team/DevModules/MatlabDisplay/MatlabDisplay:
Draws waypoints corridor. If you run simulator,
matlab will add display Vehicle and path in real time. Pretty
sweet. Can run on palladium or grandchallenge. Shooting to
combine ladar data with state data in MatlabDisplay.
Pretty easy to setup some more MTA messages so
Matlab will get it.
Sue Ann tricked it out and now the vehicle
doesn't leave the corridor (in simulation) driving around the parking
lot.
Got new firewire cards. Need to
install. Also need to mount more cameras and lenses. Don't
yet have a camera for road-following.
Jeremy recoded it into a more elegant form.
OpenCV works well on Iridium, but not on grandchallenge.
Segfaults on grandchallenge. Presently logs jpegs. Should
switch to bmp or pgm to avoid lossy compression. Need roll,
pitch, and yaw from state. Can't get state data in the shop, so
genmaps look awful. Should set state to 0 for shop testing.
Point cloud seems to be mapping onto genmap well, but some
transformations need careful checking and tweaking.
Driver's done. Genmap implementation is
done. Some funky noise issues. Initializing genMap is
horribly slow. Filling it in is fast. Displaying in Matlab
took about 30 seconds. Takes hug amount of memory. ~128MB
for 1000x1000 array. (100m with 10cm resolution). May
need greater resolution to detect thin fenceposts. New driver
reports errors and returns invalid points when looking at 0-10 degree
and 170-180 degree angles.
Arrow from HW to SW is green.
Waypoint spec is green. Static map
documentation is done in team/static. Needs conversion into
genMap. Needs implementation. CorridorArcEvaluator is
finished with coding but needs testing. No testing done
yet. Not sure if communication to Arbiter is correct and votes
are reasonable.
CorridorArcEvaluator does not know the next
waypoint. So right now it should run with GlobalPlanner.
Can run CorridorArcEvaluator and GlobalPlanner at the same time.
Can run with the -noglobal flag which will let
the car move even in the abscence of global votes.
Need to work out voter issues and mode
control. Simulator working fine. concerns about goodness
votes from DFE. Whether velocity control should be in DFE or
global. Prob should go in global. Otherwise treat DFE as a
mask instead of a voter in arbiter.
GenMap implemented. SaveMap and LoadMap
work. Matlab can read saved genMaps. GenMap runs very
slowly. Thyago doesn't know why its so slow. Thyago wants
help here. ArcEvaluator core functions are moving into genMap.
Need additional capability (conversion to/from
static maps). Also optimization of better algorithms.
OK.
Altitude from GPS is jumpy and unreliable. Possibly can be
fixed with a Kalman Filter improvement. Otherwise, frames
xform from vehicle frame to UTM should be changed not to include
altitude.
| Network in the field |
Need router passwords |
| Road Following integration |
Low priority since Chris
Rasmussen is gone. WantsgenMaps from Stereo and Ladar for better
stuff. Wants to do terrain fitting to detect things like
ruts. That doesn't work yet. Running on Windows now. |
| Clean SVS code |
done. Need to do more
parameter tweaking like scaling and rotation. |
| SVS hardware (cables, mounting,
ieee1394 card) |
|
| Global: CorridorArcEvaluator |
Needs testing |
| Global: GlobalMapHandler |
Not implemented |
| Global: static map implementation |
needs to be done |
| Corridor following documentation |
not done yet |
| Static Map Generation |
have a meeting soon |
| Ladar: genmap testing |
needs to be done |
| Ladar driver |
done |
| matlab visualization |
done. Needs tweakingn and
documenation |
| Ladar mounting and cables |
Need work. |
| Planning subteam: Tool tio
integrate terrain int osimulation runs: |
??? |
| Visulization tool for genmaps |
have static; want real-time |
| Logging tool for genMaps |
done |
| path evaluation (esp. testing) |
really needs attention.
PRIORITY #1 for planning subteam. Optimizations. Talk to Ben Brantley about this. |
Partial Obstacle detector (GIS analysis): no progress (no
effort, either). Testing of corridorArcEvaluator and other stuff
this weekend.