Make lidar measurement model class

CMakeLists.txt

@@ -85,7 +85,11 @@ add_definitions(${PCL_DEFINITIONS})
 # Define PCL_NO_PRECOMPILE to disable using the binary version.
 add_definitions(-DPCL_NO_PRECOMPILE)
 
-add_executable(mcl_3dl src/mcl_3dl.cpp)
+add_executable(mcl_3dl
+  src/lidar_measurement_model_beam.cpp
+  src/lidar_measurement_model_likelihood.cpp
+  src/mcl_3dl.cpp
+)
 target_link_libraries(mcl_3dl ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LIBRARIES})
 add_dependencies(mcl_3dl ${catkin_EXPORTED_TARGETS})
 

include/mcl_3dl/lidar_measurement_model_base.h

@@ -0,0 +1,84 @@
+/*
+ * Copyright (c) 2018, the mcl_3dl authors
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the copyright holder nor the names of its 
+ *       contributors may be used to endorse or promote products derived from 
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef MCL_3DL_LIDAR_MEASUREMENT_MODEL_BASE_H
+#define MCL_3DL_LIDAR_MEASUREMENT_MODEL_BASE_H
+
+#include <string>
+#include <utility>
+#include <vector>
+
+#include <ros/ros.h>
+
+#include <pcl/point_types.h>
+#include <pcl_ros/point_cloud.h>
+
+#include <mcl_3dl/chunked_kdtree.h>
+#include <mcl_3dl/state_6dof.h>
+#include <mcl_3dl/vec3.h>
+
+namespace mcl_3dl
+{
+struct LidarMeasurementResult
+{
+  float likelihood;
+  float quality;
+
+  LidarMeasurementResult(const float likelihood_value, const float quality_value)
+    : likelihood(likelihood_value)
+    , quality(quality_value)
+  {
+  }
+};
+
+class LidarMeasurementModelBase
+{
+public:
+  using Ptr = std::shared_ptr<LidarMeasurementModelBase>;
+  using PointType = pcl::PointXYZI;
+
+  virtual void loadConfig(
+      const ros::NodeHandle &nh,
+      const std::string &name) = 0;
+  virtual void setGlobalLocalizationStatus(
+      const size_t, const size_t) = 0;
+  virtual float getMaxSearchRange() const = 0;
+
+  virtual pcl::PointCloud<PointType>::Ptr filter(
+      const pcl::PointCloud<PointType>::ConstPtr &) const = 0;
+
+  virtual LidarMeasurementResult measure(
+      ChunkedKdtree<PointType>::Ptr &,
+      const pcl::PointCloud<PointType>::ConstPtr &,
+      const std::vector<Vec3> &,
+      const State6DOF &) const = 0;
+};
+}  // namespace mcl_3dl
+
+#endif  // MCL_3DL_LIDAR_MEASUREMENT_MODEL_BASE_H

include/mcl_3dl/lidar_measurement_models/lidar_measurement_model_beam.h

@@ -0,0 +1,95 @@
+/*
+ * Copyright (c) 2018, the mcl_3dl authors
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the copyright holder nor the names of its 
+ *       contributors may be used to endorse or promote products derived from 
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDEDNode BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef MCL_3DL_LIDAR_MEASUREMENT_MODELS_LIDAR_MEASUREMENT_MODEL_BEAM_H
+#define MCL_3DL_LIDAR_MEASUREMENT_MODELS_LIDAR_MEASUREMENT_MODEL_BEAM_H
+
+#include <string>
+#include <vector>
+
+#include <ros/ros.h>
+
+#include <pcl/point_types.h>
+#include <pcl_ros/point_cloud.h>
+
+#include <mcl_3dl/chunked_kdtree.h>
+#include <mcl_3dl/lidar_measurement_model_base.h>
+#include <mcl_3dl/pf.h>
+#include <mcl_3dl/point_cloud_random_sampler.h>
+#include <mcl_3dl/vec3.h>
+
+namespace mcl_3dl
+{
+class LidarMeasurementModelBeam : public LidarMeasurementModelBase
+{
+private:
+  size_t num_points_;
+  size_t num_points_default_;
+  size_t num_points_global_;
+  float clip_far_sq_;
+  float clip_near_sq_;
+  float clip_z_min_;
+  float clip_z_max_;
+  float beam_likelihood_min_;
+  float beam_likelihood_;
+  float sin_total_ref_;
+  float map_grid_min_;
+  float map_grid_max_;
+
+  PointCloudRandomSampler sampler_;
+
+public:
+  LidarMeasurementModelBeam(const float x, const float y, const float z);
+
+  inline float getMaxSearchRange() const
+  {
+    return map_grid_max_ * 4;
+  }
+  inline float getSinTotalRef() const
+  {
+    return sin_total_ref_;
+  }
+
+  void loadConfig(
+      const ros::NodeHandle &nh,
+      const std::string &name);
+  void setGlobalLocalizationStatus(
+      const size_t num_particles,
+      const size_t current_num_particles);
+  pcl::PointCloud<PointType>::Ptr filter(
+      const pcl::PointCloud<PointType>::ConstPtr &pc) const;
+  LidarMeasurementResult measure(
+      ChunkedKdtree<PointType>::Ptr &kdtree,
+      const pcl::PointCloud<PointType>::ConstPtr &pc,
+      const std::vector<Vec3> &origins,
+      const State6DOF &s) const;
+};
+}  // namespace mcl_3dl
+
+#endif  // MCL_3DL_LIDAR_MEASUREMENT_MODELS_LIDAR_MEASUREMENT_MODEL_BEAM_H

include/mcl_3dl/lidar_measurement_models/lidar_measurement_model_likelihood.h

@@ -0,0 +1,87 @@
+/*
+ * Copyright (c) 2018, the mcl_3dl authors
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the copyright holder nor the names of its 
+ *       contributors may be used to endorse or promote products derived from 
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDEDNode BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef MCL_3DL_LIDAR_MEASUREMENT_MODELS_LIDAR_MEASUREMENT_MODEL_LIKELIHOOD_H
+#define MCL_3DL_LIDAR_MEASUREMENT_MODELS_LIDAR_MEASUREMENT_MODEL_LIKELIHOOD_H
+
+#include <string>
+#include <vector>
+
+#include <ros/ros.h>
+
+#include <pcl/point_types.h>
+#include <pcl_ros/point_cloud.h>
+
+#include <mcl_3dl/chunked_kdtree.h>
+#include <mcl_3dl/lidar_measurement_model_base.h>
+#include <mcl_3dl/pf.h>
+#include <mcl_3dl/point_cloud_random_sampler.h>
+#include <mcl_3dl/vec3.h>
+
+namespace mcl_3dl
+{
+class LidarMeasurementModelLikelihood : public LidarMeasurementModelBase
+{
+private:
+  size_t num_points_;
+  size_t num_points_default_;
+  size_t num_points_global_;
+  float clip_far_sq_;
+  float clip_near_sq_;
+  float clip_z_min_;
+  float clip_z_max_;
+  float match_weight_;
+  float match_dist_min_;
+  float match_dist_flat_;
+
+  PointCloudRandomSampler sampler_;
+
+public:
+  inline float getMaxSearchRange() const
+  {
+    return match_dist_min_;
+  }
+
+  void loadConfig(
+      const ros::NodeHandle &nh,
+      const std::string &name);
+  void setGlobalLocalizationStatus(
+      const size_t num_particles,
+      const size_t current_num_particles);
+  pcl::PointCloud<PointType>::Ptr filter(
+      const pcl::PointCloud<PointType>::ConstPtr &pc) const;
+  LidarMeasurementResult measure(
+      ChunkedKdtree<PointType>::Ptr &kdtree,
+      const pcl::PointCloud<PointType>::ConstPtr &pc,
+      const std::vector<Vec3> &origins,
+      const State6DOF &s) const;
+};
+}  // namespace mcl_3dl
+
+#endif  // MCL_3DL_LIDAR_MEASUREMENT_MODELS_LIDAR_MEASUREMENT_MODEL_LIKELIHOOD_H

include/mcl_3dl/point_cloud_random_sampler.h

@@ -0,0 +1,74 @@
+/*
+ * Copyright (c) 2018, the mcl_3dl authors
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the copyright holder nor the names of its 
+ *       contributors may be used to endorse or promote products derived from 
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef MCL_3DL_POINT_CLOUD_RANDOM_SAMPLER_H
+#define MCL_3DL_POINT_CLOUD_RANDOM_SAMPLER_H
+
+#include <random>
+
+#include <pcl/point_types.h>
+#include <pcl_ros/point_cloud.h>
+
+namespace mcl_3dl
+{
+class PointCloudRandomSampler
+{
+private:
+  std::random_device seed_gen_;
+  std::shared_ptr<std::default_random_engine> engine_;
+
+public:
+  PointCloudRandomSampler()
+    : engine_(new std::default_random_engine(seed_gen_()))
+  {
+  }
+  template <class POINT_TYPE>
+  typename pcl::PointCloud<POINT_TYPE>::Ptr sample(
+      const typename pcl::PointCloud<POINT_TYPE>::ConstPtr &pc,
+      const size_t num) const
+  {
+    typename pcl::PointCloud<POINT_TYPE>::Ptr output(new pcl::PointCloud<POINT_TYPE>);
+    output->header = pc->header;
+
+    if (pc->points.size() == 0)
+      return output;
+
+    output->points.reserve(num);
+    std::uniform_int_distribution<size_t> ud(0, pc->points.size() - 1);
+    for (size_t i = 0; i < num; i++)
+    {
+      output->push_back(pc->points[ud(*engine_)]);
+    }
+
+    return output;
+  }
+};
+}  // namespace mcl_3dl
+
+#endif  // MCL_3DL_POINT_CLOUD_RANDOM_SAMPLER_H