Merge pull request #6 from tlab-wide/feature/perceived-objects-inclusion-mgmt
Feature/perceived objects inclusion mgmt
This commit is contained in:
Yu Asabe
GitHub
commit
1d79b8bb9d
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@ -19,16 +19,20 @@ namespace v2x
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std::string uuidToHexString(const unique_identifier_msgs::msg::UUID&);
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void indicate(const DataIndication &, UpPacketPtr) override;
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void set_interval(vanetza::Clock::duration);
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void updateObjectsStack(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr);
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void setAllObjectsOfPersonsAnimalsToSend(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr);
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void updateObjectsList(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr);
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void updateMGRS(double *, double *);
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void updateRP(double *, double *, double *);
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void updateGenerationDeltaTime(int *, long long *);
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void updateHeading(double *);
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void printObjectsList(int);
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void send();
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struct Object {
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int objectID; // 0-255
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rclcpp::Time timestamp;
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std::string uuid;
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int objectID; // 0-255 for CPM
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vanetza::Clock::time_point timestamp;
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rclcpp::Time timestamp_ros;
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double position_x;
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double position_y;
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double position_z;
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@ -36,6 +40,10 @@ namespace v2x
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double orientation_y;
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double orientation_z;
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double orientation_w;
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double twist_linear_x;
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double twist_linear_y;
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double twist_angular_x;
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double twist_angular_y;
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int shape_x;
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int shape_y;
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int shape_z;
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@ -46,8 +54,10 @@ namespace v2x
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int yawAngle;
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vanetza::PositionFix position;
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int timeOfMeasurement;
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bool to_send;
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int to_send_trigger;
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};
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std::vector<CpmApplication::Object> objectsStack;
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std::vector<CpmApplication::Object> objectsList;
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std::vector<CpmApplication::Object> receivedObjectsStack;
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private:
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@ -72,10 +82,18 @@ namespace v2x
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int generationDeltaTime_;
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long long gdt_timestamp_;
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bool updating_objects_stack_;
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double objectConfidenceThreshold_;
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bool updating_objects_list_;
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bool sending_;
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bool is_sender_;
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bool reflect_packet_;
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bool include_all_persons_and_animals_;
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int cpm_num_;
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int received_cpm_num_;
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int cpm_object_id_;
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};
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}
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@ -37,10 +37,15 @@ namespace v2x {
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runtime_(rt),
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ego_(),
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generationDeltaTime_(0),
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updating_objects_stack_(false),
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updating_objects_list_(false),
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sending_(false),
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is_sender_(is_sender),
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reflect_packet_(false)
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reflect_packet_(false),
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objectConfidenceThreshold_(0.0),
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include_all_persons_and_animals_(false),
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cpm_num_(0),
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received_cpm_num_(0),
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cpm_object_id_(0)
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{
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RCLCPP_INFO(node_->get_logger(), "CpmApplication started. is_sender: %d", is_sender_);
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set_interval(milliseconds(100));
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@ -79,7 +84,7 @@ namespace v2x {
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std::shared_ptr<const asn1::Cpm> cpm = boost::apply_visitor(visitor, *packet);
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if (cpm) {
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] Received CPM");
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RCLCPP_INFO(node_->get_logger(), "[INDICATE] Received CPM #%d", received_cpm_num_);
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rclcpp::Time current_time = node_->now();
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// RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] [measure] T_receive_r1 %ld", current_time.nanoseconds());
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@ -130,7 +135,7 @@ namespace v2x {
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if (poc != NULL) {
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for (int i = 0; i < poc->list.count; ++i) {
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// RCLCPP_INFO(node_->get_logger(), "[INDICATE] Object: #%d", poc->list.array[i]->objectID);
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RCLCPP_INFO(node_->get_logger(), "[INDICATE] Object: #%d", poc->list.array[i]->objectID);
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CpmApplication::Object object;
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double x1 = poc->list.array[i]->xDistance.value;
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@ -179,6 +184,7 @@ namespace v2x {
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}
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}
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++received_cpm_num_;
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} else {
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RCLCPP_INFO(node_->get_logger(), "[INDICATE] Received broken content");
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@ -206,26 +212,67 @@ namespace v2x {
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ego_.heading = *yaw;
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}
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void CpmApplication::updateObjectsStack(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg) {
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updating_objects_stack_ = true;
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void CpmApplication::setAllObjectsOfPersonsAnimalsToSend(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg) {
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if (msg->objects.size() > 0) {
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for (autoware_auto_perception_msgs::msg::PredictedObject obj : msg->objects) {
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std::string object_uuid = uuidToHexString(obj.object_id);
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auto found_object = std::find_if(objectsList.begin(), objectsList.end(), [&](auto const &e) {
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return !strcmp(e.uuid.c_str(), object_uuid.c_str());
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});
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if (found_object == objectsList.end()) {
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} else {
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found_object->to_send = true;
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}
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}
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}
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}
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void CpmApplication::updateObjectsList(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg) {
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updating_objects_list_ = true;
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if (sending_) {
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RCLCPP_INFO(node_->get_logger(), "updateObjectsStack Skipped...");
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return;
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} else {
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objectsStack.clear();
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// objectsList.clear();
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}
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if (msg->objects.size() > 0) {
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int i = 0;
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for (autoware_auto_perception_msgs::msg::PredictedObject obj : msg->objects) {
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// RCLCPP_INFO(node_->get_logger(), "%d", obj.classification.front().label);
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double existence_probability = obj.existence_probability;
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// RCLCPP_INFO(node_->get_logger(), "existence_probability: %f", existence_probability);
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std::string object_uuid = uuidToHexString(obj.object_id);
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// RCLCPP_INFO(node_->get_logger(), "received object_id: %s", object_uuid.c_str());
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// RCLCPP_INFO(node_->get_logger(), "ObjectsList count: %d", objectsList.size());
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if (existence_probability >= objectConfidenceThreshold_) {
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// ObjectConfidence > ObjectConfidenceThreshold
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// Object tracked in internal memory? (i.e. Is object included in ObjectsList?)
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auto found_object = std::find_if(objectsList.begin(), objectsList.end(), [&](auto const &e) {
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return !strcmp(e.uuid.c_str(), object_uuid.c_str());
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});
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if (found_object == objectsList.end()) {
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// Object is new to internal memory
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if (cpm_object_id_ > 255) {
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cpm_object_id_ = 0;
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}
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// Add new object to ObjectsList
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CpmApplication::Object object;
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object.objectID = i;
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object.timestamp = msg->header.stamp;
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object.position_x = obj.kinematics.initial_pose_with_covariance.pose.position.x; // MGRS
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object.objectID = cpm_object_id_;
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object.uuid = object_uuid;
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object.timestamp_ros = msg->header.stamp;
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object.position_x = obj.kinematics.initial_pose_with_covariance.pose.position.x;
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object.position_y = obj.kinematics.initial_pose_with_covariance.pose.position.y;
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object.position_z = obj.kinematics.initial_pose_with_covariance.pose.position.z;
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object.orientation_x = obj.kinematics.initial_pose_with_covariance.pose.orientation.x;
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@ -236,60 +283,147 @@ namespace v2x {
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object.shape_y = std::lround(obj.shape.dimensions.y * 10.0);
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object.shape_z = std::lround(obj.shape.dimensions.z * 10.0);
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// xDistance, yDistance: Int (-132768..132767), 0.01 meter accuracy
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object.xDistance = std::lround((
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(object.position_x - ego_.mgrs_x) * cos(-ego_.heading) - (object.position_y - ego_.mgrs_y) * sin(-ego_.heading)
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) * 100.0);
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object.yDistance = std::lround((
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(object.position_x - ego_.mgrs_x) * sin(-ego_.heading) + (object.position_y - ego_.mgrs_y) * cos(-ego_.heading)
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) * 100.0);
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if (object.xDistance < -132768 || object.xDistance > 132767) {
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long long msg_timestamp_sec = msg->header.stamp.sec;
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long long msg_timestamp_nsec = msg->header.stamp.nanosec;
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msg_timestamp_sec -= 1072915200; // convert to etsi-epoch
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long long msg_timestamp_msec = msg_timestamp_sec * 1000 + msg_timestamp_nsec / 1000000;
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object.timeOfMeasurement = gdt_timestamp_ - msg_timestamp_msec;
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if (object.timeOfMeasurement < -1500 || object.timeOfMeasurement > 1500) {
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RCLCPP_INFO(node_->get_logger(), "[updateObjectsStack] timeOfMeasurement out of bounds: %d", object.timeOfMeasurement);
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continue;
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}
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if (object.yDistance < -132768 || object.yDistance > 132767) {
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continue;
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}
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object.xSpeed = 0;
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object.ySpeed = 0;
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// Calculate orientation of detected object
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tf2::Quaternion quat(object.orientation_x, object.orientation_y, object.orientation_z, object.orientation_w);
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tf2::Matrix3x3 matrix(quat);
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double roll, pitch, yaw;
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matrix.getRPY(roll, pitch, yaw);
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if (yaw < 0) {
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object.yawAngle = std::lround(((yaw + 2*M_PI) * 180.0 / M_PI) * 10.0); // 0 - 3600
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object.to_send = false;
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object.to_send_trigger = 0;
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object.timestamp = runtime_.now();
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objectsList.push_back(object);
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++cpm_object_id_;
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} else {
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object.yawAngle = std::lround((yaw * 180.0 / M_PI) * 10.0); // 0 - 3600
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// Object was already in internal memory
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// Object belongs to class person or animal
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if (obj.classification.front().label == autoware_auto_perception_msgs::msg::ObjectClassification::PEDESTRIAN || obj.classification.front().label == autoware_auto_perception_msgs::msg::ObjectClassification::UNKNOWN) {
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if (include_all_persons_and_animals_) {
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found_object->to_send = true;
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found_object->to_send_trigger = 5;
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}
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// Object has not been included in a CPM in the past 500 ms.
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if (runtime_.now().time_since_epoch().count() - found_object->timestamp.time_since_epoch().count() > 500000) {
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// Include all objects of class person or animal in the current CPM
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include_all_persons_and_animals_ = true;
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found_object->to_send = true;
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found_object->to_send_trigger = 5;
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setAllObjectsOfPersonsAnimalsToSend(msg);
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RCLCPP_INFO(node_->get_logger(), "Include all objects of person/animal class");
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}
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} else {
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// Object does not belong to class person or animal
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// Euclidean absolute distance has changed by more than 4m
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double dist = pow(obj.kinematics.initial_pose_with_covariance.pose.position.x - found_object->position_x, 2) + pow(obj.kinematics.initial_pose_with_covariance.pose.position.y - found_object->position_y, 2);
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dist = sqrt(dist);
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// RCLCPP_INFO(node_->get_logger(), "Distance changed: %f", dist);
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if (dist > 4) {
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found_object->to_send = true;
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found_object->to_send_trigger = 1;
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} else {
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}
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// Absolute speed changed by more than 0.5 m/s
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double speed = pow(obj.kinematics.initial_twist_with_covariance.twist.linear.x - found_object->twist_linear_x, 2) + pow(obj.kinematics.initial_twist_with_covariance.twist.linear.x- found_object->twist_linear_y, 2);
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speed = sqrt(speed);
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// RCLCPP_INFO(node_->get_logger(), "Speed changed: %f", dist);
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if (speed > 0.5) {
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found_object->to_send = true;
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found_object->to_send_trigger = 2;
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}
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// Orientation of speed vector changed by more than 4 degrees
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double twist_angular_x_diff = (obj.kinematics.initial_twist_with_covariance.twist.angular.x - found_object->twist_angular_x) * 180 / M_PI;
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double twist_angular_y_diff = (obj.kinematics.initial_twist_with_covariance.twist.angular.y - found_object->twist_angular_y) * 180 / M_PI;
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// RCLCPP_INFO(node_->get_logger(), "Orientation speed vector changed x: %f", twist_angular_x_diff);
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// RCLCPP_INFO(node_->get_logger(), "Orientation speed vector changed y: %f", twist_angular_y_diff);
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if( twist_angular_x_diff > 4 || twist_angular_y_diff > 4 ) {
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found_object->to_send = true;
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found_object->to_send_trigger = 3;
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}
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// It has been more than 1 s since last transmission of this object
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if (runtime_.now().time_since_epoch().count() - found_object->timestamp.time_since_epoch().count() > 1000000) {
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found_object->to_send = true;
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found_object->to_send_trigger = 4;
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// RCLCPP_INFO(node_->get_logger(), "Been more than 1s: %ld", runtime_.now().time_since_epoch().count() - found_object->timestamp.time_since_epoch().count());
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}
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}
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// Update found_object
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found_object->timestamp_ros = msg->header.stamp;
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found_object->position_x = obj.kinematics.initial_pose_with_covariance.pose.position.x;
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found_object->position_y = obj.kinematics.initial_pose_with_covariance.pose.position.y;
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found_object->position_z = obj.kinematics.initial_pose_with_covariance.pose.position.z;
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found_object->orientation_x = obj.kinematics.initial_pose_with_covariance.pose.orientation.x;
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found_object->orientation_y = obj.kinematics.initial_pose_with_covariance.pose.orientation.y;
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found_object->orientation_z = obj.kinematics.initial_pose_with_covariance.pose.orientation.z;
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found_object->orientation_w = obj.kinematics.initial_pose_with_covariance.pose.orientation.w;
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found_object->shape_x = std::lround(obj.shape.dimensions.x * 10.0);
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found_object->shape_y = std::lround(obj.shape.dimensions.y * 10.0);
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found_object->shape_z = std::lround(obj.shape.dimensions.z * 10.0);
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long long msg_timestamp_sec = msg->header.stamp.sec;
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long long msg_timestamp_nsec = msg->header.stamp.nanosec;
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msg_timestamp_sec -= 1072915200; // convert to etsi-epoch
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long long msg_timestamp_msec = msg_timestamp_sec * 1000 + msg_timestamp_nsec / 1000000;
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// long long timestamp = msg->header.stamp.sec * 1e9 + msg->header.stamp.nanosec;
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object.timeOfMeasurement = gdt_timestamp_ - msg_timestamp_msec;
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// RCLCPP_INFO(node_->get_logger(), "[updateObjectsStack] %ld %ld %d", gdt_timestamp_, timestamp, object.timeOfMeasurement);
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if (object.timeOfMeasurement < -1500 || object.timeOfMeasurement > 1500) {
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RCLCPP_INFO(node_->get_logger(), "[updateObjectsStack] timeOfMeasurement out of bounds: %d", object.timeOfMeasurement);
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found_object->timeOfMeasurement = gdt_timestamp_ - msg_timestamp_msec;
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if (found_object->timeOfMeasurement < -1500 || found_object->timeOfMeasurement > 1500) {
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RCLCPP_INFO(node_->get_logger(), "[updateObjectsStack] timeOfMeasurement out of bounds: %d", found_object->timeOfMeasurement);
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continue;
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}
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objectsStack.push_back(object);
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++i;
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found_object->timestamp = runtime_.now();
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}
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}
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}
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} else {
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// No objects detected
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}
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// RCLCPP_INFO(node_->get_logger(), "ObjectsStack: %d objects", objectsStack.size());
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rclcpp::Time current_time = node_->now();
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// RCLCPP_INFO(node_->get_logger(), "[CpmApplication::updateObjectsStack] [measure] T_objstack_updated %ld", current_time.nanoseconds());
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updating_objects_stack_ = false;
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updating_objects_list_ = false;
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}
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void CpmApplication::printObjectsList(int cpm_num) {
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// RCLCPP_INFO(node_->get_logger(), "------------------------");
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if (objectsList.size() > 0) {
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for (auto& object : objectsList) {
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RCLCPP_INFO(node_->get_logger(), "[objectsList] %d,%d,%s,%d,%d", cpm_num, object.objectID, object.uuid.c_str(), object.to_send, object.to_send_trigger);
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}
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} else {
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RCLCPP_INFO(node_->get_logger(), "[objectsList] %d,,,,", cpm_num);
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}
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// RCLCPP_INFO(node_->get_logger(), "------------------------");
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}
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void CpmApplication::send() {
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if (is_sender_) {
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sending_ = true;
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printObjectsList(cpm_num_);
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// RCLCPP_INFO(node_->get_logger(), "[CpmApplication::send] Sending CPM...");
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vanetza::asn1::Cpm message;
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@ -309,7 +443,7 @@ namespace v2x {
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management.stationType = StationType_passengerCar;
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management.referencePosition.latitude = ego_.latitude * 1e7;
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management.referencePosition.longitude = ego_.longitude * 1e7;
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cpm.cpmParameters.numberOfPerceivedObjects = objectsStack.size();
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cpm.cpmParameters.numberOfPerceivedObjects = objectsList.size();
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StationDataContainer_t *&sdc = cpm.cpmParameters.stationDataContainer;
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sdc = vanetza::asn1::allocate<StationDataContainer_t>();
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@ -325,12 +459,45 @@ namespace v2x {
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ovc.heading.headingValue = heading;
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ovc.heading.headingConfidence = 1;
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if (objectsStack.size() > 0) {
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if (objectsList.size() > 0) {
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PerceivedObjectContainer_t *&poc = cpm.cpmParameters.perceivedObjectContainer;
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poc = vanetza::asn1::allocate<PerceivedObjectContainer_t>();
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for (CpmApplication::Object object : objectsStack) {
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for (auto& object : objectsList) {
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// RCLCPP_INFO(node_->get_logger(), "object.to_send: %d", object.to_send);
|
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|
||||
if (object.to_send) {
|
||||
PerceivedObject *pObj = vanetza::asn1::allocate<PerceivedObject>();
|
||||
|
||||
// Update CPM-specific values for Object
|
||||
object.xDistance = std::lround((
|
||||
(object.position_x - ego_.mgrs_x) * cos(-ego_.heading) - (object.position_y - ego_.mgrs_y) * sin(-ego_.heading)
|
||||
) * 100.0);
|
||||
object.yDistance = std::lround((
|
||||
(object.position_x - ego_.mgrs_x) * sin(-ego_.heading) + (object.position_y - ego_.mgrs_y) * cos(-ego_.heading)
|
||||
) * 100.0);
|
||||
if (object.xDistance < -132768 || object.xDistance > 132767) {
|
||||
RCLCPP_WARN(node_->get_logger(), "xDistance out of bounds. objectID: #%d", object.objectID);
|
||||
continue;
|
||||
}
|
||||
if (object.yDistance < -132768 || object.yDistance > 132767) {
|
||||
RCLCPP_WARN(node_->get_logger(), "yDistance out of bounds. objectID: #%d", object.objectID);
|
||||
continue;
|
||||
}
|
||||
|
||||
// Calculate orientation of detected object
|
||||
tf2::Quaternion quat(object.orientation_x, object.orientation_y, object.orientation_z, object.orientation_w);
|
||||
tf2::Matrix3x3 matrix(quat);
|
||||
double roll, pitch, yaw;
|
||||
matrix.getRPY(roll, pitch, yaw);
|
||||
if (yaw < 0) {
|
||||
object.yawAngle = std::lround(((yaw + 2*M_PI) * 180.0 / M_PI) * 10.0); // 0 - 3600
|
||||
} else {
|
||||
object.yawAngle = std::lround((yaw * 180.0 / M_PI) * 10.0); // 0 - 3600
|
||||
}
|
||||
object.xSpeed = 0;
|
||||
object.ySpeed = 0;
|
||||
pObj->objectID = object.objectID;
|
||||
pObj->timeOfMeasurement = object.timeOfMeasurement;
|
||||
pObj->xDistance.value = object.xDistance;
|
||||
|
|
@ -357,13 +524,18 @@ namespace v2x {
|
|||
(*(pObj->yawAngle)).value = object.yawAngle;
|
||||
(*(pObj->yawAngle)).confidence = 1;
|
||||
|
||||
// RCLCPP_INFO(node_->get_logger(), "[SEND] Added: #%d (%d, %d) (%d, %d) (%d, %d, %d) %d", object.objectID, object.xDistance, object.yDistance, object.xSpeed, object.ySpeed, object.shape_y, object.shape_x, object.shape_z, object.yawAngle);
|
||||
|
||||
ASN_SEQUENCE_ADD(poc, pObj);
|
||||
|
||||
object.to_send = false;
|
||||
// RCLCPP_INFO(node_->get_logger(), "Sending object: %s", object.uuid.c_str());
|
||||
} else {
|
||||
// Object.to_send is set to False
|
||||
// RCLCPP_INFO(node_->get_logger(), "Object: %s not being sent.", object.uuid.c_str());
|
||||
}
|
||||
}
|
||||
} else {
|
||||
cpm.cpmParameters.perceivedObjectContainer = NULL;
|
||||
RCLCPP_INFO(node_->get_logger(), "[CpmApplication::send] Empty POC");
|
||||
// RCLCPP_INFO(node_->get_logger(), "[CpmApplication::send] Empty POC");
|
||||
}
|
||||
|
||||
Application::DownPacketPtr packet{new DownPacket()};
|
||||
|
|
@ -386,6 +558,7 @@ namespace v2x {
|
|||
rclcpp::Time current_time = node_->now();
|
||||
// RCLCPP_INFO(node_->get_logger(), "[CpmApplication::send] [measure] T_depart_r1 %ld", current_time.nanoseconds());
|
||||
|
||||
++cpm_num_;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -44,7 +44,7 @@ namespace v2x
|
|||
RCLCPP_WARN(node_->get_logger(), "[V2XApp::objectsCallback] tf not received yet");
|
||||
}
|
||||
if (tf_received_ && cp_started_) {
|
||||
cp->updateObjectsStack(msg);
|
||||
cp->updateObjectsList(msg);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue