├── README.md ├── changelog.txt ├── code ├── axon5.m ├── rat_visual_odometry.m ├── rs_compare_segments.m ├── rs_create_posecell_weights.m ├── rs_exp_playback.m ├── rs_experience_map_iteration.m ├── rs_get_posecell_xyth.m ├── rs_main.m ├── rs_posecell_iteration.m ├── rs_visual_odometry.m ├── rs_visual_template.m └── st_lucia.m └── license.txt /README.md: -------------------------------------------------------------------------------- 1 | RatSLAM Code Release (MATLAB Version) 2 | 3 | Copyright (C) 2008 David Ball (davidmichaelball@gmail.com) (MATLAB version) 4 | 5 | Algorithm - Michael Milford & Gordon Wyeth 6 | 7 | This program is free software: you can redistribute it and/or modify 8 | it under the terms of the GNU General Public License as published by 9 | the Free Software Foundation, either version 3 of the License, or 10 | (at your option) any later version. 11 | 12 | This program is distributed in the hope that it will be useful, 13 | but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | GNU General Public License for more details. 16 | 17 | You should have received a copy of the GNU General Public License 18 | along with this program. If not, see . 19 | 20 | 21 | ** Introduction ** 22 | 23 | The RatSLAM system performs vision based SLAM using a computational model of the rodent hippocampus. RatSLAM is capable of performing real-time on-line SLAM in indoor and outdoor environments. The MATLAB implementation is intended to demonstrate how RatSLAM works and allow you to test your own datasets. Unlike our C version, the code is unoptimised and will slow down linerly as more visual templates and expereiences are learnt. 24 | 25 | We are very interested in hearing about your experiences using the RatSLAM system. 26 | 27 | The core of the RatSLAM system is: 28 | 1. Visual Template - Use normalised grayscale intensity matching to generate view templates 29 | 2. Visual Odometry or pre recorded Odometry - Use the robots wheel encoders or the change in the intensity field to get raw odometric information. 30 | 3. Pose cell attractor network - The odometric infomration shifts the activity packet(s) and view templates inject energy into the pose cells. 31 | 4. Experience Map - Topological map of expereiences with odometric links 32 | 33 | If you use this code please reference the following paper: 34 | David Ball, Scott Heath, Michael Milford, Gordon Wyeth, Janet Wiles (2010) A navigating rat animat, Proceedings of the 12th International Conference on the Synthesis and Simulation of Living Systems, 804-811, MIT Press 35 | 36 | For further reading: 37 | http://www.davidmichaelball.com/portfolio-items/openratslam/ 38 | 39 | M. J. Milford, G. Wyeth, "Mapping a Suburb with a Single Camera using a Biologically Inspired SLAM System", accepted to IEEE Transactions on Robotics Special Issue on Visual SLAM. Scheduled for publication October 2008. 40 | 41 | M. J. Milford, "Robot Navigation from Nature", Springer-Verlag, March 2008. 42 | 43 | M. J. Milford, G. Wyeth, D. Prasser, "RatSLAM on the Edge: Revealing a Coherent Representation from an Overloaded Rat Brain", International Conference on Intelligent Robots and Systems, Beijing, China, 2006. 44 | 45 | Contact davidmichaelball@gmail.com regarding the MATLAB code. 46 | 47 | 48 | ** Installation and Setup ** 49 | 50 | Either change the MATLAB path to the code directory or add it to MATLAB's path list. 51 | 52 | Download the desired dataset(s) from https://wiki.qut.edu.au/display/cyphy/RatSLAM+MATLAB. For the xvid compressed video you may need a codec. For Windows K-Lite Codec (http://www.free-codecs.com/download/K_lite_codec_pack.htm) is good, otherwise try the ffdshow (http://sourceforge.net/projects/ffdshow-tryout/) from sourceforge. 53 | 54 | Open the st_lucia.m or axon5.m script file and set the MOV_NAME with the full path to where you put the dataset. Run the script file. 55 | 56 | BLOCK_READ 57 | RENDER_RATE 58 | 59 | ** Creating datasets ** 60 | 61 | 1. Create a new .m file 62 | 2. For visual odometry copy the st_lucia.m file 63 | and for recorded odometry copy the axon5.m file 64 | 3. Modify MOV_NAME, START_FRAME, and END_FRAME to appropriate values 65 | 4. Modify IMAGE_X_OFFSET to appropriate values 66 | 5. Specify the window for the visual templates 67 | 7. Adjust view template learning rate 68 | 69 | 70 | ** Playback ** 71 | 72 | Playing back the Experience Map, active view templates and experience templates. 73 | The rs_exp_playback.m file allows you to playback experiences if you logged them. They will be logged at the BLOCK_READ rate in rs_main.m 74 | 75 | Example usage is: 76 | rs_exp_playback('st_lucia1_log', 1000 : 100 : 5000) 77 | which will read the log files that start with st_lucia1_log starting at frame 1000 and ending at frame 5000 in increments of 100 frames. The smallest increament you can have is in BLOCK_READ's which defaults to 100. 78 | 79 | 80 | ** Advanced Parameters ** 81 | 82 | There are parameters in the rs_main.m file that will affect the core RatSLAM system. They are commented in the code itself. 83 | 84 | Take particular note of the: 85 | * visual template viewport 86 | * if using visual odometry its viewport 87 | * pose cell dimensions and exhibition/inhibition parameters. 88 | * experience map correction loops 89 | 90 | 91 | 92 | -------------------------------------------------------------------------------- /changelog.txt: -------------------------------------------------------------------------------- 1 | RatSLAM Changelog 2 | 3 | v1.00 4 | * Initial release to public 5 | 6 | v1.01 7 | * Fixed experience map bug 8 | 9 | v1.02 10 | * Added support for reading odo from file 11 | * Added experience map playback 12 | * Added a readme.txt file 13 | * Added more comments in the code 14 | 15 | v1.03 16 | * Added rs_main.m for handling core RatSLAM process 17 | 18 | -------------------------------------------------------------------------------- /code/axon5.m: -------------------------------------------------------------------------------- 1 | % RatSLAM script file for the Axon Level 5 dataset 2 | 3 | % Copyright (C) 2008 David Ball (d.ball@uq.edu.au) (MATLAB version) 4 | % Michael Milford (m.milford1@uq.edu.au) & Gordon Wyeth (g.wyeth@uq.edu.au) 5 | % 6 | % This program is free software: you can redistribute it and/or modify 7 | % it under the terms of the GNU General Public License as published by 8 | % the Free Software Foundation, either version 3 of the License, or 9 | % (at your option) any later version. 10 | % 11 | % This program is distributed in the hope that it will be useful, 12 | % but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | % GNU General Public License for more details. 15 | % 16 | % You should have received a copy of the GNU General Public License 17 | % along with this program. If not, see . 18 | 19 | clear all; 20 | 21 | rs_main('G:\think\publicweb\ratslam\data\uqaxon5_0to25000.avi', 'G:\think\publicweb\ratslam\data\uqaxon5_0to25000.txt', 'axon1_log', ... 22 | 'IMAGE_X_OFFSET', 0, ... 23 | 'BLOCK_READ', 100, ... 24 | 'RENDER_RATE', 10, ... 25 | 'VT_MATCH_THRESHOLD', 0.05, ... 26 | 'IMAGE_VT_Y_RANGE', 40:80, ... 27 | 'IMAGE_VT_X_RANGE', 1:120, ... 28 | 'EXP_DELTA_PC_THRESHOLD', 1.0, ... 29 | 'EXP_CORRECTION', 0.5, ... 30 | 'ODO_ROT_SCALING', pi/180/7, ... % to get the data into delta change in radians between frames 31 | 'EXP_LOOPS', 100); 32 | 33 | 34 | -------------------------------------------------------------------------------- /code/rat_visual_odometry.m: -------------------------------------------------------------------------------- 1 | function [vtrans, vrot] = rs_visual_odometry(raw_image) 2 | % [vtrans, vrot] = rs_visual_odometry(raw_image) 3 | 4 | % Copyright (C) 2008 David Ball (d.ball@uq.edu.au) (MATLAB version) 5 | % Michael Milford (m.milford1@uq.edu.au) & Gordon Wyeth (g.wyeth@uq.edu.au) 6 | % 7 | % This program is free software: you can redistribute it and/or modify 8 | % it under the terms of the GNU General Public License as published by 9 | % the Free Software Foundation, either version 3 of the License, or 10 | % (at your option) any later version. 11 | % 12 | % This program is distributed in the hope that it will be useful, 13 | % but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | % GNU General Public License for more details. 16 | % 17 | % You should have received a copy of the GNU General Public License 18 | % along with this program. If not, see . 19 | 20 | global prev_vrot_image_x_sums; 21 | global prev_vtrans_image_x_sums; 22 | global IMAGE_ODO_X_RANGE; 23 | global IMAGE_VTRANS_Y_RANGE; 24 | global IMAGE_VROT_Y_RANGE; 25 | 26 | FOV_DEG = 50; 27 | dpp = FOV_DEG / size(raw_image, 2); 28 | 29 | % vtrans 30 | sub_image = raw_image(IMAGE_VTRANS_Y_RANGE, IMAGE_ODO_X_RANGE); 31 | 32 | image_x_sums = sum(sub_image); 33 | avint = sum(image_x_sums) / size(image_x_sums, 2); 34 | image_x_sums = image_x_sums/avint; 35 | 36 | [minoffset, mindiff] = rs_compare_segments(image_x_sums, prev_vtrans_image_x_sums, 140, size(image_x_sums, 2)); 37 | 38 | vtrans = mindiff * 100; 39 | 40 | % a hack to detect excessively large vtrans 41 | if vtrans > 10 42 | vtrans = 0; 43 | end 44 | 45 | prev_vtrans_image_x_sums = image_x_sums; 46 | 47 | % now do rotation 48 | sub_image = raw_image(IMAGE_VROT_Y_RANGE, IMAGE_ODO_X_RANGE); 49 | 50 | image_x_sums = sum(sub_image); 51 | avint = sum(image_x_sums) / size(image_x_sums, 2); 52 | image_x_sums = image_x_sums/avint; 53 | 54 | [minoffset, mindiff] = rs_compare_segments(image_x_sums, prev_vrot_image_x_sums, 140, size(image_x_sums, 2)); %#ok 55 | 56 | vrot = minoffset * dpp * pi / 180; 57 | 58 | prev_vrot_image_x_sums = image_x_sums; 59 | 60 | end 61 | 62 | 63 | 64 | 65 | 66 | 67 | -------------------------------------------------------------------------------- /code/rs_compare_segments.m: -------------------------------------------------------------------------------- 1 | function [offset, sdif] = rs_compare_segments(seg1, seg2, slen, cwl) 2 | % [offset, sdif] = rs_compare_segments(seg1, seg2, slen, cwl) 3 | % determine the best match between seg1 and seg2 of size cw1 allowing 4 | % for shifts of up to slen 5 | 6 | % Copyright (C) 2008 David Ball (d.ball@uq.edu.au) (MATLAB version) 7 | % Michael Milford (m.milford1@uq.edu.au) & Gordon Wyeth (g.wyeth@uq.edu.au) 8 | % 9 | % This program is free software: you can redistribute it and/or modify 10 | % it under the terms of the GNU General Public License as published by 11 | % the Free Software Foundation, either version 3 of the License, or 12 | % (at your option) any later version. 13 | % 14 | % This program is distributed in the hope that it will be useful, 15 | % but WITHOUT ANY WARRANTY; without even the implied warranty of 16 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 17 | % GNU General Public License for more details. 18 | % 19 | % You should have received a copy of the GNU General Public License 20 | % along with this program. If not, see . 21 | 22 | % assume a large difference 23 | mindiff = 1e6; 24 | 25 | diffs = zeros(slen); 26 | 27 | % for each offset sum the abs difference between the two segments 28 | for offset = 0:slen 29 | cdiff = abs(seg1(1 + offset:cwl) - seg2(1:cwl - offset)); 30 | cdiff = sum(cdiff) / (cwl - offset); 31 | diffs(slen - offset + 1) = cdiff; 32 | if (cdiff < mindiff) 33 | mindiff = cdiff; 34 | minoffset = offset; 35 | end 36 | end 37 | 38 | for offset = 1:slen 39 | cdiff = abs(seg1(1:cwl - offset) - seg2(1 + offset:cwl)); 40 | cdiff = sum(cdiff) / (cwl - offset); 41 | diffs(slen + 1 + offset) = cdiff; 42 | if (cdiff < mindiff) 43 | mindiff = cdiff; 44 | minoffset = -offset; 45 | end 46 | end 47 | 48 | offset = minoffset; 49 | sdif = mindiff; 50 | 51 | end -------------------------------------------------------------------------------- /code/rs_create_posecell_weights.m: -------------------------------------------------------------------------------- 1 | function [weight] = rs_create_posecell_weights(dim, var) 2 | % [WEIGHT] = rs_create_posecell_weights(DIM, VAR) 3 | % Creates a 3D normalised distributio of size dim^3 with a 4 | % variance of var. 5 | 6 | % Copyright (C) 2008 David Ball (d.ball@uq.edu.au) (MATLAB version) 7 | % Michael Milford (m.milford1@uq.edu.au) & Gordon Wyeth (g.wyeth@uq.edu.au) 8 | % 9 | % This program is free software: you can redistribute it and/or modify 10 | % it under the terms of the GNU General Public License as published by 11 | % the Free Software Foundation, either version 3 of the License, or 12 | % (at your option) any later version. 13 | % 14 | % This program is distributed in the hope that it will be useful, 15 | % but WITHOUT ANY WARRANTY; without even the implied warranty of 16 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 17 | % GNU General Public License for more details. 18 | % 19 | % You should have received a copy of the GNU General Public License 20 | % along with this program. If not, see . 21 | 22 | if nargin == 1 23 | error('MATLAB:rs_create_posecell_weights:moreargs', 'need at least two arguments'); 24 | end 25 | 26 | dim_centre = floor(dim/2) + 1; 27 | 28 | % creates a 3D normal distrubtion based on the given dimension and 29 | % variance 30 | weight=zeros(dim, dim, dim); 31 | for x=1:dim 32 | for y=1:dim 33 | for z=1:dim 34 | weight(x,y,z) = 1/(var*sqrt(2*pi))*exp((-(x-dim_centre)^2-(y-dim_centre)^2-(z-dim_centre)^2)/(2*var^2)); 35 | end 36 | end 37 | end 38 | 39 | % ensure that it is normalised 40 | total = sum(sum(sum(weight))); 41 | weight = weight./total; 42 | 43 | end -------------------------------------------------------------------------------- /code/rs_exp_playback.m: -------------------------------------------------------------------------------- 1 | function rs_exp_playback(FILENAME, FRAMES) 2 | % rs_exp_playback(FILENAME, FRAMES) 3 | % Plays back the logged experience map, visual template and experience 4 | % templates given by FILENAME for FRAMES (start:increment:end). 5 | 6 | % Copyright (C) 2008 David Ball (d.ball@uq.edu.au) (MATLAB version) 7 | % Michael Milford (m.milford1@uq.edu.au) & Gordon Wyeth (g.wyeth@uq.edu.au) 8 | % 9 | % This program is free software: you can redistribute it and/or modify 10 | % it under the terms of the GNU General Public License as published by 11 | % the Free Software Foundation, either version 3 of the License, or 12 | % (at your option) any later version. 13 | % 14 | % This program is distributed in the hope that it will be useful, 15 | % but WITHOUT ANY WARRANTY; without even the implied warranty of 16 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 17 | % GNU General Public License for more details. 18 | % 19 | % You should have received a copy of the GNU General Public License 20 | % along with this program. If not, see . 21 | 22 | for frame=FRAMES 23 | 24 | load(strcat(FILENAME, num2str(frame))); 25 | 26 | subplot(2,2,1, 'replace'); 27 | plot(vt_history, '.'); 28 | subplot(2,2,2, 'replace'); 29 | plot(exp_history, '.'); 30 | subplot(2,1,2, 'replace'); 31 | plot([exps(:).x_m], [exps(:).y_m], 'x'); 32 | axis equal; 33 | 34 | drawnow; 35 | end 36 | 37 | end -------------------------------------------------------------------------------- /code/rs_experience_map_iteration.m: -------------------------------------------------------------------------------- 1 | function rs_experience_map_iteration(vt_id, vtrans, vrot, x_pc, y_pc, th_pc) 2 | % rs_experience_map_iteration 3 | 4 | % Copyright (C) 2008 David Ball (d.ball@uq.edu.au) (MATLAB version) 5 | % Michael Milford (m.milford1@uq.edu.au) & Gordon Wyeth (g.wyeth@uq.edu.au) 6 | % 7 | % This program is free software: you can redistribute it and/or modify 8 | % it under the terms of the GNU General Public License as published by 9 | % the Free Software Foundation, either version 3 of the License, or 10 | % (at your option) any later version. 11 | % 12 | % This program is distributed in the hope that it will be useful, 13 | % but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | % GNU General Public License for more details. 16 | % 17 | % You should have received a copy of the GNU General Public License 18 | % along with this program. If not, see . 19 | 20 | global exps; 21 | global vt; 22 | global prev_vt_id; 23 | global curr_exp_id; 24 | global numexps; 25 | global prev_exp_id; 26 | global accum_delta_x; 27 | global accum_delta_y; 28 | global accum_delta_facing; 29 | 30 | global PC_DIM_XY; 31 | global PC_DIM_TH; 32 | 33 | global EXP_DELTA_PC_THRESHOLD 34 | 35 | % integrate the delta x, y, facing 36 | accum_delta_facing = Clip_Rad_180(accum_delta_facing + vrot); 37 | accum_delta_x = accum_delta_x + vtrans * cos(accum_delta_facing); 38 | accum_delta_y = accum_delta_y + vtrans * sin(accum_delta_facing); 39 | 40 | delta_pc = sqrt(Get_Min_Delta(exps(curr_exp_id).x_pc, x_pc, PC_DIM_XY)^2 + Get_Min_Delta(exps(curr_exp_id).y_pc, y_pc, PC_DIM_XY)^2 + Get_Min_Delta(exps(curr_exp_id).th_pc, th_pc, PC_DIM_TH)^2); 41 | 42 | % if the vt is new or the pc x,y,th has changed enough create a new 43 | % experience 44 | if vt(vt_id).numexps == 0 || delta_pc > EXP_DELTA_PC_THRESHOLD 45 | 46 | numexps = numexps + 1; 47 | Create_New_Exp(curr_exp_id, numexps, x_pc, y_pc, th_pc, vt_id); 48 | 49 | prev_exp_id = curr_exp_id; 50 | curr_exp_id = numexps; 51 | 52 | accum_delta_x = 0; 53 | accum_delta_y = 0; 54 | accum_delta_facing = exps(curr_exp_id).facing_rad; 55 | 56 | % if the vt has changed (but isn't new) search for the matching exp 57 | elseif vt_id ~= prev_vt_id 58 | 59 | % find the exp associated with the current vt and that is under the 60 | % threshold distance to the centre of pose cell activity 61 | % if multiple exps are under the threshold then don't match (to reduce 62 | % hash collisions) 63 | matched_exp_id = 0; 64 | matched_exp_count = 0; 65 | % [x_pc y_pc th_pc vt_id] 66 | 67 | for search_id=1:vt(vt_id).numexps 68 | % [search_id exps(vt(vt_id).exps(search_id).id).x_pc exps(vt(vt_id).exps(search_id).id).y_pc exps(vt(vt_id).exps(search_id).id).th_pc] 69 | delta_pc(search_id) = sqrt(Get_Min_Delta(exps(vt(vt_id).exps(search_id).id).x_pc, x_pc, PC_DIM_XY)^2 + Get_Min_Delta(exps(vt(vt_id).exps(search_id).id).y_pc, y_pc, PC_DIM_XY)^2 + Get_Min_Delta(exps(vt(vt_id).exps(search_id).id).th_pc, th_pc, PC_DIM_TH)^2); 70 | if delta_pc(search_id) < EXP_DELTA_PC_THRESHOLD 71 | matched_exp_count = matched_exp_count + 1; 72 | end 73 | end 74 | 75 | if matched_exp_count > 1 76 | % this means we aren't sure about which experience is a match due 77 | % to hash table collision 78 | % instead of a false posivitive which may create blunder links in 79 | % the experience map keep the previous experience 80 | % matched_exp_count 81 | 82 | else 83 | [min_delta, min_delta_id] = min(delta_pc); 84 | 85 | if min_delta < EXP_DELTA_PC_THRESHOLD 86 | 87 | matched_exp_id = vt(vt_id).exps(min_delta_id).id; 88 | 89 | % see if the prev exp already has a link to the current exp 90 | link_exists = 0; 91 | for link_id = 1:exps(curr_exp_id).numlinks 92 | if exps(curr_exp_id).links(link_id).exp_id == matched_exp_id 93 | link_exists = 1; 94 | break; 95 | end 96 | end 97 | 98 | % [matched_exp_id search_id link_exists] 99 | 100 | % if we didn't find a link then create the link between current 101 | % experience and the expereince for the current vt 102 | if link_exists == 0 103 | exps(curr_exp_id).numlinks = exps(curr_exp_id).numlinks + 1; 104 | exps(curr_exp_id).links(exps(curr_exp_id).numlinks).exp_id = matched_exp_id; 105 | exps(curr_exp_id).links(exps(curr_exp_id).numlinks).d = sqrt(accum_delta_x^2 + accum_delta_y^2); 106 | exps(curr_exp_id).links(exps(curr_exp_id).numlinks).heading_rad = Get_Signed_Delta_Rad(exps(curr_exp_id).facing_rad, atan2(accum_delta_y, accum_delta_x)); 107 | exps(curr_exp_id).links(exps(curr_exp_id).numlinks).facing_rad = Get_Signed_Delta_Rad(exps(curr_exp_id).facing_rad, accum_delta_facing); 108 | end 109 | 110 | end 111 | 112 | % if there wasn't an experience with the current vt and posecell x y th 113 | % then create a new experience 114 | if matched_exp_id == 0 115 | numexps = numexps + 1; 116 | % numexps 117 | Create_New_Exp(curr_exp_id, numexps, x_pc, y_pc, th_pc, vt_id); 118 | matched_exp_id = numexps; 119 | end 120 | 121 | prev_exp_id = curr_exp_id; 122 | curr_exp_id = matched_exp_id; 123 | 124 | accum_delta_x = 0; 125 | accum_delta_y = 0; 126 | accum_delta_facing = exps(curr_exp_id).facing_rad; 127 | end 128 | 129 | end 130 | 131 | global EXP_CORRECTION; 132 | global EXP_LOOPS; 133 | 134 | % do the experience map correction interatively for all the links in all 135 | % the experiences 136 | for i=1:EXP_LOOPS 137 | 138 | for exp_id=1:numexps 139 | 140 | for link_id=1:exps(exp_id).numlinks 141 | 142 | % experience 0 has a link to experience 1 143 | e0 = exp_id; 144 | e1 = exps(exp_id).links(link_id).exp_id; 145 | 146 | % work out where e0 thinks e1 (x,y) should be based on the stored 147 | % link information 148 | lx = exps(e0).x_m + exps(e0).links(link_id).d * cos(exps(e0).facing_rad + exps(e0).links(link_id).heading_rad); 149 | ly = exps(e0).y_m + exps(e0).links(link_id).d * sin(exps(e0).facing_rad + exps(e0).links(link_id).heading_rad); 150 | 151 | % correct e0 and e1 (x,y) by equal but opposite amounts 152 | % a 0.5 correction parameter means that e0 and e1 will be fully 153 | % corrected based on e0's link information 154 | exps(e0).x_m = exps(e0).x_m + (exps(e1).x_m - lx) * EXP_CORRECTION; 155 | exps(e0).y_m = exps(e0).y_m + (exps(e1).y_m - ly) * EXP_CORRECTION; 156 | exps(e1).x_m = exps(e1).x_m - (exps(e1).x_m - lx) * EXP_CORRECTION; 157 | exps(e1).y_m = exps(e1).y_m - (exps(e1).y_m - ly) * EXP_CORRECTION; 158 | 159 | % determine the angle between where e0 thinks e1's facing 160 | % should be based on the link information 161 | df = Get_Signed_Delta_Rad((exps(e0).facing_rad + exps(e0).links(link_id).facing_rad), exps(e1).facing_rad); 162 | 163 | % correct e0 and e1 facing by equal but opposite amounts 164 | % a 0.5 correction parameter means that e0 and e1 will be fully 165 | % corrected based on e0's link information 166 | exps(e0).facing_rad = Clip_Rad_180(exps(e0).facing_rad + df * EXP_CORRECTION); 167 | exps(e1).facing_rad = Clip_Rad_180(exps(e1).facing_rad - df * EXP_CORRECTION); 168 | end 169 | end 170 | 171 | end 172 | 173 | % keep a frame by frame history of which experience was currently active 174 | global exp_history; 175 | exp_history = [exp_history; curr_exp_id]; 176 | 177 | end 178 | 179 | function Create_New_Exp(curr_exp_id, new_exp_id, x_pc, y_pc, th_pc, vt_id) 180 | % create a new experience and current experience to it 181 | global vt; 182 | global exps; 183 | global accum_delta_x; 184 | global accum_delta_y; 185 | global accum_delta_facing; 186 | 187 | % add link information to the current experience for the new experience 188 | % including the experience_id, odo distance to the experience, odo heading 189 | % (relative to the current experience's facing) to the experience, odo delta 190 | % facing (relative to the current expereience's facing). 191 | exps(curr_exp_id).numlinks = exps(curr_exp_id).numlinks + 1; 192 | exps(curr_exp_id).links(exps(curr_exp_id).numlinks).exp_id = new_exp_id; 193 | exps(curr_exp_id).links(exps(curr_exp_id).numlinks).d = sqrt(accum_delta_x^2 + accum_delta_y^2); 194 | exps(curr_exp_id).links(exps(curr_exp_id).numlinks).heading_rad = Get_Signed_Delta_Rad(exps(curr_exp_id).facing_rad, atan2(accum_delta_y, accum_delta_x)); 195 | exps(curr_exp_id).links(exps(curr_exp_id).numlinks).facing_rad = Get_Signed_Delta_Rad(exps(curr_exp_id).facing_rad, accum_delta_facing); 196 | 197 | % create the new experience which will have no links to being with 198 | exps(new_exp_id).x_pc = x_pc; 199 | exps(new_exp_id).y_pc = y_pc; 200 | exps(new_exp_id).th_pc = th_pc; 201 | exps(new_exp_id).vt_id = vt_id; 202 | exps(new_exp_id).x_m = exps(curr_exp_id).x_m + accum_delta_x; 203 | exps(new_exp_id).y_m = exps(curr_exp_id).y_m + accum_delta_y; 204 | exps(new_exp_id).facing_rad = Clip_Rad_180(accum_delta_facing); 205 | exps(new_exp_id).numlinks = 0; 206 | exps(new_exp_id).links = []; 207 | 208 | % add this experience id to the vt for efficient lookup 209 | vt(vt_id).numexps = vt(vt_id).numexps + 1; 210 | vt(vt_id).exps(vt(vt_id).numexps).id = new_exp_id; 211 | end 212 | 213 | function [angle]=Clip_Rad_360(angle) 214 | % Clip the input angle to between 0 and 2pi radians 215 | 216 | while angle < 0 217 | angle = angle + 2*pi; 218 | end 219 | while angle >= 2*pi 220 | angle = angle - 2*pi; 221 | end 222 | end 223 | 224 | function [angle]=Clip_Rad_180(angle) 225 | % Clip the input angle to between -pi and pi radians 226 | 227 | while angle > pi 228 | angle = angle - 2*pi; 229 | end 230 | while angle <= -pi 231 | angle = angle + 2*pi; 232 | end 233 | end 234 | 235 | function [delta]=Get_Min_Delta(d1, d2, max) 236 | % Get the minimum delta distance between two values assuming a wrap to zero 237 | % at max 238 | 239 | delta = min([abs(d1 - d2), max - abs(d1 - d2)]); 240 | end 241 | 242 | 243 | function [angle]=Get_Signed_Delta_Rad(angle1, angle2) 244 | % Get the signed delta angle from angle1 to angle2 handling the wrap from 2pi 245 | % to 0. 246 | 247 | dir = Clip_Rad_180(angle2 - angle1); 248 | 249 | delta_angle = abs(Clip_Rad_360(angle1) - Clip_Rad_360(angle2)); 250 | 251 | if (delta_angle) < (2*pi - delta_angle) 252 | if (dir > 0) 253 | angle = delta_angle; 254 | else 255 | angle = -delta_angle; 256 | end 257 | else 258 | if (dir > 0) 259 | angle = 2*pi - delta_angle; 260 | else 261 | angle = -(2*pi - delta_angle); 262 | end 263 | end 264 | 265 | end 266 | 267 | -------------------------------------------------------------------------------- /code/rs_get_posecell_xyth.m: -------------------------------------------------------------------------------- 1 | function [X, Y, TH] = rs_get_posecell_xyth() 2 | % [X, Y, TH] = rs_get_posecell_xyth() 3 | % Returns the approximate averaged centre of the most active activity 4 | % packet. This implementation averages the cells around the maximally 5 | % activated cell. 6 | 7 | % Copyright (C) 2008 David Ball (d.ball@uq.edu.au) (MATLAB version) 8 | % Michael Milford (m.milford1@uq.edu.au) & Gordon Wyeth (g.wyeth@uq.edu.au) 9 | % 10 | % This program is free software: you can redistribute it and/or modify 11 | % it under the terms of the GNU General Public License as published by 12 | % the Free Software Foundation, either version 3 of the License, or 13 | % (at your option) any later version. 14 | % 15 | % This program is distributed in the hope that it will be useful, 16 | % but WITHOUT ANY WARRANTY; without even the implied warranty of 17 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 18 | % GNU General Public License for more details. 19 | % 20 | % You should have received a copy of the GNU General Public License 21 | % along with this program. If not, see . 22 | 23 | global PC_DIM_XY; 24 | global PC_DIM_TH; 25 | global PC_XY_SUM_SIN_LOOKUP; 26 | global PC_XY_SUM_COS_LOOKUP; 27 | global PC_TH_SUM_SIN_LOOKUP; 28 | global PC_TH_SUM_COS_LOOKUP; 29 | global PC_CELLS_TO_AVG; 30 | global PC_AVG_XY_WRAP; 31 | global PC_AVG_TH_WRAP; 32 | 33 | global Posecells; 34 | 35 | 36 | % find the max activated cell 37 | indexes = find(Posecells); 38 | [value, index] = max(Posecells(indexes)); 39 | [x y z] = ind2sub(size(Posecells), indexes(index)); 40 | 41 | % take the max activated cell +- AVG_CELL in 3d space 42 | z_Posecells=zeros(PC_DIM_XY, PC_DIM_XY, PC_DIM_TH); 43 | z_Posecells(PC_AVG_XY_WRAP(x:x+PC_CELLS_TO_AVG*2), PC_AVG_XY_WRAP(y:y+PC_CELLS_TO_AVG*2), PC_AVG_TH_WRAP(z:z+PC_CELLS_TO_AVG*2)) = ... 44 | Posecells(PC_AVG_XY_WRAP(x:x+PC_CELLS_TO_AVG*2), PC_AVG_XY_WRAP(y:y+PC_CELLS_TO_AVG*2), PC_AVG_TH_WRAP(z:z+PC_CELLS_TO_AVG*2)); 45 | 46 | % get the sums for each axis 47 | x_sums = sum(sum(z_Posecells, 2), 3)'; 48 | y_sums = sum(sum(z_Posecells, 1), 3); 49 | th_sums = sum(sum(z_Posecells, 1), 2); 50 | th_sums = th_sums(:)'; 51 | 52 | % now find the (x, y, th) using population vector decoding to handle the wrap around 53 | X = mod(atan2(sum(PC_XY_SUM_SIN_LOOKUP.*x_sums), sum(PC_XY_SUM_COS_LOOKUP.*x_sums))*PC_DIM_XY/(2*pi), PC_DIM_XY); 54 | Y = mod(atan2(sum(PC_XY_SUM_SIN_LOOKUP.*y_sums), sum(PC_XY_SUM_COS_LOOKUP.*y_sums))*PC_DIM_XY/(2*pi), PC_DIM_XY); 55 | TH = mod(atan2(sum(PC_TH_SUM_SIN_LOOKUP.*th_sums), sum(PC_TH_SUM_COS_LOOKUP.*th_sums))*PC_DIM_TH/(2*pi), PC_DIM_TH); 56 | 57 | end -------------------------------------------------------------------------------- /code/rs_main.m: -------------------------------------------------------------------------------- 1 | function rs_main(MOV_FILE, ODO_FILE, LOG_FILE, varargin) 2 | % rs_main 3 | 4 | % Parameters could be passed better using the MATLAB method of passing 5 | % variables by string to overide defaults. 6 | 7 | % This could be much better written using Matlab's classes, especially 8 | % to encapsulate the globals. However, for this release we wanted to 9 | % support those that have older versions of Matlab. 10 | 11 | % Copyright (C) 2008 David Ball (d.ball@uq.edu.au) (MATLAB version) 12 | % Michael Milford (m.milford1@uq.edu.au) & Gordon Wyeth (g.wyeth@uq.edu.au) 13 | % 14 | % This program is free software: you can redistribute it and/or modify 15 | % it under the terms of the GNU General Public License as published by 16 | % the Free Software Foundation, either version 3 of the License, or 17 | % (at your option) any later version. 18 | % 19 | % This program is distributed in the hope that it will be useful, 20 | % but WITHOUT ANY WARRANTY; without even the implied warranty of 21 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 22 | % GNU General Public License for more details. 23 | % 24 | % You should have received a copy of the GNU General Public License 25 | % along with this program. If not, see . 26 | 27 | 28 | % Pose cell activity network constants 29 | % Note that increasing the dimensions will dramatically increate pose cell 30 | % activity computation time 31 | global PC_DIM_XY; % The pose cell activity (x,y) dimension 32 | global PC_DIM_TH; % The pose cell activity theta dimension 33 | global PC_W_E_DIM; % The local excitiation weight cube dimension 34 | global PC_W_I_DIM; % The local inhibition weight cube dimension 35 | global PC_GLOBAL_INHIB; % The global inhibition value 36 | global PC_VT_INJECT_ENERGY; % The amount of energy injected when a view template is re-seen 37 | PC_VT_INJECT_ENERGY = 0.1; 38 | PC_DIM_XY = 61; 39 | PC_DIM_TH = 36; 40 | PC_W_E_VAR = 1; % The variance for the local excitiation guassian sphere 41 | PC_W_E_DIM = 7; 42 | PC_W_I_VAR = 2; % The variance for the local inhibition guassian sphere 43 | PC_W_I_DIM = 5; 44 | PC_GLOBAL_INHIB = 0.00002; 45 | 46 | % the posecell excitation and inhibition 3D weight matricies 47 | global PC_W_EXCITE; 48 | global PC_W_INHIB; 49 | PC_W_EXCITE = rs_create_posecell_weights(PC_W_E_DIM, PC_W_E_VAR); 50 | PC_W_INHIB = rs_create_posecell_weights(PC_W_I_DIM, PC_W_I_VAR); 51 | 52 | % convienience constants 53 | global PC_W_E_DIM_HALF; 54 | global PC_W_I_DIM_HALF; 55 | global PC_C_SIZE_TH; 56 | PC_W_E_DIM_HALF = floor(PC_W_E_DIM/2); 57 | PC_W_I_DIM_HALF = floor(PC_W_I_DIM/2); 58 | PC_C_SIZE_TH = (2*pi)/PC_DIM_TH; 59 | 60 | % these act as lookups to wrap the pose cell excitation/inhibition weight steps 61 | global PC_E_XY_WRAP; 62 | global PC_E_TH_WRAP; 63 | global PC_I_XY_WRAP; 64 | global PC_I_TH_WRAP; 65 | PC_E_XY_WRAP = [(PC_DIM_XY - PC_W_E_DIM_HALF + 1):PC_DIM_XY 1:PC_DIM_XY 1:PC_W_E_DIM_HALF]; 66 | PC_E_TH_WRAP = [(PC_DIM_TH - PC_W_E_DIM_HALF + 1):PC_DIM_TH 1:PC_DIM_TH 1:PC_W_E_DIM_HALF]; 67 | PC_I_XY_WRAP = [(PC_DIM_XY - PC_W_I_DIM_HALF + 1):PC_DIM_XY 1:PC_DIM_XY 1:PC_W_I_DIM_HALF]; 68 | PC_I_TH_WRAP = [(PC_DIM_TH - PC_W_I_DIM_HALF + 1):PC_DIM_TH 1:PC_DIM_TH 1:PC_W_I_DIM_HALF]; 69 | 70 | % these are the lookups for finding the centre of the posecell Posecells by 71 | % rs_get_posecell_xyth() 72 | global PC_XY_SUM_SIN_LOOKUP; 73 | global PC_XY_SUM_COS_LOOKUP; 74 | global PC_TH_SUM_SIN_LOOKUP; 75 | global PC_TH_SUM_COS_LOOKUP; 76 | global PC_CELLS_TO_AVG; 77 | global PC_AVG_XY_WRAP; 78 | global PC_AVG_TH_WRAP; 79 | PC_XY_SUM_SIN_LOOKUP = sin((1:PC_DIM_XY).*2*pi/PC_DIM_XY); 80 | PC_XY_SUM_COS_LOOKUP = cos((1:PC_DIM_XY).*2*pi/PC_DIM_XY); 81 | PC_TH_SUM_SIN_LOOKUP = sin((1:PC_DIM_TH).*2*pi/PC_DIM_TH); 82 | PC_TH_SUM_COS_LOOKUP = cos((1:PC_DIM_TH).*2*pi/PC_DIM_TH); 83 | PC_CELLS_TO_AVG = 3; 84 | PC_AVG_XY_WRAP = [(PC_DIM_XY - PC_CELLS_TO_AVG + 1):PC_DIM_XY 1:PC_DIM_XY 1:PC_CELLS_TO_AVG]; 85 | PC_AVG_TH_WRAP = [(PC_DIM_TH - PC_CELLS_TO_AVG + 1):PC_DIM_TH 1:PC_DIM_TH 1:PC_CELLS_TO_AVG]; 86 | 87 | % set the initial position in the pose network 88 | x_pc = floor(PC_DIM_XY/2)+1; 89 | y_pc = floor(PC_DIM_XY/2)+1; 90 | th_pc = floor(PC_DIM_TH/2)+1; 91 | global Posecells; 92 | Posecells = zeros(PC_DIM_XY, PC_DIM_XY, PC_DIM_TH); 93 | Posecells(x_pc, y_pc, th_pc) = 1; 94 | global max_act_xyth_path; 95 | max_act_xyth_path = [x_pc y_pc th_pc]; 96 | 97 | % set the initial position in the odo and experience map 98 | odo = [0 0 pi / 2]; 99 | 100 | % specify the movie and the frames to read 101 | movinfo = VideoReader(MOV_FILE); 102 | START_FRAME = 1; 103 | END_FRAME = movinfo.NumberOfFrames; 104 | 105 | % these are the raw image dimensions 106 | % the offset is the number of pixels from the centre of the image to the 107 | % true zero rotation direction 108 | IMAGE_Y_SIZE = movinfo.Height; 109 | IMAGE_X_SIZE = movinfo.Width; 110 | 111 | % set up the visual template module 112 | global numvts; 113 | global vt; 114 | global vt_history; 115 | global prev_vt_id; 116 | 117 | global IMAGE_VT_Y_RANGE; 118 | global IMAGE_VT_X_RANGE; 119 | global VT_GLOBAL_DECAY; % This is subtracted for all the view templates at each time step 120 | global VT_ACTIVE_DECAY; % This is added the best matching view template 121 | global VT_SHIFT_MATCH; % This determines how many +- pixels (therefore rotation) will be tested for match 122 | global VT_MATCH_THRESHOLD; % This threshold determines whether a new view template is generated 123 | 124 | % The first two parameters affect the fall off of view template injection 125 | % into the pose cell activity network 126 | VT_GLOBAL_DECAY = 0.1; 127 | VT_ACTIVE_DECAY = 1.0; 128 | VT_SHIFT_MATCH = 20; 129 | VT_MATCH_THRESHOLD = 0.09; 130 | IMAGE_VT_Y_RANGE = 1:IMAGE_Y_SIZE; 131 | IMAGE_VT_X_RANGE = 1:IMAGE_X_SIZE; 132 | 133 | numvts = 1; 134 | prev_vt_id = 1; 135 | vt(1).id = 1; 136 | vt(numvts).template_decay = 1.0; 137 | vt(1).template(1) = 1; 138 | vt(1).x_pc = x_pc; 139 | vt(1).y_pc = y_pc; 140 | vt(1).th_pc = th_pc; 141 | vt(1).first = 1; 142 | vt(1).numexps = 1; 143 | vt(1).exps(1).id = 1; 144 | 145 | vt_history = [0]; %#ok 146 | 147 | % set up the visual odometry 148 | global IMAGE_ODO_X_RANGE; 149 | global IMAGE_VTRANS_Y_RANGE; 150 | global IMAGE_VROT_Y_RANGE; 151 | global VTRANS_SCALE; 152 | global VISUAL_ODO_SHIFT_MATCH; 153 | 154 | VTRANS_SCALE = 100; 155 | VISUAL_ODO_SHIFT_MATCH = 140; 156 | IMAGE_VTRANS_Y_RANGE = 1:IMAGE_Y_SIZE; 157 | IMAGE_VROT_Y_RANGE = 1:IMAGE_Y_SIZE; 158 | IMAGE_ODO_X_RANGE = 1:IMAGE_X_SIZE; 159 | 160 | global prev_vrot_image_x_sums; 161 | global prev_vtrans_image_x_sums; 162 | 163 | 164 | global accum_delta_x; 165 | global accum_delta_y; 166 | global accum_delta_facing; 167 | accum_delta_x = 0; 168 | accum_delta_y = 0; 169 | accum_delta_facing = pi/2; 170 | 171 | global numexps; 172 | global curr_exp_id; 173 | global exps; 174 | global exp_history; 175 | global EXP_CORRECTION; % The amount to correct each experience on either side of a link ( >0.5 is unstable) 176 | global EXP_LOOPS; % The number of times to run the experience map correction per frame 177 | global EXP_DELTA_PC_THRESHOLD; % The threshold change in pose cell activity to generate a new exp given the same view template 178 | EXP_DELTA_PC_THRESHOLD = 1.0; 179 | EXP_CORRECTION = 0.5; 180 | EXP_LOOPS = 100; 181 | exp_history = 1; 182 | 183 | numexps = 1; 184 | curr_exp_id = 1; 185 | exps(1).x_pc = x_pc; 186 | exps(1).y_pc = y_pc; 187 | exps(1).th_pc = th_pc; 188 | exps(1).x_m = 0; 189 | exps(1).y_m = 0; 190 | exps(1).facing_rad = pi/2; 191 | exps(1).vt_id = 1; 192 | exps(1).numlinks = 0; 193 | exps(1).links = []; 194 | 195 | ODO_ROT_SCALING = pi/180/7; 196 | POSECELL_VTRANS_SCALING = 1; 197 | 198 | % Process the parameters 199 | for i=1:(nargin-3) 200 | if ischar(varargin{i}) 201 | switch varargin{i} 202 | case 'RENDER_RATE', RENDER_RATE = varargin{i+1}; 203 | case 'BLOCK_READ', BLOCK_READ = varargin{i+1}; 204 | case 'START_FRAME', START_FRAME = varargin{i+1}; 205 | case 'END_FRAME', END_FRAME = varargin{i+1}; 206 | 207 | case 'PC_VT_INJECT_ENERGY', PC_VT_INJECT_ENERGY = varargin{i+1}; 208 | case 'IMAGE_VT_Y_RANGE', IMAGE_VT_Y_RANGE = varargin{i+1}; 209 | case 'IMAGE_VT_X_RANGE', IMAGE_VT_X_RANGE = varargin{i+1}; 210 | case 'VT_SHIFT_MATCH', VT_SHIFT_MATCH = varargin{i+1}; 211 | case 'VT_MATCH_THRESHOLD', VT_MATCH_THRESHOLD = varargin{i+1}; 212 | 213 | case 'VTRANS_SCALE', VTRANS_SCALE = varargin{i+1}; 214 | case 'VISUAL_ODO_SHIFT_MATCH', VISUAL_ODO_SHIFT_MATCH = varargin{i+1}; 215 | case 'IMAGE_VTRANS_Y_RANGE', IMAGE_VTRANS_Y_RANGE = varargin{i+1}; 216 | case 'IMAGE_VROT_Y_RANGE', IMAGE_VROT_Y_RANGE = varargin{i+1}; 217 | case 'IMAGE_ODO_X_RANGE', IMAGE_ODO_X_RANGE = varargin{i+1}; 218 | 219 | case 'EXP_DELTA_PC_THRESHOLD', EXP_DELTA_PC_THRESHOLD = varargin{i+1}; 220 | case 'EXP_CORRECTION', EXP_CORRECTION = varargin{i+1}; 221 | case 'EXP_LOOPS', EXP_LOOPS = varargin{i+1}; 222 | 223 | case 'ODO_ROT_SCALING', ODO_ROT_SCALING = varargin{i+1}; 224 | case 'POSECELL_VTRANS_SCALING', POSECELL_VTRANS_SCALING = varargin{i+1}; 225 | end 226 | end 227 | end 228 | 229 | vt(1).template = zeros(1, size(IMAGE_VT_X_RANGE, 2)); 230 | prev_vrot_image_x_sums = zeros(1, size(IMAGE_ODO_X_RANGE, 2)); 231 | prev_vtrans_image_x_sums = zeros(1, size(IMAGE_ODO_X_RANGE, 2)); 232 | 233 | % grab the video info and first block ... send to the vision module 234 | mov = VideoReader(MOV_FILE); % SA replacement for aviread 234->243 235 | vidWidth = mov.Width; 236 | vidHeight = mov.Height; 237 | s = struct('cdata',zeros(vidHeight,vidWidth,3,'uint8'),... 238 | 'colormap',[]); 239 | k = START_FRAME; 240 | while k<=END_FRAME 241 | s(k).cdata = readFrame(mov); 242 | k = k+1; 243 | end 244 | 245 | if ODO_FILE ~= 0 246 | ododata = csvread(ODO_FILE, START_FRAME, 0, [START_FRAME 0 min([(BLOCK_READ - 1)+START_FRAME, movinfo.NumberOfFrames]) 1]); 247 | end 248 | 249 | time_delta_s = []; 250 | tic 251 | 252 | for frame=2:END_FRAME 253 | 254 | % save the experience map information to the disk for later playback 255 | % read the avi file in blocks and record the delta time 256 | if (mod(frame, BLOCK_READ) == 0) 257 | save(strcat(LOG_FILE, num2str(frame)), 'frame', 'exps', 'exp_history', 'vt_history'); 258 | time_delta_s = [time_delta_s; toc]; %#ok 259 | while k<= END_FRAME 260 | s(k).cdata = readFrame(mov); 261 | k = k+1; 262 | end 263 | if ODO_FILE ~= 0 264 | ododata = csvread(ODO_FILE, frame+START_FRAME, 0, [frame+START_FRAME 0 END_FRAME 1]); 265 | end 266 | tic 267 | end 268 | 269 | % visual templates and visual odo uses intensity so convert to grayscale 270 | im = rgb2gray(s(mod(frame, END_FRAME) + 1).cdata); 271 | 272 | % get the most active view template 273 | [vt_id] = rs_visual_template(im, x_pc, y_pc, th_pc); 274 | 275 | % get the odometry from the video 276 | if ODO_FILE == 0 277 | [vtrans, vrot] = rs_visual_odometry(im); 278 | else 279 | vtrans = ododata(mod(frame, END_FRAME) + 1, 1); 280 | vrot = ododata(mod(frame, END_FRAME) + 1, 2)*ODO_ROT_SCALING; 281 | end 282 | % track the motion based on raw odometry only (for comparison) 283 | odo(frame, 1) = odo(frame - 1, 1) + vtrans * cos(odo(frame - 1, 3) + vrot); 284 | odo(frame, 2) = odo(frame - 1, 2) + vtrans * sin(odo(frame - 1, 3) + vrot); 285 | odo(frame, 3) = odo(frame - 1, 3) + vrot; 286 | 287 | % update the pose cells accounts for the active vt and PI 288 | rs_posecell_iteration(vt_id, vtrans * POSECELL_VTRANS_SCALING, vrot); 289 | 290 | % gets the 'best' centre of the pose cell activity 291 | [x_pc, y_pc, th_pc] = rs_get_posecell_xyth(); 292 | 293 | % runs an interation of the experience map 294 | rs_experience_map_iteration(vt_id, vtrans, vrot, x_pc, y_pc, th_pc); 295 | 296 | % render debug information 297 | if (mod(frame, RENDER_RATE) == 0) 298 | 299 | % render the raw image 300 | subplot(3, 3, 1, 'replace'); 301 | image(s(mod(frame, END_FRAME) + 1).cdata); 302 | title('Raw Image'); 303 | 304 | % render the history of visual templates 305 | subplot(3, 3, 2, 'replace'); 306 | plot(vt_history, '.'); 307 | title('Frame vs View Template'); 308 | 309 | % render the agent path given by raw odometry 310 | subplot(3, 3, 3, 'replace'); 311 | plot(odo(:, 1), odo(:, 2), 'x'); 312 | axis equal; 313 | title('Raw Odometry'); 314 | 315 | % % render the time to process each block 316 | % subplot(3, 3, 5, 'replace'); 317 | % plot(time_delta_s); 318 | % title('Time versus CPU time'); 319 | 320 | % render the pose cell network including the xy path 321 | subplot(3, 3, 4, 'replace'); 322 | max_act_xyth_path = [max_act_xyth_path; x_pc y_pc th_pc]; %#ok 323 | phandles = contourslice(Posecells, 1:4:PC_DIM_XY, 1:4:PC_DIM_XY, 1:3:PC_DIM_TH, 3); 324 | axis([1 PC_DIM_XY 1 PC_DIM_XY 1 PC_DIM_TH]); 325 | view(3); 326 | set(phandles,'LineWidth',0.1); 327 | grid on; 328 | hold on; 329 | plot3(max_act_xyth_path(:,2), max_act_xyth_path(:,1), 0 * max_act_xyth_path(:,3), '.m'); 330 | plot3([max_act_xyth_path(end,2) max_act_xyth_path(end,2)], [max_act_xyth_path(end,1) max_act_xyth_path(end,1)], [0 th_pc]); 331 | hold off; 332 | title('Pose Cell Activity'); 333 | 334 | % render the history of experiences 335 | subplot(3, 3, 7, 'replace'); 336 | plot(exp_history, '.'); 337 | title('Frame vs Experience'); 338 | 339 | % render the experience map 340 | subplot(2, 2, 4, 'replace'); 341 | plot([exps(:).x_m], [exps(:).y_m], 'x'); 342 | axis equal; 343 | title('Experience Map'); 344 | 345 | drawnow; 346 | 347 | end 348 | 349 | prev_vt_id = vt_id; 350 | end 351 | 352 | total_time = sum(time_delta_s) %#ok 353 | 354 | end -------------------------------------------------------------------------------- /code/rs_posecell_iteration.m: -------------------------------------------------------------------------------- 1 | function rs_posecell_iteration(vt_id, vtrans, vrot) 2 | % rs_posecell_iteration 3 | 4 | % Pose cell update steps 5 | % 1. Add view template energy 6 | % 2. Local excitation 7 | % 3. Local inhibition 8 | % 4. Global inhibition 9 | % 5. Normalisation 10 | % 6. Path Integration (vtrans then vrot) 11 | 12 | % Copyright (C) 2008 David Ball (d.ball@uq.edu.au) (MATLAB version) 13 | % Michael Milford (m.milford1@uq.edu.au) & Gordon Wyeth (g.wyeth@uq.edu.au) 14 | % 15 | % This program is free software: you can redistribute it and/or modify 16 | % it under the terms of the GNU General Public License as published by 17 | % the Free Software Foundation, either version 3 of the License, or 18 | % (at your option) any later version. 19 | % 20 | % This program is distributed in the hope that it will be useful, 21 | % but WITHOUT ANY WARRANTY; without even the implied warranty of 22 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 23 | % GNU General Public License for more details. 24 | % 25 | % You should have received a copy of the GNU General Public License 26 | % along with this program. If not, see . 27 | 28 | global PC_DIM_XY; 29 | global PC_DIM_TH; 30 | global PC_W_E_DIM; 31 | global PC_W_I_DIM; 32 | global PC_GLOBAL_INHIB; 33 | global PC_C_SIZE_TH; 34 | global PC_E_XY_WRAP; 35 | global PC_E_TH_WRAP; 36 | global PC_I_XY_WRAP; 37 | global PC_I_TH_WRAP; 38 | global PC_W_EXCITE; 39 | global PC_W_INHIB; 40 | global PC_VT_INJECT_ENERGY; 41 | 42 | global Posecells; 43 | global vt; 44 | 45 | % if this isn't a new vt then add the energy at its associated posecell 46 | % location 47 | if vt(vt_id).first ~= 1 48 | act_x = min([max([round(vt(vt_id).x_pc), 1]), PC_DIM_XY]); 49 | act_y = min([max([round(vt(vt_id).y_pc), 1]), PC_DIM_XY]); 50 | act_th = min([max([round(vt(vt_id).th_pc), 1]), PC_DIM_TH]); 51 | 52 | % this decays the amount of energy that is injected at the vt's 53 | % posecell location 54 | % this is important as the posecell Posecells will errounously snap 55 | % for bad vt matches that occur over long periods (eg a bad matches that 56 | % occur while the agent is stationary). This means that multiple vt's 57 | % need to be recognised for a snap to happen 58 | energy = PC_VT_INJECT_ENERGY * 1/30 * (30 - exp(1.2 * vt(vt_id).template_decay)); 59 | if energy > 0 60 | Posecells(act_x, act_y, act_th) = Posecells(act_x, act_y, act_th) + energy; 61 | end 62 | end 63 | 64 | 65 | % local excitation - PC_le = PC elements * PC weights 66 | pca_new = zeros(PC_DIM_XY, PC_DIM_XY, PC_DIM_TH); 67 | for x=1:PC_DIM_XY 68 | for y=1:PC_DIM_XY 69 | for z=1:PC_DIM_TH 70 | if Posecells(x,y,z) ~= 0 71 | pca_new(PC_E_XY_WRAP(x:x+PC_W_E_DIM-1),PC_E_XY_WRAP(y:y+PC_W_E_DIM-1),PC_E_TH_WRAP(z:z+PC_W_E_DIM-1)) = ... 72 | pca_new(PC_E_XY_WRAP(x:x+PC_W_E_DIM-1),PC_E_XY_WRAP(y:y+PC_W_E_DIM-1),PC_E_TH_WRAP(z:z+PC_W_E_DIM-1)) + Posecells(x,y,z).*PC_W_EXCITE; 73 | end 74 | end 75 | end 76 | end 77 | Posecells = pca_new; 78 | 79 | % local inhibition - PC_li = PC_le - PC_le elements * PC weights 80 | pca_new = zeros(PC_DIM_XY, PC_DIM_XY,PC_DIM_TH); 81 | for x=1:PC_DIM_XY 82 | for y=1:PC_DIM_XY 83 | for z=1:PC_DIM_TH 84 | if Posecells(x,y,z) ~= 0 85 | pca_new(PC_I_XY_WRAP(x:x+PC_W_I_DIM-1),PC_I_XY_WRAP(y:y+PC_W_I_DIM-1),PC_I_TH_WRAP(z:z+PC_W_I_DIM-1)) = ... 86 | pca_new(PC_I_XY_WRAP(x:x+PC_W_I_DIM-1),PC_I_XY_WRAP(y:y+PC_W_I_DIM-1),PC_I_TH_WRAP(z:z+PC_W_I_DIM-1)) + Posecells(x,y,z).*PC_W_INHIB; 87 | end 88 | end 89 | end 90 | end 91 | Posecells = Posecells - pca_new; 92 | 93 | % local global inhibition - PC_gi = PC_li elements - inhibition 94 | Posecells = (Posecells >= PC_GLOBAL_INHIB) .* (Posecells - PC_GLOBAL_INHIB); 95 | 96 | % normalisation 97 | total = sum(sum(sum(Posecells))); 98 | Posecells = Posecells./total; 99 | 100 | 101 | % Path Integration 102 | % vtrans affects xy direction 103 | % shift in each th given by the th 104 | for dir_pc=1:PC_DIM_TH 105 | 106 | % radians 107 | dir = (dir_pc - 1) * PC_C_SIZE_TH; 108 | 109 | % N,E,S,W are straightforward 110 | if dir == 0 111 | Posecells(:,:,dir_pc) = Posecells(:,:,dir_pc).*(1.0 - vtrans) + circshift(Posecells(:,:,dir_pc), [0 1]).*vtrans; 112 | elseif dir == pi/2 113 | Posecells(:,:,dir_pc) = Posecells(:,:,dir_pc).*(1.0 - vtrans) + circshift(Posecells(:,:,dir_pc), [1 0]).*vtrans; 114 | elseif dir == pi 115 | Posecells(:,:,dir_pc) = Posecells(:,:,dir_pc).*(1.0 - vtrans) + circshift(Posecells(:,:,dir_pc), [0 -1]).*vtrans; 116 | elseif dir == 3*pi/2 117 | Posecells(:,:,dir_pc) = Posecells(:,:,dir_pc).*(1.0 - vtrans) + circshift(Posecells(:,:,dir_pc), [-1 0]).*vtrans; 118 | else 119 | % rotate the Posecells instead of implementing for four quadrants 120 | pca90 = rot90(Posecells(:,:,dir_pc), floor(dir *2/pi)); 121 | dir90 = dir - floor(dir *2/pi) * pi/2; 122 | 123 | % extend the Posecells one unit in each direction (max supported at the moment) 124 | % work out the weight contribution to the NE cell from the SW, NW, SE cells 125 | % given vtrans and the direction 126 | % weight_sw = v * cos(th) * v * sin(th) 127 | % weight_se = (1 - v * cos(th)) * v * sin(th) 128 | % weight_nw = (1 - v * sin(th)) * v * sin(th) 129 | % weight_ne = 1 - weight_sw - weight_se - weight_nw 130 | % think in terms of NE divided into 4 rectangles with the sides 131 | % given by vtrans and the angle 132 | pca_new=zeros(PC_DIM_XY+2); 133 | pca_new(2:end-1,2:end-1) = pca90; 134 | weight_sw = vtrans^2 *cos(dir90) * sin(dir90); 135 | weight_se = vtrans*sin(dir90) - vtrans^2 *cos(dir90) * sin(dir90); 136 | weight_nw = vtrans*cos(dir90) - vtrans^2 *cos(dir90) * sin(dir90); 137 | weight_ne = 1.0 - weight_sw - weight_se - weight_nw; 138 | 139 | % circular shift and multiple by the contributing weight 140 | % copy those shifted elements for the wrap around 141 | pca_new = pca_new.*weight_ne + circshift(pca_new, [0 1]).*weight_nw + circshift(pca_new, [1 0]).*weight_se + circshift(pca_new, [1 1]).*weight_sw; 142 | pca90 = pca_new(2:end-1,2:end-1); 143 | pca90(2:end,1) = pca90(2:end,1) + pca_new(3:end-1,end); 144 | pca90(1,2:end) = pca90(1,2:end) + pca_new(end,3:end-1); 145 | pca90(1,1) = pca90(1,1) + pca_new(end:end); 146 | 147 | % unrotate the pose cell xy layer 148 | Posecells(:,:,dir_pc) = rot90(pca90, 4 - floor(dir * 2/pi)); 149 | end 150 | end 151 | 152 | 153 | % Path Integration - Theta 154 | % Shift the pose cells +/- theta given by vrot 155 | if vrot ~= 0 156 | % mod to work out the partial shift amount 157 | weight = mod(abs(vrot)/PC_C_SIZE_TH, 1); 158 | if weight == 0 159 | weight = 1.0; 160 | end 161 | Posecells = circshift(Posecells, [0 0 sign(vrot) * floor(abs(vrot)/PC_C_SIZE_TH)]) * (1.0 - weight) ... 162 | + circshift(Posecells, [0 0 sign(vrot) * ceil(abs(vrot)/PC_C_SIZE_TH)]) * (weight); 163 | end 164 | 165 | 166 | end 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | -------------------------------------------------------------------------------- /code/rs_visual_odometry.m: -------------------------------------------------------------------------------- 1 | function [vtrans, vrot] = rs_visual_odometry(raw_image) 2 | % [vtrans, vrot] = rs_visual_odometry(raw_image) 3 | 4 | % Copyright (C) 2008 David Ball (d.ball@uq.edu.au) (MATLAB version) 5 | % Michael Milford (m.milford1@uq.edu.au) & Gordon Wyeth (g.wyeth@uq.edu.au) 6 | % 7 | % This program is free software: you can redistribute it and/or modify 8 | % it under the terms of the GNU General Public License as published by 9 | % the Free Software Foundation, either version 3 of the License, or 10 | % (at your option) any later version. 11 | % 12 | % This program is distributed in the hope that it will be useful, 13 | % but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | % GNU General Public License for more details. 16 | % 17 | % You should have received a copy of the GNU General Public License 18 | % along with this program. If not, see . 19 | 20 | global prev_vrot_image_x_sums; 21 | global prev_vtrans_image_x_sums; 22 | global IMAGE_ODO_X_RANGE; 23 | global IMAGE_VTRANS_Y_RANGE; 24 | global IMAGE_VROT_Y_RANGE; 25 | global VTRANS_SCALE; 26 | global VISUAL_ODO_SHIFT_MATCH; 27 | 28 | FOV_DEG = 50; 29 | dpp = FOV_DEG / size(raw_image, 2); 30 | 31 | % vtrans 32 | sub_image = raw_image(IMAGE_VTRANS_Y_RANGE, IMAGE_ODO_X_RANGE); 33 | 34 | image_x_sums = sum(sub_image); 35 | avint = sum(image_x_sums) / size(image_x_sums, 2); 36 | image_x_sums = image_x_sums/avint; 37 | 38 | [minoffset, mindiff] = rs_compare_segments(image_x_sums, prev_vtrans_image_x_sums, VISUAL_ODO_SHIFT_MATCH, size(image_x_sums, 2)); 39 | 40 | vtrans = mindiff * VTRANS_SCALE; 41 | 42 | % a hack to detect excessively large vtrans 43 | if vtrans > 10 44 | vtrans = 0; 45 | end 46 | 47 | prev_vtrans_image_x_sums = image_x_sums; 48 | 49 | % now do rotation 50 | sub_image = raw_image(IMAGE_VROT_Y_RANGE, IMAGE_ODO_X_RANGE); 51 | 52 | image_x_sums = sum(sub_image); 53 | avint = sum(image_x_sums) / size(image_x_sums, 2); 54 | image_x_sums = image_x_sums/avint; 55 | 56 | [minoffset, mindiff] = rs_compare_segments(image_x_sums, prev_vrot_image_x_sums, VISUAL_ODO_SHIFT_MATCH, size(image_x_sums, 2)); %#ok 57 | 58 | vrot = minoffset * dpp * pi / 180; 59 | 60 | prev_vrot_image_x_sums = image_x_sums; 61 | 62 | end 63 | 64 | 65 | 66 | 67 | 68 | 69 | -------------------------------------------------------------------------------- /code/rs_visual_template.m: -------------------------------------------------------------------------------- 1 | function [vt_id]=rs_visual_template(raw_image, x, y, th) 2 | % 3 | 4 | % Copyright (C) 2008 David Ball (d.ball@uq.edu.au) (MATLAB version) 5 | % Michael Milford (m.milford1@uq.edu.au) & Gordon Wyeth (g.wyeth@uq.edu.au) 6 | % 7 | % This program is free software: you can redistribute it and/or modify 8 | % it under the terms of the GNU General Public License as published by 9 | % the Free Software Foundation, either version 3 of the License, or 10 | % (at your option) any later version. 11 | % 12 | % This program is distributed in the hope that it will be useful, 13 | % but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | % GNU General Public License for more details. 16 | % 17 | % You should have received a copy of the GNU General Public License 18 | % along with this program. If not, see . 19 | 20 | global numvts; 21 | global vt; 22 | global vt_history; 23 | global prev_vt_id; 24 | global IMAGE_VT_Y_RANGE; 25 | global IMAGE_VT_X_RANGE; 26 | global VT_GLOBAL_DECAY; 27 | global VT_ACTIVE_DECAY; 28 | global VT_SHIFT_MATCH; 29 | global VT_MATCH_THRESHOLD; 30 | 31 | sub_image = raw_image(IMAGE_VT_Y_RANGE, IMAGE_VT_X_RANGE); 32 | 33 | % normalised intensity sums 34 | image_x_sums = sum(sub_image); 35 | image_x_sums = image_x_sums / sum(image_x_sums); 36 | 37 | min_offset = ones(numvts, 1); 38 | min_diff = ones(numvts, 1); 39 | 40 | for k = 1:numvts 41 | vt(k).template_decay = vt(k).template_decay - VT_GLOBAL_DECAY; 42 | if vt(k).template_decay < 0 43 | vt(k).template_decay = 0; 44 | end 45 | [min_offset(k), min_diff(k)] = rs_compare_segments(image_x_sums, vt(k).template, VT_SHIFT_MATCH, size(image_x_sums, 2)); 46 | end 47 | 48 | [diff, diff_id] = min(min_diff); 49 | 50 | % if this intensity template doesn't match any of the existing templates 51 | % then create a new template 52 | if (diff * size(image_x_sums, 2) > VT_MATCH_THRESHOLD) 53 | numvts = numvts + 1; 54 | vt(numvts).id = numvts; 55 | vt(numvts).template = image_x_sums; 56 | vt(numvts).template_decay = VT_ACTIVE_DECAY; 57 | vt(numvts).x_pc = x; 58 | vt(numvts).y_pc = y; 59 | vt(numvts).th_pc = th; 60 | vt(numvts).first = 1; % don't want to inject energy as the vt is been created 61 | vt(numvts).numexps = 0; 62 | vt(numvts).exps = []; 63 | vt_id = numvts; 64 | else 65 | vt_id = diff_id; 66 | vt(vt_id).template_decay = vt(vt_id).template_decay + VT_ACTIVE_DECAY; 67 | if prev_vt_id ~= vt_id 68 | vt(vt_id).first = 0; 69 | end 70 | end 71 | 72 | vt_history = [vt_history; vt_id]; 73 | 74 | end -------------------------------------------------------------------------------- /code/st_lucia.m: -------------------------------------------------------------------------------- 1 | % RatSLAM script file for the St Lucia Suburb dataset 2 | 3 | % Copyright (C) 2008 David Ball (d.ball@uq.edu.au) (MATLAB version) 4 | % Michael Milford (m.milford1@uq.edu.au) & Gordon Wyeth (g.wyeth@uq.edu.au) 5 | % 6 | % This program is free software: you can redistribute it and/or modify 7 | % it under the terms of the GNU General Public License as published by 8 | % the Free Software Foundation, either version 3 of the License, or 9 | % (at your option) any later version. 10 | % 11 | % This program is distributed in the hope that it will be useful, 12 | % but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | % GNU General Public License for more details. 15 | % 16 | % You should have received a copy of the GNU General Public License 17 | % along with this program. If not, see . 18 | 19 | clear all; 20 | 21 | rs_main('G:\think\publicweb\ratslam\data\stlucia_0to21000.avi', 0, 'st_lucia1_log', ... 22 | 'IMAGE_X_OFFSET', 15, ... 23 | 'BLOCK_READ', 100, ... 24 | 'RENDER_RATE', 10, ... 25 | 'VT_MATCH_THRESHOLD', 0.09, ... 26 | 'IMAGE_VT_Y_RANGE', (480/2 - 80 - 40):(480/2 + 80 - 40), ... 27 | 'IMAGE_VT_X_RANGE', (640/2 - 280 + 15):(640/2 + 280 + 15), ... 28 | 'IMAGE_VTRANS_Y_RANGE', 270:430, ... 29 | 'IMAGE_VROT_Y_RANGE', 75:240, ... 30 | 'IMAGE_ODO_X_RANGE', (180 + 15):(460 + 15), ... 31 | 'EXP_DELTA_PC_THRESHOLD', 1.0, ... 32 | 'EXP_CORRECTION', 0.5, ... 33 | 'EXP_LOOPS', 100, ... 34 | 'POSECELL_VTRANS_SCALING', 1/10); 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /license.txt: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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No Surrender of Others' Freedom. 541 | 542 | If conditions are imposed on you (whether by court order, agreement or 543 | otherwise) that contradict the conditions of this License, they do not 544 | excuse you from the conditions of this License. If you cannot convey a 545 | covered work so as to satisfy simultaneously your obligations under this 546 | License and any other pertinent obligations, then as a consequence you may 547 | not convey it at all. For example, if you agree to terms that obligate you 548 | to collect a royalty for further conveying from those to whom you convey 549 | the Program, the only way you could satisfy both those terms and this 550 | License would be to refrain entirely from conveying the Program. 551 | 552 | 13. Use with the GNU Affero General Public License. 553 | 554 | Notwithstanding any other provision of this License, you have 555 | permission to link or combine any covered work with a work licensed 556 | under version 3 of the GNU Affero General Public License into a single 557 | combined work, and to convey the resulting work. The terms of this 558 | License will continue to apply to the part which is the covered work, 559 | but the special requirements of the GNU Affero General Public License, 560 | section 13, concerning interaction through a network will apply to the 561 | combination as such. 562 | 563 | 14. Revised Versions of this License. 564 | 565 | The Free Software Foundation may publish revised and/or new versions of 566 | the GNU General Public License from time to time. Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | --------------------------------------------------------------------------------