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#!/usr/bin/env python
import os
import sys
import pymrpt
import argparse
from time import sleep
# args
parser = argparse.ArgumentParser()
parser.add_argument('config', help='Config file.')
parser.add_argument('-d', '--delay', help='Time delay in seconds. Default: 0.2')
parser.add_argument('-r', '--resolution', help='Window resolution. Default: 800x600')
args = parser.parse_args()
# get filenames from args
config_filename = args.config
# get configuration
if not os.path.exists(config_filename):
print 'Error. Config file not found.'
print 'Quit.'
sys.exit(1)
config_file = pymrpt.utils.CConfigFile(config_filename)
print 'Load config file {}.'.format(config_filename)
sec_name = 'LocalizationExperiment'
rawlog_filename = config_file.read_string(sec_name, "rawlog_file", "")
map_filename = config_file.read_string(sec_name, "map_file", "")
# default filenames are relative so we need to change our dir to supplied config file dir
curr_dir = os.path.abspath(os.curdir)
config_dir = os.path.dirname(os.path.abspath(config_filename))
# rawlog
if not os.path.exists(os.path.abspath(rawlog_filename)):
os.chdir(config_dir)
if not os.path.exists(os.path.abspath(rawlog_filename)):
print 'Error. Rawlog file not found.'
print 'Quit.'
sys.exit(1)
else:
rawlog_filename = os.path.abspath(rawlog_filename)
os.chdir(curr_dir)
rawlog_file = pymrpt.utils.CFileGZInputStream(rawlog_filename)
print 'Load rawlog file {}.'.format(rawlog_filename)
# map
if not os.path.exists(os.path.abspath(map_filename)):
os.chdir(config_dir)
if not os.path.exists(os.path.abspath(map_filename)):
print 'Error. Map file not found.'
print 'Quit.'
sys.exit(1)
else:
map_filename = os.path.abspath(map_filename)
os.chdir(curr_dir)
# options
# kld
pdf_prediction_options = pymrpt.slam.TMonteCarloLocalizationParams()
pdf_prediction_options.KLD_params.loadFromConfigFileName(config_filename, 'KLD_options')
pdf_prediction_options.KLD_params.dumpToConsole()
# pf
pf_options = pymrpt.bayes.CParticleFilter.TParticleFilterOptions()
pf_options.loadFromConfigFileName(config_filename, 'PF_options')
pf_options.dumpToConsole()
# maps
map_list = pymrpt.maps.TSetOfMetricMapInitializers()
map_list.loadFromConfigFileName(config_filename, 'MetricMap')
map_list.dumpToConsole()
## setup
metric_map = pymrpt.maps.CMultiMetricMap()
metric_map.setListOfMaps(map_list)
# load map
if (map_filename.endswith('.simplemap')
or map_filename.endswith('.simplemap.gz')):
simple_map = pymrpt.maps.CSimpleMap.Create()
map_file = pymrpt.utils.CFileGZInputStream(map_filename)
map_file.ReadObject(simple_map)
metric_map.loadFromProbabilisticPosesAndObservations(simple_map.ctx())
elif (map_filename.endswith('.gridmap')
or map_filename.endswith('.gridmap.gz')):
occ_map = pymrpt.maps.COccupancyGridMap2D.Create()
map_file = pymrpt.utils.CFileGZInputStream(map_filename)
map_file.ReadObject(occ_map)
# overwrite gridmap
for i in range(len(metric_map.maps)):
if metric_map.maps[i].ctx().GetRuntimeClass().className == 'COccupancyGridMap2D':
metric_map.maps[i] = occ_map
else:
print 'Error. Can not load map from unknown extension.'
print 'Quit.'
sys.exit(1)
print 'Load map file {}.'.format(map_filename)
# get window resolution
if args.resolution: resolution_str = args.resolution
else: resolution_str = '800x600'
# gui
try:
win3D = pymrpt.gui.CDisplayWindow3D("pf_localization", int(resolution_str.split('x')[0]), int(resolution_str.split('x')[1]))
except:
win3D = pymrpt.gui.CDisplayWindow3D("pf_localization", 800, 600)
# initial scene
map_object = metric_map.maps[0].ctx().getAs3DObject()
scene_ptr = win3D.get3DSceneAndLock()
scene_ptr.ctx().clear()
scene_ptr.ctx().insert(map_object)
win3D.unlockAccess3DScene()
win3D.forceRepaint()
# mcl
pdf = pymrpt.slam.CMonteCarloLocalization2D()
pdf.options = pdf_prediction_options
pdf.options.metricMap = metric_map
pf = pymrpt.bayes.CParticleFilter()
pf.m_options = pf_options
# initialize pdf
pdf.resetUniformFreeSpace(metric_map.maps[0].pointer(), 0.7, 40000)
# loop
entry = 0
while True:
# get action observation pair
next_entry, act, obs, entry = pymrpt.obs.CRawlog.readActionObservationPair(rawlog_file, entry)
if not next_entry: break
else: entry += 1
print 'Processing entry: {}.'.format(entry)
# get covariance and mean
cov, mean = pdf.getCovarianceAndMean()
# get particles
particles_object = pdf.getAs3DObject()
# get laserscan
points_map = obs.buildAuxPointsMap()
laserscan_object = points_map.getAs3DObject()
laserscan_object.ctx().setPose(pymrpt.poses.CPose3D(mean))
laserscan_object.ctx().setColor(pymrpt.utils.TColorf(1.,0.,0.))
# update pf
act_ptr = pymrpt.obs.CActionCollection.Create()
act_ptr.ctx(act)
obs_ptr = pymrpt.obs.CSensoryFrame.Create()
obs_ptr.ctx(obs)
stats = pf.executeOn(pdf, act_ptr, obs_ptr)
# update scene
scene_ptr = win3D.get3DSceneAndLock()
scene_ptr.ctx().clear()
scene_ptr.ctx().insert(map_object)
scene_ptr.ctx().insert(particles_object)
scene_ptr.ctx().insert(laserscan_object)
win3D.unlockAccess3DScene()
win3D.forceRepaint()
# sleep
if args.delay:
try:
sleep(float(args.delay))
except:
sleep(0.2)
else: sleep(0.2)
print
print 'Done.'
raw_input('Press key to quit.')
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