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<h1>Source code for Mapping.ndt_map.ndt_map</h1><div class="highlight"><pre>
<span></span><span class="sd">&quot;&quot;&quot;</span>
<span class="sd">Normal Distribution Transform (NDTGrid) mapping sample</span>
<span class="sd">&quot;&quot;&quot;</span>
<span class="kn">import</span> <span class="nn">matplotlib.pyplot</span> <span class="k">as</span> <span class="nn">plt</span>
<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
<span class="kn">from</span> <span class="nn">collections</span> <span class="kn">import</span> <span class="n">defaultdict</span>
<span class="kn">from</span> <span class="nn">Mapping.grid_map_lib.grid_map_lib</span> <span class="kn">import</span> <span class="n">GridMap</span>
<span class="kn">from</span> <span class="nn">utils.plot</span> <span class="kn">import</span> <span class="n">plot_covariance_ellipse</span>
<div class="viewcode-block" id="NDTMap"><a class="viewcode-back" href="../../../modules/mapping/ndt_map/ndt_map.html#Mapping.ndt_map.ndt_map.NDTMap">[docs]</a><span class="k">class</span> <span class="nc">NDTMap</span><span class="p">:</span>
<span class="w"> </span><span class="sd">&quot;&quot;&quot;</span>
<span class="sd"> Normal Distribution Transform (NDT) map class</span>
<span class="sd"> :param ox: obstacle x position list</span>
<span class="sd"> :param oy: obstacle y position list</span>
<span class="sd"> :param resolution: grid resolution [m]</span>
<span class="sd"> &quot;&quot;&quot;</span>
<div class="viewcode-block" id="NDTMap.NDTGrid"><a class="viewcode-back" href="../../../modules/mapping/ndt_map/ndt_map.html#Mapping.ndt_map.ndt_map.NDTMap.NDTGrid">[docs]</a> <span class="k">class</span> <span class="nc">NDTGrid</span><span class="p">:</span>
<span class="w"> </span><span class="sd">&quot;&quot;&quot;</span>
<span class="sd"> NDT grid</span>
<span class="sd"> &quot;&quot;&quot;</span>
<span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
<span class="c1">#: Number of points in the NDTGrid grid</span>
<span class="bp">self</span><span class="o">.</span><span class="n">n_points</span> <span class="o">=</span> <span class="mi">0</span>
<span class="c1">#: Mean x position of points in the NDTGrid cell</span>
<span class="bp">self</span><span class="o">.</span><span class="n">mean_x</span> <span class="o">=</span> <span class="kc">None</span>
<span class="c1">#: Mean y position of points in the NDTGrid cell</span>
<span class="bp">self</span><span class="o">.</span><span class="n">mean_y</span> <span class="o">=</span> <span class="kc">None</span>
<span class="c1">#: Center x position of the NDT grid</span>
<span class="bp">self</span><span class="o">.</span><span class="n">center_grid_x</span> <span class="o">=</span> <span class="kc">None</span>
<span class="c1">#: Center y position of the NDT grid</span>
<span class="bp">self</span><span class="o">.</span><span class="n">center_grid_y</span> <span class="o">=</span> <span class="kc">None</span>
<span class="c1">#: Covariance matrix of the NDT grid</span>
<span class="bp">self</span><span class="o">.</span><span class="n">covariance</span> <span class="o">=</span> <span class="kc">None</span>
<span class="c1">#: Eigen vectors of the NDT grid</span>
<span class="bp">self</span><span class="o">.</span><span class="n">eig_vec</span> <span class="o">=</span> <span class="kc">None</span>
<span class="c1">#: Eigen values of the NDT grid</span>
<span class="bp">self</span><span class="o">.</span><span class="n">eig_values</span> <span class="o">=</span> <span class="kc">None</span></div>
<span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">ox</span><span class="p">,</span> <span class="n">oy</span><span class="p">,</span> <span class="n">resolution</span><span class="p">):</span>
<span class="c1">#: Minimum number of points in the NDT grid</span>
<span class="bp">self</span><span class="o">.</span><span class="n">min_n_points</span> <span class="o">=</span> <span class="mi">3</span>
<span class="c1">#: Resolution of the NDT grid [m]</span>
<span class="bp">self</span><span class="o">.</span><span class="n">resolution</span> <span class="o">=</span> <span class="n">resolution</span>
<span class="n">width</span> <span class="o">=</span> <span class="nb">int</span><span class="p">((</span><span class="nb">max</span><span class="p">(</span><span class="n">ox</span><span class="p">)</span> <span class="o">-</span> <span class="nb">min</span><span class="p">(</span><span class="n">ox</span><span class="p">))</span><span class="o">/</span><span class="n">resolution</span><span class="p">)</span> <span class="o">+</span> <span class="mi">3</span> <span class="c1"># rounding up + right and left margin</span>
<span class="n">height</span> <span class="o">=</span> <span class="nb">int</span><span class="p">((</span><span class="nb">max</span><span class="p">(</span><span class="n">oy</span><span class="p">)</span> <span class="o">-</span> <span class="nb">min</span><span class="p">(</span><span class="n">oy</span><span class="p">))</span><span class="o">/</span><span class="n">resolution</span><span class="p">)</span> <span class="o">+</span> <span class="mi">3</span>
<span class="n">center_x</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">mean</span><span class="p">(</span><span class="n">ox</span><span class="p">)</span>
<span class="n">center_y</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">mean</span><span class="p">(</span><span class="n">oy</span><span class="p">)</span>
<span class="bp">self</span><span class="o">.</span><span class="n">ox</span> <span class="o">=</span> <span class="n">ox</span>
<span class="bp">self</span><span class="o">.</span><span class="n">oy</span> <span class="o">=</span> <span class="n">oy</span>
<span class="c1">#: NDT grid index map</span>
<span class="bp">self</span><span class="o">.</span><span class="n">grid_index_map</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">_create_grid_index_map</span><span class="p">(</span><span class="n">ox</span><span class="p">,</span> <span class="n">oy</span><span class="p">)</span>
<span class="c1">#: NDT grid map. Each grid contains NDTGrid object</span>
<span class="bp">self</span><span class="o">.</span><span class="n">_construct_grid_map</span><span class="p">(</span><span class="n">center_x</span><span class="p">,</span> <span class="n">center_y</span><span class="p">,</span> <span class="n">height</span><span class="p">,</span> <span class="n">ox</span><span class="p">,</span> <span class="n">oy</span><span class="p">,</span> <span class="n">resolution</span><span class="p">,</span> <span class="n">width</span><span class="p">)</span>
<span class="k">def</span> <span class="nf">_construct_grid_map</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">center_x</span><span class="p">,</span> <span class="n">center_y</span><span class="p">,</span> <span class="n">height</span><span class="p">,</span> <span class="n">ox</span><span class="p">,</span> <span class="n">oy</span><span class="p">,</span> <span class="n">resolution</span><span class="p">,</span> <span class="n">width</span><span class="p">):</span>
<span class="bp">self</span><span class="o">.</span><span class="n">grid_map</span> <span class="o">=</span> <span class="n">GridMap</span><span class="p">(</span><span class="n">width</span><span class="p">,</span> <span class="n">height</span><span class="p">,</span> <span class="n">resolution</span><span class="p">,</span> <span class="n">center_x</span><span class="p">,</span> <span class="n">center_y</span><span class="p">,</span> <span class="bp">self</span><span class="o">.</span><span class="n">NDTGrid</span><span class="p">())</span>
<span class="k">for</span> <span class="n">grid_index</span><span class="p">,</span> <span class="n">inds</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">grid_index_map</span><span class="o">.</span><span class="n">items</span><span class="p">():</span>
<span class="n">ndt</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">NDTGrid</span><span class="p">()</span>
<span class="n">ndt</span><span class="o">.</span><span class="n">n_points</span> <span class="o">=</span> <span class="nb">len</span><span class="p">(</span><span class="n">inds</span><span class="p">)</span>
<span class="k">if</span> <span class="n">ndt</span><span class="o">.</span><span class="n">n_points</span> <span class="o">&gt;=</span> <span class="bp">self</span><span class="o">.</span><span class="n">min_n_points</span><span class="p">:</span>
<span class="n">ndt</span><span class="o">.</span><span class="n">mean_x</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">mean</span><span class="p">(</span><span class="n">ox</span><span class="p">[</span><span class="n">inds</span><span class="p">])</span>
<span class="n">ndt</span><span class="o">.</span><span class="n">mean_y</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">mean</span><span class="p">(</span><span class="n">oy</span><span class="p">[</span><span class="n">inds</span><span class="p">])</span>
<span class="n">ndt</span><span class="o">.</span><span class="n">center_grid_x</span><span class="p">,</span> <span class="n">ndt</span><span class="o">.</span><span class="n">center_grid_y</span> <span class="o">=</span> \
<span class="bp">self</span><span class="o">.</span><span class="n">grid_map</span><span class="o">.</span><span class="n">calc_grid_central_xy_position_from_grid_index</span><span class="p">(</span><span class="n">grid_index</span><span class="p">)</span>
<span class="n">ndt</span><span class="o">.</span><span class="n">covariance</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">cov</span><span class="p">(</span><span class="n">ox</span><span class="p">[</span><span class="n">inds</span><span class="p">],</span> <span class="n">oy</span><span class="p">[</span><span class="n">inds</span><span class="p">])</span>
<span class="n">ndt</span><span class="o">.</span><span class="n">eig_values</span><span class="p">,</span> <span class="n">ndt</span><span class="o">.</span><span class="n">eig_vec</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">linalg</span><span class="o">.</span><span class="n">eig</span><span class="p">(</span><span class="n">ndt</span><span class="o">.</span><span class="n">covariance</span><span class="p">)</span>
<span class="bp">self</span><span class="o">.</span><span class="n">grid_map</span><span class="o">.</span><span class="n">data</span><span class="p">[</span><span class="n">grid_index</span><span class="p">]</span> <span class="o">=</span> <span class="n">ndt</span>
<span class="k">def</span> <span class="nf">_create_grid_index_map</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">ox</span><span class="p">,</span> <span class="n">oy</span><span class="p">):</span>
<span class="n">grid_index_map</span> <span class="o">=</span> <span class="n">defaultdict</span><span class="p">(</span><span class="nb">list</span><span class="p">)</span>
<span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">ox</span><span class="p">)):</span>
<span class="n">grid_index</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">grid_map</span><span class="o">.</span><span class="n">calc_grid_index_from_xy_pos</span><span class="p">(</span><span class="n">ox</span><span class="p">[</span><span class="n">i</span><span class="p">],</span> <span class="n">oy</span><span class="p">[</span><span class="n">i</span><span class="p">])</span>
<span class="n">grid_index_map</span><span class="p">[</span><span class="n">grid_index</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">i</span><span class="p">)</span>
<span class="k">return</span> <span class="n">grid_index_map</span></div>
<span class="k">def</span> <span class="nf">create_dummy_observation_data</span><span class="p">():</span>
<span class="n">ox</span> <span class="o">=</span> <span class="p">[]</span>
<span class="n">oy</span> <span class="o">=</span> <span class="p">[]</span>
<span class="c1"># left corridor</span>
<span class="k">for</span> <span class="n">y</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="o">-</span><span class="mi">50</span><span class="p">,</span> <span class="mi">50</span><span class="p">):</span>
<span class="n">ox</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="o">-</span><span class="mf">20.0</span><span class="p">)</span>
<span class="n">oy</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">y</span><span class="p">)</span>
<span class="c1"># right corridor 1</span>
<span class="k">for</span> <span class="n">y</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="o">-</span><span class="mi">50</span><span class="p">,</span> <span class="mi">0</span><span class="p">):</span>
<span class="n">ox</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="mf">20.0</span><span class="p">)</span>
<span class="n">oy</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">y</span><span class="p">)</span>
<span class="c1"># right corridor 2</span>
<span class="k">for</span> <span class="n">x</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">20</span><span class="p">,</span> <span class="mi">50</span><span class="p">):</span>
<span class="n">ox</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
<span class="n">oy</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="mi">0</span><span class="p">)</span>
<span class="c1"># right corridor 3</span>
<span class="k">for</span> <span class="n">x</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">20</span><span class="p">,</span> <span class="mi">50</span><span class="p">):</span>
<span class="n">ox</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">x</span><span class="p">)</span>
<span class="n">oy</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">x</span><span class="o">/</span><span class="mf">2.0</span><span class="o">+</span><span class="mi">10</span><span class="p">)</span>
<span class="c1"># right corridor 4</span>
<span class="k">for</span> <span class="n">y</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">20</span><span class="p">,</span> <span class="mi">50</span><span class="p">):</span>
<span class="n">ox</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="mi">20</span><span class="p">)</span>
<span class="n">oy</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">y</span><span class="p">)</span>
<span class="n">ox</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">ox</span><span class="p">)</span>
<span class="n">oy</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">oy</span><span class="p">)</span>
<span class="c1"># Adding random noize</span>
<span class="n">ox</span> <span class="o">+=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">ox</span><span class="p">))</span> <span class="o">*</span> <span class="mf">1.0</span>
<span class="n">oy</span> <span class="o">+=</span> <span class="n">np</span><span class="o">.</span><span class="n">random</span><span class="o">.</span><span class="n">rand</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">ox</span><span class="p">))</span> <span class="o">*</span> <span class="mf">1.0</span>
<span class="k">return</span> <span class="n">ox</span><span class="p">,</span> <span class="n">oy</span>
<span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
<span class="nb">print</span><span class="p">(</span><span class="vm">__file__</span> <span class="o">+</span> <span class="s2">&quot; start!!&quot;</span><span class="p">)</span>
<span class="n">ox</span><span class="p">,</span> <span class="n">oy</span> <span class="o">=</span> <span class="n">create_dummy_observation_data</span><span class="p">()</span>
<span class="n">grid_resolution</span> <span class="o">=</span> <span class="mf">10.0</span>
<span class="n">ndt_map</span> <span class="o">=</span> <span class="n">NDTMap</span><span class="p">(</span><span class="n">ox</span><span class="p">,</span> <span class="n">oy</span><span class="p">,</span> <span class="n">grid_resolution</span><span class="p">)</span>
<span class="c1"># plot raw observation</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">ox</span><span class="p">,</span> <span class="n">oy</span><span class="p">,</span> <span class="s2">&quot;.r&quot;</span><span class="p">)</span>
<span class="c1"># plot grid clustering</span>
<span class="p">[</span><span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">ox</span><span class="p">[</span><span class="n">inds</span><span class="p">],</span> <span class="n">oy</span><span class="p">[</span><span class="n">inds</span><span class="p">],</span> <span class="s2">&quot;x&quot;</span><span class="p">)</span> <span class="k">for</span> <span class="n">inds</span> <span class="ow">in</span> <span class="n">ndt_map</span><span class="o">.</span><span class="n">grid_index_map</span><span class="o">.</span><span class="n">values</span><span class="p">()]</span>
<span class="c1"># plot ndt grid map</span>
<span class="p">[</span><span class="n">plot_covariance_ellipse</span><span class="p">(</span><span class="n">ndt</span><span class="o">.</span><span class="n">mean_x</span><span class="p">,</span> <span class="n">ndt</span><span class="o">.</span><span class="n">mean_y</span><span class="p">,</span> <span class="n">ndt</span><span class="o">.</span><span class="n">covariance</span><span class="p">,</span> <span class="n">color</span><span class="o">=</span><span class="s2">&quot;-k&quot;</span><span class="p">)</span> <span class="k">for</span> <span class="n">ndt</span> <span class="ow">in</span> <span class="n">ndt_map</span><span class="o">.</span><span class="n">grid_map</span><span class="o">.</span><span class="n">data</span> <span class="k">if</span> <span class="n">ndt</span><span class="o">.</span><span class="n">n_points</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">]</span>
<span class="n">plt</span><span class="o">.</span><span class="n">axis</span><span class="p">(</span><span class="s2">&quot;equal&quot;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">show</span><span class="p">()</span>
<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s1">&#39;__main__&#39;</span><span class="p">:</span>
<span class="n">main</span><span class="p">()</span>
</pre></div>
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