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feat(multi_object_tracker): add velocity observation (tier4#696)
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* add velocity observation to the normal vehicle tracker

* fix format

* update

* add big vehicle tracker

* fix format
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@purewater0901 @boyali
purewater0901 authored and boyali committed Oct 19, 2022
1 parent 6aed5f2 commit 8635115
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Showing 4 changed files with 50 additions and 13 deletions.
1 change: 1 addition & 0 deletions ...n/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,7 @@ class BigVehicleTracker : public Tracker
float r_cov_x;
float r_cov_y;
float r_cov_yaw;
float r_cov_vx;
float p0_cov_x;
float p0_cov_y;
float p0_cov_yaw;
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1 change: 1 addition & 0 deletions ...ulti_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,7 @@ class NormalVehicleTracker : public Tracker
float r_cov_x;
float r_cov_y;
float r_cov_yaw;
float r_cov_vx;
float p0_cov_x;
float p0_cov_y;
float p0_cov_yaw;
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29 changes: 23 additions & 6 deletions perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,7 @@ BigVehicleTracker::BigVehicleTracker(
float r_stddev_x = 1.5; // [m]
float r_stddev_y = 0.5; // [m]
float r_stddev_yaw = tier4_autoware_utils::deg2rad(30); // [rad]
float r_stddev_vx = 1.0; // [m/s]
float p0_stddev_x = 1.5; // [m]
float p0_stddev_y = 0.5; // [m]
float p0_stddev_yaw = tier4_autoware_utils::deg2rad(30); // [rad]
Expand All @@ -62,6 +63,7 @@ BigVehicleTracker::BigVehicleTracker(
ekf_params_.r_cov_x = std::pow(r_stddev_x, 2.0);
ekf_params_.r_cov_y = std::pow(r_stddev_y, 2.0);
ekf_params_.r_cov_yaw = std::pow(r_stddev_yaw, 2.0);
ekf_params_.r_cov_vx = std::pow(r_stddev_vx, 2.0);
ekf_params_.p0_cov_x = std::pow(p0_stddev_x, 2.0);
ekf_params_.p0_cov_y = std::pow(p0_stddev_y, 2.0);
ekf_params_.p0_cov_yaw = std::pow(p0_stddev_yaw, 2.0);
Expand Down Expand Up @@ -230,7 +232,8 @@ bool BigVehicleTracker::measureWithPose(
r_cov_y = ekf_params_.r_cov_y;
}

constexpr int dim_y = 3; // pos x, pos y, yaw, depending on Pose output
const int dim_y =
object.kinematics.has_twist ? 4 : 3; // pos x, pos y, yaw, vx depending on Pose output
double measurement_yaw = tier4_autoware_utils::normalizeRadian(
tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation));
{
Expand All @@ -247,17 +250,17 @@ bool BigVehicleTracker::measureWithPose(

/* Set measurement matrix */
Eigen::MatrixXd Y(dim_y, 1);
Y << object.kinematics.pose_with_covariance.pose.position.x,
object.kinematics.pose_with_covariance.pose.position.y, measurement_yaw;

/* Set measurement matrix */
Eigen::MatrixXd C = Eigen::MatrixXd::Zero(dim_y, ekf_params_.dim_x);
Eigen::MatrixXd R = Eigen::MatrixXd::Zero(dim_y, dim_y);

Y(IDX::X, 0) = object.kinematics.pose_with_covariance.pose.position.x;
Y(IDX::Y, 0) = object.kinematics.pose_with_covariance.pose.position.y;
Y(IDX::YAW, 0) = measurement_yaw;
C(0, IDX::X) = 1.0; // for pos x
C(1, IDX::Y) = 1.0; // for pos y
C(2, IDX::YAW) = 1.0; // for yaw

/* Set measurement noise covariance */
Eigen::MatrixXd R = Eigen::MatrixXd::Zero(dim_y, dim_y);
if (
!ekf_params_.use_measurement_covariance ||
object.kinematics.pose_with_covariance.covariance[utils::MSG_COV_IDX::X_X] == 0.0 ||
Expand All @@ -282,6 +285,20 @@ bool BigVehicleTracker::measureWithPose(
R(2, 1) = object.kinematics.pose_with_covariance.covariance[utils::MSG_COV_IDX::YAW_Y];
R(2, 2) = object.kinematics.pose_with_covariance.covariance[utils::MSG_COV_IDX::YAW_YAW];
}

if (object.kinematics.has_twist) {
Y(IDX::VX, 0) = object.kinematics.twist_with_covariance.twist.linear.x;
C(3, IDX::VX) = 1.0; // for vx

if (
!ekf_params_.use_measurement_covariance ||
object.kinematics.twist_with_covariance.covariance[utils::MSG_COV_IDX::X_X] == 0.0) {
R(3, 3) = ekf_params_.r_cov_vx; // vx -vx
} else {
R(3, 3) = object.kinematics.twist_with_covariance.covariance[utils::MSG_COV_IDX::X_X];
}
}

if (!ekf_.update(Y, C, R)) {
RCLCPP_WARN(logger_, "Cannot update");
}
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32 changes: 25 additions & 7 deletions perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,7 @@ NormalVehicleTracker::NormalVehicleTracker(
float r_stddev_x = 1.0; // object coordinate [m]
float r_stddev_y = 0.3; // object coordinate [m]
float r_stddev_yaw = tier4_autoware_utils::deg2rad(30); // map coordinate [rad]
float r_stddev_vx = 1.0; // object coordinate [m/s]
float p0_stddev_x = 1.0; // object coordinate [m/s]
float p0_stddev_y = 0.3; // object coordinate [m/s]
float p0_stddev_yaw = tier4_autoware_utils::deg2rad(30); // map coordinate [rad]
Expand All @@ -62,6 +63,7 @@ NormalVehicleTracker::NormalVehicleTracker(
ekf_params_.r_cov_x = std::pow(r_stddev_x, 2.0);
ekf_params_.r_cov_y = std::pow(r_stddev_y, 2.0);
ekf_params_.r_cov_yaw = std::pow(r_stddev_yaw, 2.0);
ekf_params_.r_cov_vx = std::pow(r_stddev_vx, 2.0);
ekf_params_.p0_cov_x = std::pow(p0_stddev_x, 2.0);
ekf_params_.p0_cov_y = std::pow(p0_stddev_y, 2.0);
ekf_params_.p0_cov_yaw = std::pow(p0_stddev_yaw, 2.0);
Expand Down Expand Up @@ -230,7 +232,8 @@ bool NormalVehicleTracker::measureWithPose(
r_cov_y = ekf_params_.r_cov_y;
}

constexpr int dim_y = 3; // pos x, pos y, yaw, depending on Pose output
const int dim_y =
object.kinematics.has_twist ? 4 : 3; // pos x, pos y, yaw, vx depending on Pose output
double measurement_yaw = tier4_autoware_utils::normalizeRadian(
tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation));
{
Expand All @@ -245,19 +248,19 @@ bool NormalVehicleTracker::measureWithPose(
}
}

/* Set measurement matrix */
/* Set measurement matrix and noise covariance*/
Eigen::MatrixXd Y(dim_y, 1);
Y << object.kinematics.pose_with_covariance.pose.position.x,
object.kinematics.pose_with_covariance.pose.position.y, measurement_yaw;

/* Set measurement matrix */
Eigen::MatrixXd C = Eigen::MatrixXd::Zero(dim_y, ekf_params_.dim_x);
Eigen::MatrixXd R = Eigen::MatrixXd::Zero(dim_y, dim_y);

Y(IDX::X, 0) = object.kinematics.pose_with_covariance.pose.position.x;
Y(IDX::Y, 0) = object.kinematics.pose_with_covariance.pose.position.y;
Y(IDX::YAW, 0) = measurement_yaw;
C(0, IDX::X) = 1.0; // for pos x
C(1, IDX::Y) = 1.0; // for pos y
C(2, IDX::YAW) = 1.0; // for yaw

/* Set measurement noise covariance */
Eigen::MatrixXd R = Eigen::MatrixXd::Zero(dim_y, dim_y);
if (
!ekf_params_.use_measurement_covariance ||
object.kinematics.pose_with_covariance.covariance[utils::MSG_COV_IDX::X_X] == 0.0 ||
Expand All @@ -282,6 +285,21 @@ bool NormalVehicleTracker::measureWithPose(
R(2, 1) = object.kinematics.pose_with_covariance.covariance[utils::MSG_COV_IDX::YAW_Y];
R(2, 2) = object.kinematics.pose_with_covariance.covariance[utils::MSG_COV_IDX::YAW_YAW];
}

if (object.kinematics.has_twist) {
Y(IDX::VX, 0) = object.kinematics.twist_with_covariance.twist.linear.x;
C(3, IDX::VX) = 1.0; // for vx

if (
!ekf_params_.use_measurement_covariance ||
object.kinematics.twist_with_covariance.covariance[utils::MSG_COV_IDX::X_X] == 0.0) {
R(3, 3) = ekf_params_.r_cov_vx; // vx -vx
} else {
R(3, 3) = object.kinematics.twist_with_covariance.covariance[utils::MSG_COV_IDX::X_X];
}
}

// update
if (!ekf_.update(Y, C, R)) {
RCLCPP_WARN(logger_, "Cannot update");
}
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