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00038 #include "srs_people_tracking_filter/mcpdf_vector.h"
00039 #include "srs_people_tracking_filter/state_pos_vel.h"
00040 #include <assert.h>
00041 #include <vector>
00042 #include <std_msgs/Float64.h>
00043 #include "srs_people_tracking_filter/rgb.h"
00044
00045
00046 using namespace MatrixWrapper;
00047 using namespace BFL;
00048 using namespace tf;
00049
00050 static const unsigned int NUM_CONDARG = 1;
00051
00052
00053 MCPdfVector::MCPdfVector (unsigned int num_samples)
00054 : MCPdf<Vector3> ( num_samples, NUM_CONDARG )
00055 {}
00056
00057 MCPdfVector::~MCPdfVector(){}
00058
00059
00060 WeightedSample<Vector3>
00061 MCPdfVector::SampleGet(unsigned int particle) const
00062 {
00063 assert ((int)particle >= 0 && particle < _listOfSamples.size());
00064 return _listOfSamples[particle];
00065 }
00066
00067
00068 Vector3 MCPdfVector::ExpectedValueGet() const
00069 {
00070 Vector3 pos(0,0,0);
00071 double current_weight;
00072 std::vector<WeightedSample<Vector3> >::const_iterator it_los;
00073 for ( it_los = _listOfSamples.begin() ; it_los != _listOfSamples.end() ; it_los++ ){
00074 current_weight = it_los->WeightGet();
00075 pos += (it_los->ValueGet() * current_weight);
00076 }
00077
00078 return Vector3(pos);
00079 }
00080
00081
00083 void MCPdfVector::getParticleCloud(const Vector3& step, double threshold, sensor_msgs::PointCloud& cloud) const
00084 {
00085 unsigned int num_samples = _listOfSamples.size();
00086 assert(num_samples > 0);
00087 Vector3 m = _listOfSamples[0].ValueGet();
00088 Vector3 M = _listOfSamples[0].ValueGet();
00089
00090
00091 for (unsigned int s=0; s<num_samples; s++){
00092 Vector3 v = _listOfSamples[s].ValueGet();
00093 for (unsigned int i=0; i<3; i++){
00094 if (v[i] < m[i]) m[i] = v[i];
00095 if (v[i] > M[i]) M[i] = v[i];
00096 }
00097 }
00098
00099
00100 Matrix hist = getHistogram(m, M, step);
00101 unsigned int row = hist.rows();
00102 unsigned int col = hist.columns();
00103 unsigned int total = 0;
00104 unsigned int t = 0;
00105 for (unsigned int r=1; r<= row; r++)
00106 for (unsigned int c=1; c<= col; c++)
00107 if (hist(r,c) > threshold) total++;
00108 cout << "size total " << total << endl;
00109
00110 vector<geometry_msgs::Point32> points(total);
00111 vector<float> weights(total);
00112 sensor_msgs::ChannelFloat32 channel;
00113 for (unsigned int r=1; r<= row; r++)
00114 for (unsigned int c=1; c<= col; c++)
00115 if (hist(r,c) > threshold){
00116 for (unsigned int i=0; i<3; i++)
00117 points[t].x = m[0] + (step[0] * r);
00118 points[t].y = m[1] + (step[1] * c);
00119 points[t].z = m[2];
00120 weights[t] = rgb[999-(int)trunc(max(0.0,min(999.0,hist(r,c)*2*total*total)))];
00121 t++;
00122 }
00123 cout << "points size " << points.size() << endl;
00124 cloud.header.frame_id = "base_link";
00125 cloud.points = points;
00126 channel.name = "rgb";
00127 channel.values = weights;
00128 cloud.channels.push_back(channel);
00129 }
00130
00131
00133 MatrixWrapper::Matrix MCPdfVector::getHistogram(const Vector3& m, const Vector3& M, const Vector3& step) const
00134 {
00135 unsigned int num_samples = _listOfSamples.size();
00136 unsigned int rows = round((M[0]-m[0])/step[0]);
00137 unsigned int cols = round((M[1]-m[1])/step[1]);
00138 Matrix hist(rows, cols);
00139 hist = 0;
00140
00141
00142 for (unsigned int i=0; i<num_samples; i++){
00143 Vector3 rel(_listOfSamples[i].ValueGet() - m);
00144 unsigned int r = round(rel[0] / step[0]);
00145 unsigned int c = round(rel[1] / step[1]);
00146 if (r >= 1 && c >= 1 && r <= rows && c <= cols)
00147 hist(r,c) += _listOfSamples[i].WeightGet();
00148 }
00149
00150 return hist;
00151 }
00152
00153
00154
00155 unsigned int
00156 MCPdfVector::numParticlesGet() const
00157 {
00158 return _listOfSamples.size();
00159 }
00160
00161