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47 changes: 47 additions & 0 deletions
47
src/main/java/ch/ethz/idsc/demo/jph/lidar/local/LogPosePostProvider.java
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| @@ -0,0 +1,47 @@ | ||
| // code by jph | ||
| package ch.ethz.idsc.demo.jph.lidar.local; | ||
|
|
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| import java.io.File; | ||
| import java.util.List; | ||
| import java.util.stream.Collectors; | ||
| import java.util.stream.Stream; | ||
|
|
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| import ch.ethz.idsc.gokart.core.pos.GokartPoseEvent; | ||
| import ch.ethz.idsc.gokart.core.pos.GokartPoseListener; | ||
| import ch.ethz.idsc.gokart.core.pos.LocalizationConfig; | ||
| import ch.ethz.idsc.gokart.offline.api.GokartLogAdapter; | ||
| import ch.ethz.idsc.gokart.offline.api.GokartLogInterface; | ||
| import ch.ethz.idsc.gokart.offline.pose.LogPosePostInject; | ||
| import ch.ethz.idsc.tensor.Scalar; | ||
|
|
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| public class LogPosePostProvider { | ||
| public static void main(String[] args) throws Exception { | ||
| File root = new File("/media/datahaki/data/gokart/cuts/20190311"); | ||
| File dest = new File("/media/datahaki/data/gokart/localization/20190311"); | ||
| dest.mkdir(); | ||
| List<File> list = Stream.of(root.listFiles()) // | ||
| .filter(File::isDirectory) // | ||
| .sorted() // | ||
| .skip(1) // | ||
| .limit(1) // | ||
| .collect(Collectors.toList()); | ||
| for (File folder : list) { | ||
| System.out.println(folder.getName()); | ||
| GokartLogInterface gokartLogInterface = GokartLogAdapter.of(folder, "log.lcm"); | ||
| LidarLocalizationTable lidarLocalizationTable = new LidarLocalizationTable(); | ||
| lidarLocalizationTable.listeners.add(new GokartPoseListener() { | ||
| @Override | ||
| public void getEvent(GokartPoseEvent gokartPoseEvent) { | ||
| Scalar quality = gokartPoseEvent.getQuality(); | ||
| if (!LocalizationConfig.GLOBAL.isQualityOk(quality)) | ||
| System.err.println("quality! " + quality); | ||
| } | ||
| }); | ||
| lidarLocalizationTable.lidarLocalizationCore.resetPose(gokartLogInterface.pose()); | ||
| // --- | ||
| LogPosePostInject logPosePostInject = new LogPosePostInject(); | ||
| lidarLocalizationTable.listeners.add(logPosePostInject); | ||
| logPosePostInject.process(gokartLogInterface.file(), new File(folder, "post.lcm"), lidarLocalizationTable); | ||
| } | ||
| } | ||
| } |
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46 changes: 46 additions & 0 deletions
46
src/main/java/ch/ethz/idsc/demo/jph/video/DriftLinesRender.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,46 @@ | ||
| // code by jph | ||
| package ch.ethz.idsc.demo.jph.video; | ||
|
|
||
| import java.awt.Color; | ||
| import java.awt.Graphics2D; | ||
|
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| import ch.ethz.idsc.gokart.core.pos.GokartPoseEvent; | ||
| import ch.ethz.idsc.gokart.core.pos.GokartPoseHelper; | ||
| import ch.ethz.idsc.gokart.core.pos.GokartPoseListener; | ||
| import ch.ethz.idsc.owl.data.BoundedLinkedList; | ||
| import ch.ethz.idsc.owl.gui.RenderInterface; | ||
| import ch.ethz.idsc.owl.gui.win.GeometricLayer; | ||
| import ch.ethz.idsc.tensor.Tensor; | ||
| import ch.ethz.idsc.tensor.Tensors; | ||
|
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| public class DriftLinesRender implements GokartPoseListener, RenderInterface { | ||
| private static final Color COLOR = new Color(128, 128, 128, 64); | ||
| private static final Tensor PATH = Tensors.of( // | ||
| Tensors.vector(0.0, 0), // | ||
| Tensors.vector(0.4, 0)); | ||
| // --- | ||
| private final BoundedLinkedList<Tensor> boundedLinkedList; | ||
|
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| public DriftLinesRender(int limit) { | ||
| boundedLinkedList = new BoundedLinkedList<>(limit); | ||
| } | ||
|
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| @Override // from GokartPoseListener | ||
| public void getEvent(GokartPoseEvent gokartPoseEvent) { | ||
| synchronized (boundedLinkedList) { | ||
| boundedLinkedList.add(GokartPoseHelper.toSE2Matrix(gokartPoseEvent.getPose())); | ||
| } | ||
| } | ||
|
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| @Override // from RenderInterface | ||
| public void render(GeometricLayer geometricLayer, Graphics2D graphics) { | ||
| synchronized (boundedLinkedList) { | ||
| graphics.setColor(COLOR); | ||
| for (Tensor matrix : boundedLinkedList) { | ||
| geometricLayer.pushMatrix(matrix); | ||
| graphics.draw(geometricLayer.toPath2D(PATH)); | ||
| geometricLayer.popMatrix(); | ||
| } | ||
| } | ||
| } | ||
| } |
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126 changes: 126 additions & 0 deletions
126
src/main/java/ch/ethz/idsc/demo/jph/video/OfflineRender.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,126 @@ | ||
| // code by jph | ||
| package ch.ethz.idsc.demo.jph.video; | ||
|
|
||
| import java.awt.Color; | ||
| import java.awt.Font; | ||
| import java.awt.Graphics2D; | ||
| import java.nio.ByteBuffer; | ||
| import java.util.Objects; | ||
|
|
||
| import ch.ethz.idsc.gokart.core.mpc.ControlAndPredictionSteps; | ||
| import ch.ethz.idsc.gokart.core.mpc.ControlAndPredictionStepsMessage; | ||
| import ch.ethz.idsc.gokart.core.pos.GokartPoseEvent; | ||
| import ch.ethz.idsc.gokart.dev.linmot.LinmotGetEvent; | ||
| import ch.ethz.idsc.gokart.dev.rimo.RimoGetEvent; | ||
| import ch.ethz.idsc.gokart.dev.rimo.RimoPutEvent; | ||
| import ch.ethz.idsc.gokart.dev.rimo.RimoPutHelper; | ||
| import ch.ethz.idsc.gokart.gui.GokartLcmChannel; | ||
| import ch.ethz.idsc.gokart.gui.GokartStatusEvent; | ||
| import ch.ethz.idsc.gokart.gui.top.AccelerationRender; | ||
| import ch.ethz.idsc.gokart.gui.top.ExtrudedFootprintRender; | ||
| import ch.ethz.idsc.gokart.gui.top.GokartRender; | ||
| import ch.ethz.idsc.gokart.gui.top.GroundSpeedRender; | ||
| import ch.ethz.idsc.gokart.gui.top.MPCPredictionRender; | ||
| import ch.ethz.idsc.gokart.gui.top.MPCPredictionSequenceRender; | ||
| import ch.ethz.idsc.gokart.gui.top.TachometerMustangDash; | ||
| import ch.ethz.idsc.gokart.lcm.OfflineLogListener; | ||
| import ch.ethz.idsc.gokart.lcm.autobox.LinmotLcmServer; | ||
| import ch.ethz.idsc.gokart.lcm.autobox.RimoLcmServer; | ||
| import ch.ethz.idsc.gokart.offline.channel.Vmu931ImuChannel; | ||
| import ch.ethz.idsc.owl.gui.RenderInterface; | ||
| import ch.ethz.idsc.owl.gui.win.GeometricLayer; | ||
| import ch.ethz.idsc.retina.imu.vmu931.Vmu931ImuFrame; | ||
| import ch.ethz.idsc.sophus.group.Se2Utils; | ||
| import ch.ethz.idsc.tensor.Scalar; | ||
| import ch.ethz.idsc.tensor.Tensor; | ||
| import ch.ethz.idsc.tensor.Tensors; | ||
| import ch.ethz.idsc.tensor.mat.DiagonalMatrix; | ||
| import ch.ethz.idsc.tensor.mat.Inverse; | ||
| import ch.ethz.idsc.tensor.sca.Round; | ||
|
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| public class OfflineRender implements OfflineLogListener, RenderInterface { | ||
| private final MPCPredictionSequenceRender mpcPredictionSequenceRender = new MPCPredictionSequenceRender(20); | ||
| private final MPCPredictionRender mpcPredictionRender = new MPCPredictionRender(); | ||
| private final DriftLinesRender driftLinesRender = new DriftLinesRender(100); | ||
| private final GokartRender gokartRender = new GokartRender(); | ||
| private final AccelerationRender accelerationRender; | ||
| private final GroundSpeedRender groundSpeedRender; | ||
| private final TachometerMustangDash tachometerMustangDash; | ||
| private final ExtrudedFootprintRender extrudedFootprintRender = new ExtrudedFootprintRender(); | ||
| private final String poseChannel; | ||
| // --- | ||
| private LinmotGetEvent linmotGetEvent; | ||
|
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| public OfflineRender(Tensor model2pixel, String poseChannel) { | ||
| this.poseChannel = poseChannel; | ||
| accelerationRender = new AccelerationRender(50, // | ||
| Inverse.of(model2pixel) // | ||
| .dot(Se2Utils.toSE2Matrix(Tensors.vector(960 + 250, 140, 0))) // | ||
| .dot(Se2Utils.toSE2Matrix(Tensors.vector(0, 0, -Math.PI / 2))) // | ||
| .dot(DiagonalMatrix.of(8, -8, 1))); | ||
| Tensor matrix = Inverse.of(model2pixel) // | ||
| .dot(Se2Utils.toSE2Matrix(Tensors.vector(960 - 250, 140, 0))) // | ||
| .dot(Se2Utils.toSE2Matrix(Tensors.vector(0, 0, -Math.PI / 2))) // | ||
| .dot(DiagonalMatrix.of(10, -10, 1)); | ||
| groundSpeedRender = new GroundSpeedRender(50, matrix); | ||
| tachometerMustangDash = new TachometerMustangDash(matrix); // | ||
| } | ||
|
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| @Override // from OfflineLogListener | ||
| public void event(Scalar time, String channel, ByteBuffer byteBuffer) { | ||
| if (channel.equals(GokartLcmChannel.STATUS)) { | ||
| GokartStatusEvent gokartStatusEvent = new GokartStatusEvent(byteBuffer); | ||
| gokartRender.gokartStatusListener.getEvent(gokartStatusEvent); | ||
| extrudedFootprintRender.gokartStatusListener.getEvent(gokartStatusEvent); | ||
| } else // | ||
| if (channel.equals(LinmotLcmServer.CHANNEL_GET)) { | ||
| linmotGetEvent = new LinmotGetEvent(byteBuffer); | ||
| gokartRender.linmotGetListener.getEvent(linmotGetEvent); | ||
| } else // | ||
| if (channel.equals(RimoLcmServer.CHANNEL_GET)) { | ||
| RimoGetEvent rimoGetEvent = new RimoGetEvent(byteBuffer); | ||
| gokartRender.rimoGetListener.getEvent(rimoGetEvent); | ||
| tachometerMustangDash.getEvent(rimoGetEvent); | ||
| } else // | ||
| if (channel.equals(RimoLcmServer.CHANNEL_PUT)) { | ||
| RimoPutEvent rimoGetEvent = RimoPutHelper.from(byteBuffer); | ||
| gokartRender.rimoPutListener.putEvent(rimoGetEvent); | ||
| } else // | ||
| if (channel.equals(Vmu931ImuChannel.INSTANCE.channel())) { | ||
| Vmu931ImuFrame vmu931ImuFrame = new Vmu931ImuFrame(byteBuffer); | ||
| accelerationRender.vmu931ImuFrame(vmu931ImuFrame); | ||
| } else // | ||
| if (channel.equals(GokartLcmChannel.MPC_FORCES_CNS)) { | ||
| ControlAndPredictionSteps controlAndPredictionSteps = new ControlAndPredictionStepsMessage(byteBuffer).getPayload(); | ||
| mpcPredictionSequenceRender.getControlAndPredictionSteps(controlAndPredictionSteps); | ||
| mpcPredictionRender.getControlAndPredictionSteps(controlAndPredictionSteps); | ||
| } else // | ||
| if (channel.equals(poseChannel)) { | ||
| GokartPoseEvent gokartPoseEvent = GokartPoseEvent.of(byteBuffer); | ||
| driftLinesRender.getEvent(gokartPoseEvent); | ||
| groundSpeedRender.getEvent(gokartPoseEvent); | ||
| gokartRender.gokartPoseListener.getEvent(gokartPoseEvent); | ||
| extrudedFootprintRender.gokartPoseListener.getEvent(gokartPoseEvent); | ||
| } | ||
| } | ||
|
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||
| @Override // from RenderInterface | ||
| public void render(GeometricLayer geometricLayer, Graphics2D graphics) { | ||
| mpcPredictionSequenceRender.render(geometricLayer, graphics); | ||
| mpcPredictionRender.render(geometricLayer, graphics); | ||
| driftLinesRender.render(geometricLayer, graphics); | ||
| gokartRender.render(geometricLayer, graphics); | ||
| extrudedFootprintRender.render(geometricLayer, graphics); | ||
| accelerationRender.render(geometricLayer, graphics); | ||
| groundSpeedRender.render(geometricLayer, graphics); | ||
| tachometerMustangDash.render(geometricLayer, graphics); | ||
| // --- | ||
| graphics.setFont(new Font(Font.MONOSPACED, Font.BOLD, 30)); | ||
| graphics.setColor(Color.GRAY); | ||
| if (Objects.nonNull(linmotGetEvent)) | ||
| graphics.drawString(String.format("brake:%12s", linmotGetEvent.getWindingTemperatureMax().map(Round._2)), 0, 25 + 30); | ||
| // --- | ||
| graphics.drawString("vel", 960 - 250 - 140, 25); | ||
| graphics.drawString("acc", 960 + 250 - 140, 25); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| // code by jph | ||
| package ch.ethz.idsc.demo.jph.video; | ||
|
|
||
| /* package */ enum StaticHelper { | ||
| ; | ||
| public static final int FRAMERATE = 50; | ||
| } |
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