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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Wim Meeussen */ 00036 /* Modified by Alex Noyvirt for SRS */ 00037 00038 #include "srs_people_tracking_filter/tracker_particle.h" 00039 #include "srs_people_tracking_filter/gaussian_pos_vel.h" 00040 00041 using namespace MatrixWrapper; 00042 using namespace BFL; 00043 using namespace tf; 00044 using namespace std; 00045 using namespace ros; 00046 00047 00048 00049 00050 namespace estimation 00051 { 00052 // constructor 00053 TrackerParticle::TrackerParticle(const string& name, unsigned int num_particles, const StatePosVel& sysnoise): 00054 Tracker(name), 00055 prior_(num_particles), 00056 filter_(NULL), 00057 sys_model_(sysnoise), 00058 meas_model_(tf::Vector3(0.1,0.1,0.1)), 00059 tracker_initialized_(false), 00060 num_particles_(num_particles) 00061 {}; 00062 00063 00064 00065 // destructor 00066 TrackerParticle::~TrackerParticle(){ 00067 if (filter_) delete filter_; 00068 }; 00069 00070 00071 // initialize prior density of filter 00072 void TrackerParticle::initialize(const StatePosVel& mu, const StatePosVel& sigma, const double time) 00073 { 00074 cout << "Initializing tracker with " << num_particles_ << " particles, with covariance " 00075 << sigma << " around " << mu << endl; 00076 00077 00078 GaussianPosVel gauss_pos_vel(mu, sigma); 00079 vector<Sample<StatePosVel> > prior_samples(num_particles_); 00080 gauss_pos_vel.SampleFrom(prior_samples, num_particles_, CHOLESKY, NULL); 00081 prior_.ListOfSamplesSet(prior_samples); 00082 filter_ = new BootstrapFilter<StatePosVel, tf::Vector3>(&prior_, &prior_, 0, num_particles_/4.0); 00083 00084 // tracker initialized 00085 tracker_initialized_ = true; 00086 quality_ = 1; 00087 filter_time_ = time; 00088 init_time_ = time; 00089 } 00090 00091 00092 00093 00094 // update filter prediction 00095 bool TrackerParticle::updatePrediction(const double time) 00096 { 00097 bool res = true; 00098 if (time > filter_time_){ 00099 // set dt in sys model 00100 sys_model_.SetDt(time - filter_time_); 00101 filter_time_ = time; 00102 00103 // update filter 00104 res = filter_->Update(&sys_model_); 00105 if (!res) quality_ = 0; 00106 } 00107 return res; 00108 }; 00109 00110 00111 00112 // update filter correction 00113 bool TrackerParticle::updateCorrection(const tf::Vector3& meas, const MatrixWrapper::SymmetricMatrix& cov) 00114 { 00115 assert(cov.columns() == 3); 00116 00117 // set covariance 00118 ((MeasPdfPos*)(meas_model_.MeasurementPdfGet()))->CovarianceSet(cov); 00119 00120 // update filter 00121 bool res = filter_->Update(&meas_model_, meas); 00122 if (!res) quality_ = 0; 00123 00124 return res; 00125 }; 00126 00127 00128 // get evenly spaced particle cloud 00129 void TrackerParticle::getParticleCloud(const tf::Vector3& step, double threshold, sensor_msgs::PointCloud& cloud) const 00130 { 00131 ((MCPdfPosVel*)(filter_->PostGet()))->getParticleCloud(step, threshold, cloud); 00132 }; 00133 00134 00135 // get most recent filter posterior 00136 void TrackerParticle::getEstimate(StatePosVel& est) const 00137 { 00138 est = ((MCPdfPosVel*)(filter_->PostGet()))->ExpectedValueGet(); 00139 }; 00140 00141 00142 void TrackerParticle::getEstimate(srs_msgs::PositionMeasurement& est) const 00143 { 00144 StatePosVel tmp = filter_->PostGet()->ExpectedValueGet(); 00145 00146 est.pos.x = tmp.pos_[0]; 00147 est.pos.y = tmp.pos_[1]; 00148 est.pos.z = tmp.pos_[2]; 00149 00150 est.header.stamp.fromSec( filter_time_ ); 00151 est.object_id = getName(); 00152 } 00153 00154 00155 00156 00157 00159 Matrix TrackerParticle::getHistogramPos(const tf::Vector3& min, const tf::Vector3& max, const tf::Vector3& step) const 00160 { 00161 return ((MCPdfPosVel*)(filter_->PostGet()))->getHistogramPos(min, max, step); 00162 }; 00163 00164 00165 Matrix TrackerParticle::getHistogramVel(const tf::Vector3& min, const tf::Vector3& max, const tf::Vector3& step) const 00166 { 00167 return ((MCPdfPosVel*)(filter_->PostGet()))->getHistogramVel(min, max, step); 00168 }; 00169 00170 00171 double TrackerParticle::getLifetime() const 00172 { 00173 if (tracker_initialized_) 00174 return filter_time_ - init_time_; 00175 else 00176 return 0; 00177 } 00178 00179 00180 double TrackerParticle::getTime() const 00181 { 00182 if (tracker_initialized_) 00183 return filter_time_; 00184 else 00185 return 0; 00186 } 00187 }; // namespace 00188 00189 00190