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Add positionConfidenceEllipse to CAMApplication 

Signed-off-by: Tiago Garcia <tiago.rgarcia@av.it.pt>
This commit is contained in:
Tiago Garcia 2024-07-03 14:31:27 +01:00
parent 5510a362dc
commit 67e214cda2
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GPG Key ID: A3B1096AD19E1688
3 changed files with 113 additions and 16 deletions
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56
include/autoware_v2x/cam_application.hpp
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@ -22,7 +22,7 @@ public:
PortType port() override;
void indicate(const DataIndication &, UpPacketPtr) override;
void set_interval(vanetza::Clock::duration);
void getVehicleDimensions(const autoware_adapi_v1_msgs::msg::VehicleDimensions);
bool setVehicleDimensions(const autoware_adapi_v1_msgs::msg::VehicleDimensions);
void updateVelocityReport(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr);
void updateGearReport(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr);
void updateSteeringReport(const autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr);
@ -63,6 +63,60 @@ private:
};
Ego_station ego_;
class PositionsDeque {
public:
void insert(double value) {
if (deque.size() >= maxSize) {
total -= deque.front();
deque.pop_front();
}
total += value;
mean = total / deque.size();
deque.push_back(value);
}
int getSize() {
return deque.size();
}
double getMean() {
return this->mean;
}
using iterator = std::deque<double>::const_iterator;
iterator begin() const {
return deque.begin();
}
iterator end() const {
return deque.end();
}
double operator[](std::size_t index) const {
if (index >= deque.size())
throw std::out_of_range("[PositionDeque] Index out of range");
return deque[index];
}
private:
static const std::size_t maxSize = 5;
std::deque<double> deque;
double total = 0;
double mean = 0;
};
struct PositionConfidenceEllipse {
PositionsDeque x;
PositionsDeque y;
double semiMajorConfidence;
double semiMinorConfidence;
double semiMajorOrientation;
};
PositionConfidenceEllipse positionConfidenceEllipse_;
struct VelocityReport {
rclcpp::Time stamp;
float heading_rate;

64
src/cam_application.cpp
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@ -38,6 +38,7 @@ namespace v2x
runtime_(rt),
vehicleDimensions_(),
ego_(),
positionConfidenceEllipse_(),
velocityReport_(),
gearReport_(),
steeringReport_(),
@ -92,6 +93,9 @@ namespace v2x
ego_.latitude = *lat;
ego_.longitude = *lon;
ego_.altitude = *altitude;
positionConfidenceEllipse_.x.insert(*lat);
positionConfidenceEllipse_.y.insert(*lon);
}
void CamApplication::updateGenerationTime(int *gdt, long *gdt_timestamp) {
@ -103,7 +107,7 @@ namespace v2x
ego_.heading = *yaw;
}
void CamApplication::getVehicleDimensions(const autoware_adapi_v1_msgs::msg::VehicleDimensions msg) {
bool CamApplication::setVehicleDimensions(const autoware_adapi_v1_msgs::msg::VehicleDimensions msg) {
vehicleDimensions_.wheel_radius = msg.wheel_radius;
vehicleDimensions_.wheel_width = msg.wheel_width;
vehicleDimensions_.wheel_base = msg.wheel_base;
@ -113,11 +117,12 @@ namespace v2x
vehicleDimensions_.left_overhang = msg.left_overhang;
vehicleDimensions_.right_overhang = msg.right_overhang;
vehicleDimensions_.height = msg.height;
return vehicleDimensions_.height != 0;
}
void CamApplication::updateVelocityReport(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr msg) {
if (updating_velocity_report_) {
RCLCPP_WARN(node_->get_logger(), "[CamApplication::updateVelocityReport] already updating velocity report");
return;
}
@ -140,7 +145,6 @@ namespace v2x
void CamApplication::updateGearReport(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg) {
if (updating_gear_report_) {
RCLCPP_WARN(node_->get_logger(), "[CamApplication::updateGearReport] already updating gear report");
return;
}
@ -152,7 +156,6 @@ namespace v2x
void CamApplication::updateSteeringReport(const autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr msg) {
if (updating_steering_report_) {
RCLCPP_WARN(node_->get_logger(), "[CamApplication::updateSteeringReport] already updating steering report");
return;
}
@ -194,18 +197,59 @@ namespace v2x
basic_container.referencePosition.longitude = longitude >= -1800000000 && longitude <= 1800000000 ? longitude : Longitude_unavailable;
basic_container.referencePosition.altitude.altitudeValue = altitude > -100000 && altitude < 800000 ? altitude : AltitudeValue_unavailable;
// UNAVAILABLE VALUES FOR TESTING
if (positionConfidenceEllipse_.x.getSize() == positionConfidenceEllipse_.y.getSize()) {
double xx_sum = 0;
double yy_sum = 0;
double xy_sum = 0;
for (double x : positionConfidenceEllipse_.x)
xx_sum += std::pow(x - positionConfidenceEllipse_.x.getMean(), 2);
for (double y : positionConfidenceEllipse_.y)
yy_sum += std::pow(y - positionConfidenceEllipse_.y.getMean(), 2);
for (int i = 0; i < positionConfidenceEllipse_.x.getSize(); i++)
xy_sum += (positionConfidenceEllipse_.x[i] - positionConfidenceEllipse_.x.getMean()) *
(positionConfidenceEllipse_.y[i] - positionConfidenceEllipse_.y.getMean());
double sigma_xx = xx_sum / (positionConfidenceEllipse_.x.getSize() - 1);
double sigma_yy = yy_sum / (positionConfidenceEllipse_.y.getSize() - 1);
double sigma_xy = xy_sum / (positionConfidenceEllipse_.x.getSize() - 1);
double lambda1 = (sigma_xx + sigma_yy) - std::sqrt(std::pow(sigma_xx + sigma_yy, 2) - 4 * (sigma_xx * sigma_yy - sigma_xy * sigma_xy)) / 2;
double lambda2 = (sigma_xx + sigma_yy) + std::sqrt(std::pow(sigma_xx + sigma_yy, 2) - 4 * (sigma_xx * sigma_yy - sigma_xy * sigma_xy)) / 2;
double lambda_max = std::max(lambda1, lambda2);
double lambda_min = std::min(lambda1, lambda2);
// For 95% confidence level, must use 2.4477
double majorConfidence = std::lround(2.4477 * std::sqrt(lambda_max));
double minorConfidence = std::lround(2.4477 * std::sqrt(lambda_min));
double majorOrientation = - (sigma_xy != 0
? std::lround(std::atan(- (sigma_xx - lambda_max) / sigma_xy) * 180 / M_PI)
: sigma_xx != 0 ? 0 : -90) * 10;
if (majorOrientation < 0) majorOrientation += 3600;
basic_container.referencePosition.positionConfidenceEllipse.semiMajorConfidence = majorConfidence >= 0 && majorConfidence <= 4094
? majorConfidence
: SemiAxisLength_unavailable;
basic_container.referencePosition.positionConfidenceEllipse.semiMinorConfidence = minorConfidence >= 0 && minorConfidence <= 4094
? minorConfidence
: SemiAxisLength_unavailable;
basic_container.referencePosition.positionConfidenceEllipse.semiMajorOrientation = majorOrientation >= 0 && majorOrientation <= 3600
? majorOrientation
: HeadingValue_unavailable;
} else {
basic_container.referencePosition.positionConfidenceEllipse.semiMajorConfidence = SemiAxisLength_unavailable;
basic_container.referencePosition.positionConfidenceEllipse.semiMinorConfidence = SemiAxisLength_unavailable;
basic_container.referencePosition.positionConfidenceEllipse.semiMajorOrientation = HeadingValue_unavailable;
// ------------------------------
}
BasicVehicleContainerHighFrequency_t &bvc = cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency;
cam.camParameters.highFrequencyContainer.present = HighFrequencyContainer_PR_basicVehicleContainerHighFrequency;
int heading = std::lround(((-ego_.heading * 180.0 / M_PI) + 90.0) * 10.0);
if (heading < 0) heading += 3600;
bvc.heading.headingValue = heading;
bvc.heading.headingValue = heading >= 0 && heading <= 3600
? heading
: HeadingValue_unavailable;
float heading_rate = velocityReport_.heading_rate;
float lateral_velocity = velocityReport_.lateral_velocity;
@ -217,7 +261,7 @@ namespace v2x
float speed = std::lround(std::sqrt(std::pow(longitudinal_velocity, 2) + std::pow(lateral_velocity, 2)) * 100);
bvc.speed.speedValue = speed >= 0 && speed < 16382 ? speed : SpeedValue_unavailable;
if ((gearStatus >= 2 && gearStatus <= 19) || gearStatus == 21 || gearStatus == 22)
if ((gearStatus >= 2 && gearStatus <= 19) || gearStatus == 23 || gearStatus == 24)
bvc.driveDirection = DriveDirection_forward;
else if (gearStatus == 20 || gearStatus == 21)
bvc.driveDirection = DriveDirection_backward;
@ -225,10 +269,10 @@ namespace v2x
bvc.driveDirection = DriveDirection_unavailable;
float vehicleLength = std::lround(vehicleDimensions_.front_overhang + vehicleDimensions_.wheel_base + vehicleDimensions_.rear_overhang * 100);
bvc.vehicleLength.vehicleLengthValue = vehicleLength >= 0 && vehicleLength <= 1022 ? vehicleLength : VehicleLengthValue_unavailable;
bvc.vehicleLength.vehicleLengthValue = vehicleLength >= 1 && vehicleLength <= 1022 ? vehicleLength : VehicleLengthValue_unavailable;
float vehicleWidth = std::lround(vehicleDimensions_.left_overhang + vehicleDimensions_.wheel_tread + vehicleDimensions_.right_overhang * 100);
bvc.vehicleWidth = vehicleWidth >= 0 && vehicleWidth <= 61 ? vehicleWidth : VehicleWidth_unavailable;
bvc.vehicleWidth = vehicleWidth >= 1 && vehicleWidth <= 61 ? vehicleWidth : VehicleWidth_unavailable;
bvc.longitudinalAcceleration.longitudinalAccelerationValue = longitudinal_acceleration >= -160 && longitudinal_acceleration <= 160 ? longitudinal_acceleration : LongitudinalAccelerationValue_unavailable;

3
src/v2x_app.cpp
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@ -52,8 +52,7 @@ namespace v2x
void V2XApp::getVehicleDimensions(const autoware_adapi_v1_msgs::msg::VehicleDimensions msg) {
if (vehicle_dimensions_set_) return;
cam->getVehicleDimensions(msg);
vehicle_dimensions_set_ = true;
vehicle_dimensions_set_ = cam->setVehicleDimensions(msg);
}
void V2XApp::velocityReportCallback(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr msg) {