[WIP] Improved multilateration script #149
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ghost
assigned 
kev-the-dev
reviewed
Oct 30, 2018
| @@ -57,50 +66,61 @@ class MultilaterationNode(object): | |||
| except tf2_ros.TransformException, e: | |||
| rospy.logwarn('TF Exception: {}'.format(e)) | |||
| return | |||
| if self.last_pos is not None and np.linalg.norm(self.last_pos - origin) < 0.2: | |||
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the 0.2 magic number should be a ROS param
| if req.data is not self.enabled: | ||
| self.vec_samples.clear() | ||
| #if req.data is not self.enabled: | ||
| # self.vec_samples.clear() |
| self.heading_sub = rospy.Subscriber('/hydrophones/direction', | ||
| Vector3Stamped, self.heading_cb, queue_size=10) | ||
| self.position_pub = rospy.Publisher('/hydrophones/position', | ||
| PointStamped, queue_size=1) | ||
| self.enable_srv = rospy.Service('~enable', SetBool, | ||
| self.enable_cb) | ||
| self.reset_srv = rospy.Service('~reset', Trigger, | ||
| self.reset_cb) |
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The txros interface should be changed to provide a function to call reset. I believe this was added at lakeday but not committed
DSsoto
reviewed
Oct 31, 2018
| Ap_sum += Ap | ||
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| return np.linalg.inv(A_sum).dot(Ap_sum) | ||
| def ls_line_intersection2d(self, lines_array): |
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Just want to point out that what you're doing here (average of intersections of all possible pairs) yields a mathematically suboptimal estimate of the position of the source. Throwing out observations that are too close is sensible but swapping out least squares intersection for this average is not. Consider using this as a preprocessing step to filter the array of lines.
|
Messed up my git stuff, see #164 |
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closes #148
Improved multilateration script
Needs testing on boat