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refactor(localization_util): add covariance_ellipse to localization_u…
…til (autowarefoundation#7706) Added covariance_ellipse to localization_util Signed-off-by: Shintaro Sakoda <[email protected]>
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localization/localization_util/include/localization_util/covariance_ellipse.hpp
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| // Copyright 2024 Autoware Foundation | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef LOCALIZATION_UTIL__COVARIANCE_ELLIPSE_HPP_ | ||
| #define LOCALIZATION_UTIL__COVARIANCE_ELLIPSE_HPP_ | ||
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| #include <Eigen/Dense> | ||
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| #include <geometry_msgs/msg/pose_with_covariance.hpp> | ||
| #include <visualization_msgs/msg/marker_array.hpp> | ||
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| namespace autoware::localization_util | ||
| { | ||
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| struct Ellipse | ||
| { | ||
| double long_radius; | ||
| double short_radius; | ||
| double yaw; | ||
| Eigen::Matrix2d P; | ||
| double size_lateral_direction; | ||
| }; | ||
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| Ellipse calculate_xy_ellipse( | ||
| const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance, const double scale); | ||
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| visualization_msgs::msg::Marker create_ellipse_marker( | ||
| const Ellipse & ellipse, const std_msgs::msg::Header & header, | ||
| const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance); | ||
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| } // namespace autoware::localization_util | ||
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| #endif // LOCALIZATION_UTIL__COVARIANCE_ELLIPSE_HPP_ |
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| // Copyright 2024 Autoware Foundation | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include "localization_util/covariance_ellipse.hpp" | ||
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| #include <tf2/utils.h> | ||
| #ifdef ROS_DISTRO_GALACTIC | ||
| #include <tf2_geometry_msgs/tf2_geometry_msgs.h> | ||
| #else | ||
| #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp> | ||
| #endif | ||
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| namespace autoware::localization_util | ||
| { | ||
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| Ellipse calculate_xy_ellipse( | ||
| const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance, const double scale) | ||
| { | ||
| // input geometry_msgs::PoseWithCovariance contain 6x6 matrix | ||
| Eigen::Matrix2d xy_covariance; | ||
| const auto cov = pose_with_covariance.covariance; | ||
| xy_covariance(0, 0) = cov[0 * 6 + 0]; | ||
| xy_covariance(0, 1) = cov[0 * 6 + 1]; | ||
| xy_covariance(1, 0) = cov[1 * 6 + 0]; | ||
| xy_covariance(1, 1) = cov[1 * 6 + 1]; | ||
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| Eigen::SelfAdjointEigenSolver<Eigen::Matrix2d> eigensolver(xy_covariance); | ||
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| Ellipse ellipse; | ||
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| // eigen values and vectors are sorted in ascending order | ||
| ellipse.long_radius = scale * std::sqrt(eigensolver.eigenvalues()(1)); | ||
| ellipse.short_radius = scale * std::sqrt(eigensolver.eigenvalues()(0)); | ||
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| // principal component vector | ||
| const Eigen::Vector2d pc_vector = eigensolver.eigenvectors().col(1); | ||
| ellipse.yaw = std::atan2(pc_vector.y(), pc_vector.x()); | ||
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| // ellipse size along lateral direction (body-frame) | ||
| ellipse.P = xy_covariance; | ||
| const double yaw_vehicle = tf2::getYaw(pose_with_covariance.pose.orientation); | ||
| const Eigen::Matrix2d & p_inv = ellipse.P.inverse(); | ||
| Eigen::MatrixXd e(2, 1); | ||
| e(0, 0) = std::cos(yaw_vehicle); | ||
| e(1, 0) = std::sin(yaw_vehicle); | ||
| const double d = std::sqrt((e.transpose() * p_inv * e)(0, 0) / p_inv.determinant()); | ||
| ellipse.size_lateral_direction = scale * d; | ||
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| return ellipse; | ||
| } | ||
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| visualization_msgs::msg::Marker create_ellipse_marker( | ||
| const Ellipse & ellipse, const std_msgs::msg::Header & header, | ||
| const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance) | ||
| { | ||
| tf2::Quaternion quat; | ||
| quat.setEuler(0, 0, ellipse.yaw); | ||
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| const double ellipse_long_radius = std::min(ellipse.long_radius, 30.0); | ||
| const double ellipse_short_radius = std::min(ellipse.short_radius, 30.0); | ||
| visualization_msgs::msg::Marker marker; | ||
| marker.header = header; | ||
| marker.ns = "error_ellipse"; | ||
| marker.id = 0; | ||
| marker.type = visualization_msgs::msg::Marker::SPHERE; | ||
| marker.action = visualization_msgs::msg::Marker::ADD; | ||
| marker.pose = pose_with_covariance.pose; | ||
| marker.pose.orientation = tf2::toMsg(quat); | ||
| marker.scale.x = ellipse_long_radius * 2; | ||
| marker.scale.y = ellipse_short_radius * 2; | ||
| marker.scale.z = 0.01; | ||
| marker.color.a = 0.1; | ||
| marker.color.r = 0.0; | ||
| marker.color.g = 0.0; | ||
| marker.color.b = 1.0; | ||
| return marker; | ||
| } | ||
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| } // namespace autoware::localization_util |