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main.m
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%% Script description: Gmapping example
%===============================================================================
% INPUT:
% @exmaple 1 or 2 corresponding to different dataset
% OUTPUT:
% map show the SLAM progress
% DATE: 2018/12/23 wyq
% DATE2: 2018/12/24 wyq add imagine show and examples choice in version 2
%===============================================================================
close all;
clear;
clc;
% Change this number to try the different examples provided
example = 1;
switch example
case 1
DatasetName = 'seattle'; % Indoor
case 2
DatasetName = 'workshop'; % Indoor
end
if strcmp(DatasetName, 'seattle')
%% dataset 1 'seattle'
% load dataset
load seattle.mat
data.laser = range;
data.odometry = odom;
pose = zeros(2,2000);
% particles filter parameters
params.particles_size = 1;
% laser sensor parameters
params.max_angle = 90/180*pi;
params.num_beams = 180;
params.max_range = 14;
params.usable_range = [0.2,14];
% threshold parameters for efficiency
params.m_linearDistance = 0;
params.m_angularDistance = 0;
params.m_linearThresholdDistance = 0;
params.m_angularThresholdDistance = 0;
% motion model parameters (if only 1 particle, set 0)
params.srr = 0;
params.srt = 0;
params.str = 0;
params.stt = 0;
% scan matching parameters
params.move_step = 0.8;
params.rotate_step = 0.4;
params.refinement_times = 12;
% in function 'scan_score'
params.gaussian_sigma = 0.05;
params.occupied_threshold = 0.8;
params.hit_kernel = [0,-1,0,0,1,-1,-1,1,1,-2,0,0,2,-2,-2,-1,-1,1,1,2,2,-2,-2,2,2,-3,0,0,3,-3,-3,-1,-1,1,1,3,3,-3,-3,-2,-2,2,2,3,3,-4,0,0,4;...
0,0,-1,1,0,-1,1,-1,1,0,-2,2,0,-1,1,-2,2,-2,2,-1,1,-2,2,-2,2,0,-3,3,0,-1,1,-3,3,-3,3,-1,1,-2,2,-3,3,-3,3,-2,2,0,-4,4,0];
% weight update parameters
params.obs_sigma_gain = 1;
params.resample_threshold = 0.5;
% map update parameters
params.grid_size = 0.1;
params.world_size = [70,70];
params.world_center = [35,45];
params.hit_weight = log(0.8/0.2);
% prepare the space
particles.p = zeros(3,size(pose,2));
particles.w = 1/params.particles_size;
particles.map.hit = zeros(params.world_size/params.grid_size);
particles.map.visit = zeros(params.world_size/params.grid_size);
particles.map.occupy = 0.5*ones(params.world_size/params.grid_size);
particles = repmat(particles,[params.particles_size 1]);
step=0;
% usage example
while(step< size(pose,2))
% main process
tic;
[step, particles] = process_scan_main_loop(step, particles, data,params);
t2 = toc;
max_w =0;
for i = 1: params.particles_size
if particles(i).w > max_w
max_w = particles(i).w;
max_i = i;
end
end
% plot
imshow(flipud(1 - particles(max_i).map.occupy),[]);
set(gcf, 'position', [400 100 800 600])
colormap(gray);
hold on
pose(:, step) = world2map(particles(max_i).p(1:2,step), params);
plot(pose(1, 1:step), params.world_size(1) / params.grid_size - pose(2, 1:step), '-b', 'linewidth', 3);
hold off
grid on
% gca set
axis on
xstart = (params.world_center(1) - 15) / params.grid_size;
xend = (params.world_center(1) + 20) / params.grid_size;
xtick_interval = 5;
ystart = (params.world_size(1) - params.world_center(2) - 10) / params.grid_size;
yend = (params.world_size(1) - params.world_center(2) + 25) / params.grid_size;
ytick_interval = 5;
xlim([xstart xend])
xticks(xstart: xtick_interval / params.grid_size: xend)
xticklabels({'-15','-10','-5','0','5','10','15','20'})% from left to right
ylim([ystart yend])
yticks(ystart: ytick_interval / params.grid_size: xend)
yticklabels({'10','5','0','-5','-10','-15','-20','-25'})% from up to down
set(gca, 'FontSize', 12, 'FontWeight', 'Bold', 'TickDIR', 'in')
%text display
text(210, 175, 'Gmapping', 'Color', 'blue', 'FontSize', 13)
text(475, 175, 'Step', 'Color', 'blue', 'FontSize', 13)
text(475, 185, 'Time', 'Color', 'blue', 'FontSize', 13)
text(505, 175, num2str(step), 'Color', 'blue', 'FontSize',13)
text(505, 185, num2str(t2), 'Color', 'blue', 'FontSize', 13)
drawnow
end
else
%% dataset 2 'workshop'
% load dataset
load workshop.mat urglog;
data.laser = urglog;
data.odometry = ones(size(urglog,1), 3);
pose = zeros(2, size(urglog,1));
% particles filter parameters
params.particles_size = 1;
% laser sensor parameters
params.max_angle = 135/180*pi;
params.num_beams = 1081;
params.max_range = 20;
params.usable_range = [0.2,20];
% threshold parameters for efficiency
params.m_linearDistance = 0;
params.m_angularDistance = 0;
params.m_linearThresholdDistance = 0;
params.m_angularThresholdDistance = 0;
% motion model parameters (if only 1 particle, set 0)
params.srr = 0;
params.srt = 0;
params.str = 0;
params.stt = 0;
% scan matching parameters
params.move_step = 0.8;
params.rotate_step = 0.4;
params.refinement_times = 12;
% in function 'scan_score'
params.gaussian_sigma = 0.05;
params.occupied_threshold = 0.8;
params.hit_kernel = [0,-1,0,0,1,-1,-1,1,1,-2,0,0,2,-2,-2,-1,-1,1,1,2,2,-2,-2,2,2,-3,0,0,3,-3,-3,-1,-1,1,1,3,3,-3,-3,-2,-2,2,2,3,3,-4,0,0,4;...
0,0,-1,1,0,-1,1,-1,1,0,-2,2,0,-1,1,-2,2,-2,2,-1,1,-2,2,-2,2,0,-3,3,0,-1,1,-3,3,-3,3,-1,1,-2,2,-3,3,-3,3,-2,2,0,-4,4,0];
% weight update parameters
params.obs_sigma_gain = 1;
params.resample_threshold = 0.5;
% map update parameters
params.grid_size = 0.1;
params.world_size = [40,70];
params.world_center = [10,20];
params.hit_weight = log(0.8/0.2);
% prepare the space
particles.p = zeros(3, size(pose,2));
particles.w = 1 / params.particles_size;
particles.map.hit = zeros(params.world_size / params.grid_size);
particles.map.visit = zeros(params.world_size / params.grid_size);
particles.map.occupy = 0.5*ones(params.world_size / params.grid_size);
particles = repmat(particles, [params.particles_size 1]);
step=0;
% usage example
while(step< size(pose,2))
% main process
tic;
[step,particles] = process_scan_main_loop(step, particles,data,params);
t2 = toc;
max_w = 0;
for i = 1: params.particles_size
if particles(i).w > max_w
max_w = particles(i).w;
max_i = i;
end
end
% plot
imshow(flipud(1-particles(max_i).map.occupy), []);
set(gcf, 'position', [100 100 1200 600])
colormap(gray);
hold on
pose(:, step) = world2map(particles(max_i).p(1:2,step), params);
plot(pose(1,1:step), params.world_size(1) / params.grid_size - pose(2,1:step), '-b', 'linewidth', 3);
hold off
grid on
% gca set
axis on
xstart = (params.world_center(1)-10) / params.grid_size;
xend = (params.world_center(1)+50) / params.grid_size;
xtick_interval = 10;
ystart = (params.world_size(1)-params.world_center(2)-15) / params.grid_size;
yend = (params.world_size(1)-params.world_center(2)+15) / params.grid_size;
ytick_interval = 5;
xlim([xstart xend])
xticks(xstart: xtick_interval / params.grid_size: xend)
xticklabels({'-10','0','10','20','30','40','50'})
ylim([ystart yend])
yticks(ystart: ytick_interval / params.grid_size: xend)
yticklabels({'15','10','5','0','-5','-10','-15'})
set(gca, 'FontSize', 12, 'FontWeight', 'Bold', 'TickDIR', 'in')
%text display
text(20, 75, 'Gmapping', 'Color', 'blue', 'FontSize', 13)
text(20, 320, 'Step', 'Color', 'blue', 'FontSize', 13)
text(20, 330, 'Time', 'Color','blue', 'FontSize', 13)
text(50, 320, num2str(step), 'Color', 'blue','FontSize', 13)
text(50, 330, num2str(t2), 'Color', 'blue','FontSize', 13)
drawnow
end
end