From 72e7dc47c174819b821a0fb1dc966af97397fcf9 Mon Sep 17 00:00:00 2001 From: Yu Asabe Date: Sun, 14 Nov 2021 13:26:18 +0900 Subject: [PATCH] add orientation and shape --- include/autoware_v2x/cpm_application.hpp | 4 ++ src/cpm_application.cpp | 64 +++++++++++++++++++++--- src/v2x_node.cpp | 13 +++-- 3 files changed, 71 insertions(+), 10 deletions(-) diff --git a/include/autoware_v2x/cpm_application.hpp b/include/autoware_v2x/cpm_application.hpp index 757fe62..11f3c15 100644 --- a/include/autoware_v2x/cpm_application.hpp +++ b/include/autoware_v2x/cpm_application.hpp @@ -36,10 +36,14 @@ namespace v2x double orientation_y; double orientation_z; double orientation_w; + int shape_x; + int shape_y; + int shape_z; int xDistance; int yDistance; double xSpeed; double ySpeed; + int yawAngle; vanetza::PositionFix position; int timeOfMeasurement; }; diff --git a/src/cpm_application.cpp b/src/cpm_application.cpp index 0daf0c1..ff22f7b 100644 --- a/src/cpm_application.cpp +++ b/src/cpm_application.cpp @@ -4,6 +4,9 @@ #include "autoware_v2x/link_layer.hpp" #include "autoware_v2x/v2x_node.hpp" +#include "tf2/LinearMath/Quaternion.h" +#include "tf2/LinearMath/Matrix3x3.h" + #include "rclcpp/rclcpp.hpp" #include #include @@ -114,6 +117,20 @@ namespace v2x object.position_x = x_mgrs + (cos(orientation) * x1 - sin(orientation) * y1); object.position_y = y_mgrs + (sin(orientation) * x1 + cos(orientation) * y1); RCLCPP_INFO(node_->get_logger(), "cpm object: %f, %f, %f, %f", x1, y1, object.position_x, object.position_y); + + object.shape_x = poc->list.array[i]->planarObjectDimension2->value / 100; + object.shape_y = poc->list.array[i]->planarObjectDimension1->value / 100; + object.shape_z = poc->list.array[i]->verticalObjectDimension->value / 100; + + object.yawAngle = poc->list.array[i]->yawAngle->value / 10; + + tf2::Quaternion quat; + quat.setRPY(0, 0, object.yawAngle); + object.orientation_x = quat.x(); + object.orientation_y = quat.y(); + object.orientation_z = quat.z(); + object.orientation_w = quat.w(); + receivedObjectsStack.push_back(object); } node_->publishObjects(&receivedObjectsStack); @@ -164,10 +181,6 @@ namespace v2x if (msg->objects.size() > 0) { - // RCLCPP_INFO(node_->get_logger(), "At least 1 object detected"); - - // Initialize ObjectsStack - // std::vector objectsStack; objectsStack.clear(); // Create CpmApplication::Object per msg->object and add it to objectsStack @@ -184,9 +197,20 @@ namespace v2x object.orientation_y = obj.state.pose_covariance.pose.orientation.y; object.orientation_z = obj.state.pose_covariance.pose.orientation.z; object.orientation_w = obj.state.pose_covariance.pose.orientation.w; + object.shape_x = (int) obj.shape.dimensions.x * 10; + object.shape_y = (int) obj.shape.dimensions.y * 10; + object.shape_z = (int) obj.shape.dimensions.z * 10; object.xDistance = (int)((object.position_x - ego_x_) * cos(-ego_heading_) - (object.position_y - ego_y_) * sin(-ego_heading_)) * 100; object.yDistance = (int)((object.position_x - ego_x_) * sin(-ego_heading_) + (object.position_y - ego_y_) * cos(-ego_heading_)) * 100; // RCLCPP_INFO(node_->get_logger(), "xDistance: %d, yDistance: %d", object.xDistance, object.yDistance); + + 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); + // RCLCPP_INFO(node_->get_logger(), "yaw: %f", yaw); + object.yawAngle = (int) (yaw * 180 / M_PI) * 10 ; + object.timeOfMeasurement = 100; objectsStack.push_back(object); ++i; @@ -251,7 +275,7 @@ namespace v2x ovc.heading.headingValue = (int)std::fmod((1.5708 - ego_heading_) * 180 / M_PI, 360.0) * 10; ovc.heading.headingConfidence = 1; - // RCLCPP_INFO(node_->get_logger(), "PerceviedObjectContainer..."); + RCLCPP_INFO(node_->get_logger(), "PerceviedObjectContainer..."); PerceivedObjectContainer_t *&poc = cpm.cpmParameters.perceivedObjectContainer; poc = vanetza::asn1::allocate(); @@ -259,6 +283,8 @@ namespace v2x { if (object.xDistance > 10000) continue; if (object.yDistance > 10000) continue; + + RCLCPP_INFO(node_->get_logger(), "Adding Object..."); PerceivedObject *pObj = vanetza::asn1::allocate(); pObj->objectID = object.objectID; pObj->timeOfMeasurement = object.timeOfMeasurement; @@ -271,8 +297,34 @@ namespace v2x pObj->ySpeed.value = object.ySpeed; pObj->ySpeed.confidence = 1; + pObj->planarObjectDimension1 = vanetza::asn1::allocate(); + pObj->planarObjectDimension2 = vanetza::asn1::allocate(); + pObj->verticalObjectDimension = vanetza::asn1::allocate(); + + RCLCPP_INFO(node_->get_logger(), "%d %d %d", object.shape_y, object.shape_x, object.shape_z); + + (*(pObj->planarObjectDimension1)).value = object.shape_y; + (*(pObj->planarObjectDimension1)).confidence = 1; + (*(pObj->planarObjectDimension2)).value = object.shape_x; + (*(pObj->planarObjectDimension2)).confidence = 1; + (*(pObj->verticalObjectDimension)).value = object.shape_z; + (*(pObj->verticalObjectDimension)).confidence = 1; + // *((int*)pObj->planarObjectDimension1->confidence) = 1; + // *((int*)pObj->planarObjectDimension2->value) = object.shape_x; + // *((int*)pObj->planarObjectDimension2->confidence) = 1; + // *((int*)pObj->verticalObjectDimension->value) = object.shape_z; + // *((int*)pObj->verticalObjectDimension->confidence) = 1; + + // RCLCPP_INFO(node_->get_logger(), "%d", *((int*)pObj->planarObjectDimension1->value)); + // RCLCPP_INFO(node_->get_logger(), "%d", *((int*)pObj->planarObjectDimension2->value)); + // RCLCPP_INFO(node_->get_logger(), "%d", *((int*)pObj->verticalObjectDimension->value)); + + pObj->yawAngle = vanetza::asn1::allocate(); + (*(pObj->yawAngle)).value = object.yawAngle; + (*(pObj->yawAngle)).confidence = 1; + ASN_SEQUENCE_ADD(poc, pObj); - // RCLCPP_INFO(node_->get_logger(), "ADD: %d, %d, %d, %d, %d, %d", pObj->objectID, pObj->timeOfMeasurement, pObj->xDistance.value, pObj->yDistance.value, pObj->xSpeed.value, pObj->ySpeed.value); + RCLCPP_INFO(node_->get_logger(), "ADD: %d, %d, %d, %d, %d, %d", pObj->objectID, pObj->timeOfMeasurement, pObj->xDistance.value, pObj->yDistance.value, pObj->xSpeed.value, pObj->ySpeed.value); } Application::DownPacketPtr packet{new DownPacket()}; std::unique_ptr payload{new geonet::DownPacket()}; diff --git a/src/v2x_node.cpp b/src/v2x_node.cpp index 210fbd6..6fa2c6e 100644 --- a/src/v2x_node.cpp +++ b/src/v2x_node.cpp @@ -58,13 +58,18 @@ namespace v2x semantic.confidence = 0.99; shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX; - shape.dimensions.x = 2; - shape.dimensions.y = 5.0; - shape.dimensions.z = 2.5; + shape.dimensions.x = obj.shape_x / 10; + shape.dimensions.y = obj.shape_y / 10; + shape.dimensions.z = obj.shape_z / 10; state.pose_covariance.pose.position.x = obj.position_x; state.pose_covariance.pose.position.y = obj.position_y; - state.pose_covariance.pose.position.z = 0.2; + state.pose_covariance.pose.position.z = 0.1; + + state.pose_covariance.pose.orientation.x = obj.orientation_x; + state.pose_covariance.pose.orientation.y = obj.orientation_y; + state.pose_covariance.pose.orientation.z = obj.orientation_z; + state.pose_covariance.pose.orientation.w = obj.orientation_w; object.semantic = semantic; object.shape = shape;