.y-localPose.y;
double drho=dx*dx+dy*dy;
odo_gain*=exp(-m_linearOdometryReliability*drho);
}
localScore=odo_gain*score(map, localPose, readings);
//update the score
count++;
matched=likelihoodAndScore(localScore, localLikelihood, map, localPose, readings);
if (localScore>currentScore){
currentScore=localScore;
bestLocalPose=localPose;
}
sm.score=localScore;
sm.likelihood=localLikelihood;//+log(odo_gain);
sm.pose=localPose;
moveList.push_back(sm);
//update the move list
} while(move!=Done);
currentPose=bestLocalPose;
//cout << __PRETTY_FUNCTION__ << "currentScore=" << currentScore<< endl;
//here we look for the best move;
}while (currentScore>bestScore || refinement<m_optRecursiveIterations);
//cout << __PRETTY_FUNCTION__ << "bestScore=" << bestScore<< endl;
//cout << __PRETTY_FUNCTION__ << "iterations=" << count<< endl;
//normalize the likelihood
double lmin=1e9;
double lmax=-1e9;
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
lmin=it->likelihood<lmin?it->likelihood:lmin;
lmax=it->likelihood>lmax?it->likelihood:lmax;
}
//cout << "lmin=" << lmin << " lmax=" << lmax<< endl;
for (ScoredMoveList::iterator it=moveList.begin(); it!=moveList.end(); it++){
it->likelihood=exp(it->likelihood-lmax);
//cout << "l=" << it->likelihood << endl;
}
//compute the mean
OrientedPoint mean(0,0,0);
double lacc=0;
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
mean=mean+it->pose*it->likelihood;
lacc+=it->likelihood;
}
mean=mean*(1./lacc);
//OrientedPoint delta=mean-currentPose;
//cout << "delta.x=" << delta.x << " delta.y=" << delta.y << " delta.theta=" << delta.theta << endl;
CovarianceMatrix cov={0.,0.,0.,0.,0.,0.};
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
OrientedPoint delta=it->pose-mean;
delta.theta=atan2(sin(delta.theta), cos(delta.theta));
cov.xx+=delta.x*delta.x*it->likelihood;
cov.yy+=delta.y*delta.y*it->likelihood;
cov.tt+=delta.theta*delta.theta*it->likelihood;
cov.xy+=delta.x*delta.y*it->likelihood;
cov.xt+=delta.x*delta.theta*it->likelihood;
cov.yt+=delta.y*delta.theta*it->likelihood;
}
cov.xx/=lacc, cov.xy/=lacc, cov.xt/=lacc, cov.yy/=lacc, cov.yt/=lacc, cov.tt/=lacc;
_mean=currentPose;
_cov=cov;
return bestScore;
}
void ScanMatcher::setLaserParameters
(unsigned int beams, double* angles, const OrientedPoint& lpose){
/*if (m_laserAngles)
delete [] m_laserAngles;
*/
assert(beams<LASER_MAXBEAMS);
m_laserPose=lpose;
m_laserBeams=beams;
//m_laserAngles=new double[beams];
memcpy(m_laserAngles, angles, sizeof(double)*m_laserBeams);
}
double ScanMatcher::likelihood
(double& _lmax, OrientedPoint& _mean, CovarianceMatrix& _cov, const ScanMatcherMap& map, const OrientedPoint& p, const double* readings){
ScoredMoveList moveList;
for (double xx=-m_llsamplerange; xx<=m_llsamplerange; xx+=m_llsamplestep)
for (double yy=-m_llsamplerange; yy<=m_llsamplerange; yy+=m_llsamplestep)
for (double tt=-m_lasamplerange; tt<=m_lasamplerange; tt+=m_lasamplestep){
OrientedPoint rp=p;
rp.x+=xx;
rp.y+=yy;
rp.theta+=tt;
ScoredMove sm;
sm.pose=rp;
likelihoodAndScore(sm.score, sm.likelihood, map, rp, readings);
moveList.push_back(sm);
}
//OrientedPoint delta=mean-currentPose;
//cout << "delta.x=" << delta.x << " delta.y=" << delta.y << " delta.theta=" << delta.theta << endl;
//normalize the likelihood
double lmax=-1e9;
double lcum=0;
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
lmax=it->likelihood>lmax?it->likelihood:lmax;
}
for (ScoredMoveList::iterator it=moveList.begin(); it!=moveList.end(); it++){
//it->likelihood=exp(it->likelihood-lmax);
lcum+=exp(it->likelihood-lmax);
it->likelihood=exp(it->likelihood-lmax);
//cout << "l=" << it->likelihood << endl;
}
OrientedPoint mean(0,0,0);
double s=0,c=0;
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
mean=mean+it->pose*it->likelihood;
s+=it->likelihood*sin(it->pose.theta);
c+=it->likelihood*cos(it->pose.theta);
}
mean=mean*(1./lcum);
s/=lcum;
c/=lcum;
mean.theta=atan2(s,c);
CovarianceMatrix cov={0.,0.,0.,0.,0.,0.};
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
OrientedPoint delta=it->pose-mean;
delta.theta=atan2(sin(delta.theta), cos(delta.theta));
cov.xx+=delta.x*delta.x*it->likelihood;
cov.yy+=delta.y*delta.y*it->likelihood;
cov.tt+=delta.theta*delta.theta*it->likelihood;
cov.xy+=delta.x*delta.y*it->likelihood;
cov.xt+=delta.x*delta.theta*it->likelihood;
cov.yt+=delta.y*delta.theta*it->likelihood;
}
cov.xx/=lcum, cov.xy/=lcum, cov.xt/=lcum, cov.yy/=lcum, cov.yt/=lcum, cov.tt/=lcum;
_mean=mean;
_cov=cov;
_lmax=lmax;
return log(lcum)+lmax;
}
double ScanMatcher::likelihood
(double& _lmax, OrientedPoint& _mean, CovarianceMatrix& _cov, const ScanMatcherMap& map, const OrientedPoint& p,
Gaussian3& odometry, const double* readings, double gain){
ScoredMoveList moveList;
for (double xx=-m_llsamplerange; xx<=m_llsamplerange; xx+=m_llsamplestep)
for (double yy=-m_llsamplerange; yy<=m_llsamplerange; yy+=m_llsamplestep)
for (double tt=-m_lasamplerange; tt<=m_lasamplerange; tt+=m_lasamplestep){
OrientedPoint rp=p;
rp.x+=xx;
rp.y+=yy;
rp.theta+=tt;
ScoredMove sm;
sm.pose=rp;
likelihoodAndScore(sm.score, sm.likelihood, map, rp, readings);
sm.likelihood+=odometry.eval(rp)/gain;
assert(!isnan(sm.likelihood));
moveList.push_back(sm);
}
//OrientedPoint delta=mean-currentPose;
//cout << "delta.x=" << delta.x << " delta.y=" << delta.y << " delta.theta=" << delta.theta << endl;
//normalize the likelihood
double lmax=-std::numeric_limits<double>::max();
double lcum=0;
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
lmax=it->likelihood>lmax?it->likelihood:lmax;
}
for (ScoredMoveList::iterator it=moveList.begin(); it!=moveList.end(); it++){
//it->likelihood=exp(it->likelihood-lmax);
lcum+=exp(it->likelihood-lmax);
it->likelihood=exp(it->likelihood-lmax);
//cout << "l=" << it->likelihood << endl;
}
OrientedPoint mean(0,0,0);
double s=0,c=0;
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
mean=mean+it->pose*it->likelihood;
s+=it->likelihood*sin(it->pose.theta);
c+=it->likelihood*cos(it->pose.theta);
}
mean=mean*(1./lcum);
s/=lcum;
c/=lcum;
mean.theta=atan2(s,c);
CovarianceMatrix cov={0.,0.,0.,0.,0.,0.};
for (ScoredMoveList::const_iterator it=moveList.begin(); it!=moveList.end(); it++){
OrientedPoint delta=it->pose-mean;
delta.theta=atan2(sin(delta.theta), cos(delta.theta));
cov.xx+=delta.x*delta.x*it->likelihood;
cov.yy+=delta.y*delta.y*it->likelihood;
cov.tt+=delta.theta*delta.theta*it->likelihood;
cov.xy+=delta.x*delta.y*it->likelihood;
cov.xt+=delta.x*delta.theta*it->likelihood;
cov.yt+=delta.y*delta.theta*it->likelihood;
}
cov.xx/=lcum, cov.xy/=lcum, cov.xt/=lcum, cov.yy/=lcum, cov.yt/=lcum, cov.tt/=lcum;
_mean=mean;
_cov=cov;
_lmax=lmax;
double v=log(lcum)+lmax;
assert(!isnan(v));
return v;
}
void ScanMatcher::setMatchingParameters
(double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, double likelihoodSigma, unsigned int likelihoodSkip){
m_usableRange=urange;
m_laserMaxRange=range;
m_kernelSize=kernsize;
m_optLinearDelta=lopt;
m_optAngularDelta=aopt;
m_optRecursiveIterations=iterations;
m_gaussianSigma=sigma;
m_likelihoodSigma=likelihoodSigma;
m_likelihoodSkip=likelihoodSkip;
}
};