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Optimize ICP nearest_neighbor_assosiation #243

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Optimize ICP nearest_neighbor_assosiation #243

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692b7bd
Fix wrong rotation direction
goktug97 Oct 23, 2019
9f41023
change resampling calculation to match with the book
goktug97 Oct 23, 2019
7a1784a
condition check is moved
goktug97 Oct 24, 2019
6bfb312
optimize nearest_neighbor_assosiation
goktug97 Oct 25, 2019
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32 changes: 15 additions & 17 deletions Localization/particle_filter/particle_filter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -128,8 +128,9 @@ def pf_localization(px, pw, z, u):
xEst = px.dot(pw.T)
PEst = calc_covariance(xEst, px, pw)

px, pw = re_sampling(px, pw)

N_eff = 1.0 / (pw.dot(pw.T))[0, 0] # Effective particle number
if N_eff < NTh:
px, pw = re_sampling(px, pw)
return xEst, PEst, px, pw


Expand All @@ -138,21 +139,18 @@ def re_sampling(px, pw):
low variance re-sampling
"""

N_eff = 1.0 / (pw.dot(pw.T))[0, 0] # Effective particle number
if N_eff < NTh:
w_cum = np.cumsum(pw)
base = np.cumsum(pw * 0.0 + 1 / NP) - 1 / NP
re_sample_id = base + np.random.rand(base.shape[0]) / NP

indexes = []
ind = 0
for ip in range(NP):
while re_sample_id[ip] > w_cum[ind]:
ind += 1
indexes.append(ind)

px = px[:, indexes]
pw = np.zeros((1, NP)) + 1.0 / NP # init weight
w_cum = np.cumsum(pw)
base = np.arange(0.0, 1.0, 1/NP)
re_sample_id = base + np.random.uniform(0, 1/NP)
indexes = []
ind = 0
for ip in range(NP):
while re_sample_id[ip] > w_cum[ind]:
ind += 1
indexes.append(ind)

px = px[:, indexes]
pw = np.zeros((1, NP)) + 1.0 / NP # init weight

return px, pw

Expand Down
2 changes: 1 addition & 1 deletion PathPlanning/DynamicWindowApproach/dynamic_window_approach.py
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Original file line number Diff line number Diff line change
Expand Up @@ -172,7 +172,7 @@ def calc_obstacle_cost(trajectory, ob, config):
rot = np.transpose(rot, [2, 0, 1])
local_ob = ob[:, None] - trajectory[:, 0:2]
local_ob = local_ob.reshape(-1, local_ob.shape[-1])
local_ob = np.array([local_ob @ -x for x in rot])
local_ob = np.array([local_ob @ x for x in rot])
local_ob = local_ob.reshape(-1, local_ob.shape[-1])
upper_check = local_ob[:, 0] <= config.robot_length / 2
right_check = local_ob[:, 1] <= config.robot_width / 2
Expand Down
18 changes: 5 additions & 13 deletions SLAM/iterative_closest_point/iterative_closest_point.py
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Expand Up @@ -93,18 +93,10 @@ def nearest_neighbor_assosiation(ppoints, cpoints):
error = sum(d)

# calc index with nearest neighbor assosiation
inds = []
for i in range(cpoints.shape[1]):
minid = -1
mind = float("inf")
for ii in range(ppoints.shape[1]):
d = np.linalg.norm(ppoints[:, ii] - cpoints[:, i])

if mind >= d:
mind = d
minid = ii

inds.append(minid)
d = np.linalg.norm(
np.repeat(cpoints, ppoints.shape[1], axis=1) - np.tile(ppoints, (1,
cpoints.shape[1])), axis=0)
inds = np.argmin(d.reshape(cpoints.shape[1], ppoints.shape[1]), axis=1)

return inds, error

Expand Down Expand Up @@ -156,4 +148,4 @@ def main():


if __name__ == '__main__':
main()
main()