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00038 #include "srs_people_tracking_filter/detector_particle.h"
00039 #include "srs_people_tracking_filter/uniform_vector.h"
00040
00041 using namespace MatrixWrapper;
00042 using namespace BFL;
00043 using namespace tf;
00044 using namespace std;
00045 using namespace ros;
00046 using namespace geometry_msgs;
00047
00048
00049
00050
00051 namespace estimation
00052 {
00053
00054 DetectorParticle::DetectorParticle(unsigned int num_particles):
00055 prior_(num_particles),
00056 filter_(NULL),
00057 sys_model_(tf::Vector3(0.1,0.1,0.1)),
00058 meas_model_(tf::Vector3(0.1,0.1,0.1)),
00059 detector_initialized_(false),
00060 num_particles_(num_particles)
00061 {}
00062
00063
00064
00065
00066 DetectorParticle::~DetectorParticle(){
00067 if (filter_) delete filter_;
00068 }
00069
00070
00071
00072 void DetectorParticle::initialize(const tf::Vector3& mu, const tf::Vector3& size, const double time)
00073 {
00074 cout << "Initializing detector with " << num_particles_ << " particles, with uniform size "
00075 << size << " around " << mu << endl;
00076
00077 UniformVector uniform_vector(mu, size);
00078 vector<Sample<tf::Vector3> > prior_samples(num_particles_);
00079 uniform_vector.SampleFrom(prior_samples, num_particles_, CHOLESKY, NULL);
00080 prior_.ListOfSamplesSet(prior_samples);
00081 filter_ = new BootstrapFilter<tf::Vector3, tf::Vector3>(&prior_, &prior_, 0, num_particles_/4.0);
00082
00083
00084 detector_initialized_ = true;
00085 quality_ = 1;
00086 filter_time_ = time;
00087 }
00088
00089
00090
00091
00092
00093 bool DetectorParticle::updatePrediction(const double dt)
00094 {
00095
00096 sys_model_.SetDt(dt);
00097
00098
00099 bool res = filter_->Update(&sys_model_);
00100 if (!res) quality_ = 0;
00101
00102 return res;
00103 }
00104
00105
00106
00107
00108 bool DetectorParticle::updateCorrection(const tf::Vector3& meas, const MatrixWrapper::SymmetricMatrix& cov, const double time)
00109 {
00110 assert(cov.columns() == 3);
00111
00112
00113 filter_time_ = time;
00114
00115
00116 ((MeasPdfVector*)(meas_model_.MeasurementPdfGet()))->CovarianceSet(cov);
00117
00118
00119 bool res = filter_->Update(&meas_model_, meas);
00120 if (!res) quality_ = 0;
00121
00122 return res;
00123 }
00124
00125
00126
00127 void DetectorParticle::getParticleCloud(const tf::Vector3& step, double threshold, sensor_msgs::PointCloud& cloud) const
00128 {
00129 ((MCPdfVector*)(filter_->PostGet()))->getParticleCloud(step, threshold, cloud);
00130 }
00131
00132
00133
00134 void DetectorParticle::getEstimate(tf::Vector3& est) const
00135 {
00136 est = ((MCPdfVector*)(filter_->PostGet()))->ExpectedValueGet();
00137 }
00138
00139
00140 void DetectorParticle::getEstimate(srs_msgs::PositionMeasurement& est) const
00141 {
00142 tf::Vector3 tmp = filter_->PostGet()->ExpectedValueGet();
00143
00144 est.pos.x = tmp[0];
00145 est.pos.y = tmp[1];
00146 est.pos.z = tmp[2];
00147
00148 est.header.stamp.fromSec( filter_time_ );
00149 est.header.frame_id = "base_link";
00150 }
00151
00152
00153
00154
00155
00157 Matrix DetectorParticle::getHistogram(const tf::Vector3& min, const tf::Vector3& max, const tf::Vector3& step) const
00158 {
00159 return ((MCPdfVector*)(filter_->PostGet()))->getHistogram(min, max, step);
00160 }
00161
00162
00163 };
00164
00165
00166