本次基于Paricles Filter的开源python代码,用几种方法对最终的mouse位置进行计算
源代码详情见:
代码及说明链接:
http://ros-developer.com/2019/04/10/parcticle-filter-explained-with-python-code-from-scratch/
里面包含上述问题的原理讲解视频及相应源代码(鼠标坐标即robot)。
import numpy as np
import scipy
from numpy.random import uniform
import scipy.stats
import heapq
np.set_printoptions(threshold=3)
np.set_printoptions(suppress=True)#压缩显示数据
import cv2
from sklearn.cluster import MeanShift, estimate_bandwidth
#pip install sklearn -i https://pypi.tuna.tsinghua.edu.cn/simple
import random
def drawLines(img, points, r, g, b):
cv2.polylines(img, [np.int32(points)], isClosed=False, color=(r, g, b))
def drawCross(img, center, r, g, b):
d = 5
t = 2
if cv2.__version__[0]=='4':
LINE_AA = cv2.LINE_AA
else:
LINE_AA=cv2.CV_AA
# LINE_AA = cv2.LINE_AA if cv2.__version__ == '3' else cv2.CV_AA
#这里需要修改一下'3',根据cv版本的不同,里面的宏定义不同
color = (r, g, b)
ctrx = center[0, 0]
ctry = center[0, 1]
cv2.line(img, (ctrx - d, ctry - d), (ctrx + d, ctry + d), color, t, LINE_AA)
cv2.line(img, (ctrx + d, ctry - d), (ctrx - d, ctry + d), color, t, LINE_AA)
def mouseCallback(event, x, y, flags, null):#代表鼠标位于窗口的(x,y)坐标位置,即Point(x,y);
global center
global trajectory
global previous_x
global previous_y
global zs
center = np.array([[x, y]])
#print(center, end='\n')
trajectory = np.vstack((trajectory, np.array([x, y]))) #将两个数组按行放到一起
#print(trajectory,end='\n')
# gauss_noise=sensorSigma * np.random.randn(1,2) + sensorMu
# gauss_noise = np.array([0.] * NL)
# for i in range(0, NL):
# gauss_noise[i] += (random.gauss(gauss_mu, gauss_sigm) * 5)
if previous_x > 0:
heading = np.arctan2(np.array([y - previous_y]), np.array([previous_x - x]))
if heading > 0:
heading = -(heading - np.pi)
else:
heading = -(np.pi + heading)
# print(heading)
# 求范数,默认ord=2为求二范数,也就是距离,axis=1表示按行向量处理,求多个行向量的范数
distance = np.linalg.norm(np.array([[previous_x, previous_y]]) - np.array([[x, y]]), axis=1)
# print(distance,end='\n')两次移动之间的距离
std = np.array([2, 4])
u = np.array([heading, distance])
# 原始粒子得到预测粒子
predict(particles, u, std, dt=1.)
# 计算鼠标与landmark之间的距离z[i]
# zs = np.linalg.norm(landmarks - center, axis=1)
# zs = (np.linalg.norm(landmarks - center, axis=1) + (np.random.randn(NL) * sensor_std_err))
# #更新权重
# zs += gauss_noise
number_measurement=10
zs = np.array([0.]*NL)
for times in range(0,number_measurement):
gauss_noise = np.array([0.] * NL)
for i in range(0, NL):
gauss_noise[i] += (random.gauss(gauss_mu, gauss_sigm) * 5)
zs += (np.linalg.norm(landmarks - center, axis=1) + (np.random.randn(NL) * sensor_std_err))+gauss_noise
zs /=number_measurement
update(particles, weights, z=zs, R=50, landmarks=landmarks)
# print(weights,end='\n')
indexes = systematic_resample(weights)
# print(indexes,end='\n')
resample_from_index(particles, weights, indexes