rpg_ig_active源码阅读(五)

2022-10-02 10:22:22

今天主要看ig_active_reconstruction
这个文件没有可执行的节点应该是基础的实现

rpg_ig_active源码阅读

ig_active_reconstruction.cpp
robot_communication_interface.hpp
views_communication_interface.hpp
world_representation_communication_interface.hpp

最最主要的是 basic_view_planner.cpp也是主要功能的实现
之前看过了，可以参考这个，这次粗略看，从整体看
看完感觉它是 比较底层的实现+main函数中的主流程的实现主要还是看上层的怎么调用

ig_active_reconstruction.cpp

namespace ig_active_reconstruction
只有一个类BasicViewPlanner

结构enum struct Status 表征状态
结构/类 struct Config 配置文件
构造函数

  BasicViewPlanner::BasicViewPlanner(Config config)
  : config_(config)
  , robot_comm_unit_(nullptr)
  , views_comm_unit_(nullptr)
  , world_comm_unit_(nullptr)
  , utility_calculator_(nullptr)
  , goal_evaluation_module_(nullptr)
  , status_(Status::UNINITIALIZED)
  , runProcedure_(false)
  , pauseProcedure_(false)
  {
    
  }

三个通讯接口

机器人的通讯接口virtual void setRobotCommUnit( boost::shared_ptr<robot::CommunicationInterface> robot_comm_unit );
视野空间的通讯接口virtual void setViewsCommUnit( boost::shared_ptr<views::CommunicationInterface> views_comm_unit );
环境表示的通讯接口virtual void setWorldCommUnit( boost::shared_ptr<world_representation::CommunicationInterface> world_comm_unit );

与此对应的有三个成员变量和三个namespace里的CommunicationInterface通讯接口类

    boost::shared_ptr<robot::CommunicationInterface> robot_comm_unit_; //! Robot communication interface with which the view planner corresponds.
    boost::shared_ptr<views::CommunicationInterface> views_comm_unit_; //! Viewspace communication interface with which the view planner corresponds.
    boost::shared_ptr<world_representation::CommunicationInterface> world_comm_unit_; //! World representation communication interface with which the view planner corresponds.

三个通讯接口都是判断状态然后赋值，比如views_comm_unit_ = views_comm_unit;

计算相关

virtual void setUtility( boost::shared_ptr<UtilityCalculator> utility_calculator );也是赋值，对应成员变量boost::shared_ptr<UtilityCalculator> utility_calculator_ 效用方程的计算
virtual void setGoalEvaluationModule( boost::shared_ptr<GoalEvaluationModule> goal_evaluation_module );对应boost::shared_ptr<GoalEvaluationModule> goal_evaluation_module_ 目标的评估机制

表征状态的函数

virtual bool run();
virtual void pause();
virtual void stop();
virtual Status status();

受保护的函数

bool isReady();
void main();
void pausePoint();

其他成员变量

Status status_;
std::thread running_procedure_; //线程
std::mutex mutex_;
bool runProcedure_;
bool pauseProcedure_; 
boost::shared_ptr<views::ViewSpace> viewspace_;

main函数

这里写过了，贴一个官方的解释
Iterates through the following steps:

Issue data collection command
First iteration only: Demand view space, otherwise calculate viewspace subset based on settings.
Get cost for each view candidate
Get predicted information gain for each view candidate
Calculate utility function.
Choose next best view with highest utility function result.
Check if termination criterion is fulfilled.
Move to next best view

接下来主要看三个通讯接口文档

robot_communication_interface.hpp

没有对应的cpp文件
namespace ig_active_reconstruction 下的namespace robot
只有一个类CommunicationInterface 是一个基类下面有三个子类
一个在这里写过，是flying_gazebo_stereo_cam工作空间下的，另外两个也是robot空间下的，子类分别为RosClientCI和RosServerCI
基类没有实现任何，只提供了几个纯虚函数作为接口

virtual views::View getCurrentView()=0;
virtual ReceptionInfo retrieveData()=0;
virtual MovementCost movementCost( views::View& target_view )=0;
virtual MovementCost movementCost( views::View& start_view, views::View& target_view, bool fill_additional_information  )=0;
virtual bool moveTo( views::View& target_view )=0;

views_communication_interface.hpp

也是实现了基类
namespace ig_active_reconstruction 下的namespace views
只有一个类CommunicationInterface 是一个基类
包含了两个struct和几个纯虚函数

状态和更新结果

    enum struct ViewSpaceStatus
    {
      OK,
      BAD,
      NONE_AVAILABLE
    };
    
    enum struct ViewSpaceUpdateResult
    {
      SUCCEEDED=0,
      FAILED,
      NOT_AVAILABLE
    };

纯虚函数

virtual const ViewSpace& getViewSpace()=0;
virtual ViewSpaceUpdateResult addViews( std::vector<View>& new_views )=0;
virtual ViewSpaceUpdateResult addView( View new_view )=0;
virtual ViewSpaceUpdateResult deleteViews( std::vector<View::IdType>& view_ids )=0;
virtual ViewSpaceUpdateResult deleteView( View::IdType view_id )=0;

纯虚函数加const修饰的话，其子类

不加const 子类函数覆盖父类
加const 标准的多态

继承的子类也有三个，都是views工作空间内的，分别是类SimpleViewSpaceModule，RosClientCI 和RosServerCI
可以以SimpleViewSpaceModule为例看函数怎么实现的

SimpleViewSpaceModule

只有一个成员变量ViewSpace viewspace_

构造函数

传入文件的路径，使用loadFromFile函数

  SimpleViewSpaceModule::SimpleViewSpaceModule( std::string file_source )
  {
    if( file_source!="" )
    {
      loadFromFile(file_source);
    }
  }

其它函数

void loadFromFile( std::string path ); viewspace_.loadFromFile(path);读入
void saveToFile( std::string filename ); 保存到文件里
virtual const ViewSpace& getViewSpace(); 直接ViewSpace viewspace_;
addViews/addView/deleteViews/deleteView 都是基于viewspace_的修改要么push_back要么deleteView

这几个函数都涉及viewspace的函数具体实现在view_space.cpp 这里不展开介绍了

world_representation_communication_interface.hpp

也是实现了基类
namespace ig_active_reconstruction 下的namespace world_representation
只有一个类CommunicationInterface 是一个基类
继承的子类也有三个，一个是octomap工作空间下的IgCalculator 另外两个都是world_representation工作空间下的RosClientCI和RosServerCI

与ig和map有关的几个类

struct ResultInformation

包含被枚举的状态还有构造函数以及几个重载操作符operator

枚举状态

IG是否被成功计算的状态

      enum Enum
      {
	    SUCCEEDED=0, //! IG was successfully calculated.
	    FAILED, //! IG could not be calculated, an error occured.
	    UNKNOWN_METRIC //! The IG name was unknown and hence the IG could not be calculated
      }res;

struct IgRetrievalResult

    struct IgRetrievalResult
    {
      ResultInformation status; //! Status.
      double predicted_gain; //! Calculated information gain if the call succeeded, undefined otherwise.
    };

包含上面那个类和一个double类型的计算好后的增益

struct IgRetrievalConfig IG计算配置

struct SubWindow : x和y的最小最大值
SubWindow ray_window : 图像的一部分
ray_resolution_x/ray_resolution_y x和y方向分别有多少个射线
double max_ray_depth 默认是10 射线的最大深度

struct IgRetrievalCommand IG计算要求

      movements::PoseVector path; //! Describes the path for which the information gain shall be calculated. Note that in the current octomap-based implementation provided with the framework this is not yet implemented: Only the first pose will be considered and no casts into the future attempted.
      //只考虑第一个位姿 不考虑未来的
      std::vector<std::string> metric_names; //! Vector with the names of all metrics that shall be calculated. Only considered if metric_ids is empty.
      // 指标的名称和id
      std::vector<unsigned int> metric_ids; //! Vector with the ids of all metrics that shall be calculated. Takes precedence over metric_names.
      IgRetrievalConfig config;

struct MapMetricRetrievalResult 指标计算结果

    struct MapMetricRetrievalResult
    {
      ResultInformation status; //! Status.
      double value; //! Calculated information gain if the call succeeded, undefined otherwise.
    };

纯虚函数

computeViewIg

virtual ResultInformation computeViewIg(IgRetrievalCommand& command, ViewIgResult& output_ig)=0;

command里有pose信息和要计算的ig名字 output_ig是计算ig的结果

computeMapMetric
计算整个地图的指标
availableIgMetrics
availableMapMetrics
可以用的指标集合

对应的函数实现文件里world_representation_communication_interface.cpp
只实现了两个有用的

  // 配置的参数 window的范围和xy方向的分辨率 和深度
  CommunicationInterface::IgRetrievalConfig::IgRetrievalConfig()
  : ray_resolution_x(1.0)
  , ray_resolution_y(1.0)
  , max_ray_depth(10.0)
  {
    ray_window.min_x_perc = 0.0;
    ray_window.max_x_perc = 1.0;
    ray_window.min_y_perc = 0.0;
    ray_window.max_y_perc = 1.0;
  }

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