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feat(perception_utils): use slerp for orientation (#1764)
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| // Copyright 2022 TIER IV, Inc. | ||
| // | ||
| // 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 "perception_utils/predicted_path_utils.hpp" | ||
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| namespace perception_utils | ||
| { | ||
| boost::optional<geometry_msgs::msg::Pose> calcInterpolatedPose( | ||
| const autoware_auto_perception_msgs::msg::PredictedPath & path, const double relative_time) | ||
| { | ||
| // Check if relative time is in the valid range | ||
| if (path.path.empty() || relative_time < 0.0) { | ||
| return boost::none; | ||
| } | ||
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| constexpr double epsilon = 1e-6; | ||
| const double & time_step = rclcpp::Duration(path.time_step).seconds(); | ||
| for (size_t path_idx = 1; path_idx < path.path.size(); ++path_idx) { | ||
| const auto & pt = path.path.at(path_idx); | ||
| const auto & prev_pt = path.path.at(path_idx - 1); | ||
| if (relative_time - epsilon < time_step * path_idx) { | ||
| const double offset = relative_time - time_step * (path_idx - 1); | ||
| const double ratio = std::clamp(offset / time_step, 0.0, 1.0); | ||
| return tier4_autoware_utils::calcInterpolatedPose(prev_pt, pt, ratio, false); | ||
| } | ||
| } | ||
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| return boost::none; | ||
| } | ||
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| autoware_auto_perception_msgs::msg::PredictedPath resamplePredictedPath( | ||
| const autoware_auto_perception_msgs::msg::PredictedPath & path, | ||
| const std::vector<double> & resampled_time, const bool use_spline_for_xy, | ||
| const bool use_spline_for_z) | ||
| { | ||
| if (path.path.empty() || resampled_time.empty()) { | ||
| throw std::invalid_argument("input path or resampled_time is empty"); | ||
| } | ||
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| const double & time_step = rclcpp::Duration(path.time_step).seconds(); | ||
| std::vector<double> input_time(path.path.size()); | ||
| std::vector<double> x(path.path.size()); | ||
| std::vector<double> y(path.path.size()); | ||
| std::vector<double> z(path.path.size()); | ||
| std::vector<geometry_msgs::msg::Quaternion> quat(path.path.size()); | ||
| for (size_t i = 0; i < path.path.size(); ++i) { | ||
| input_time.at(i) = time_step * i; | ||
| x.at(i) = path.path.at(i).position.x; | ||
| y.at(i) = path.path.at(i).position.y; | ||
| z.at(i) = path.path.at(i).position.z; | ||
| quat.at(i) = path.path.at(i).orientation; | ||
| } | ||
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| const auto lerp = [&](const auto & input) { | ||
| return interpolation::lerp(input_time, input, resampled_time); | ||
| }; | ||
| const auto spline = [&](const auto & input) { | ||
| return interpolation::slerp(input_time, input, resampled_time); | ||
| }; | ||
| const auto slerp = [&](const auto & input) { | ||
| return interpolation::spherical_linear_interpolation(input_time, input, resampled_time); | ||
| }; | ||
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| const auto interpolated_x = use_spline_for_xy ? spline(x) : lerp(x); | ||
| const auto interpolated_y = use_spline_for_xy ? spline(y) : lerp(y); | ||
| const auto interpolated_z = use_spline_for_z ? spline(z) : lerp(z); | ||
| const auto interpolated_quat = slerp(quat); | ||
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| autoware_auto_perception_msgs::msg::PredictedPath resampled_path; | ||
| const auto resampled_size = std::min(resampled_path.path.max_size(), resampled_time.size()); | ||
| resampled_path.confidence = path.confidence; | ||
| resampled_path.path.resize(resampled_size); | ||
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| // Set Position | ||
| for (size_t i = 0; i < resampled_size; ++i) { | ||
| const auto p = tier4_autoware_utils::createPoint( | ||
| interpolated_x.at(i), interpolated_y.at(i), interpolated_z.at(i)); | ||
| resampled_path.path.at(i).position = p; | ||
| resampled_path.path.at(i).orientation = interpolated_quat.at(i); | ||
| } | ||
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| return resampled_path; | ||
| } | ||
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| autoware_auto_perception_msgs::msg::PredictedPath resamplePredictedPath( | ||
| const autoware_auto_perception_msgs::msg::PredictedPath & path, | ||
| const double sampling_time_interval, const double sampling_horizon, const bool use_spline_for_xy, | ||
| const bool use_spline_for_z) | ||
| { | ||
| if (path.path.empty()) { | ||
| throw std::invalid_argument("Predicted Path is empty"); | ||
| } | ||
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| if (sampling_time_interval <= 0.0 || sampling_horizon <= 0.0) { | ||
| throw std::invalid_argument("sampling time interval or sampling time horizon is negative"); | ||
| } | ||
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| // Calculate Horizon | ||
| const double predicted_horizon = | ||
| rclcpp::Duration(path.time_step).seconds() * static_cast<double>(path.path.size() - 1); | ||
| const double horizon = std::min(predicted_horizon, sampling_horizon); | ||
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| // Get sampling time vector | ||
| constexpr double epsilon = 1e-6; | ||
| std::vector<double> sampling_time_vector; | ||
| for (double t = 0.0; t < horizon + epsilon; t += sampling_time_interval) { | ||
| sampling_time_vector.push_back(t); | ||
| } | ||
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| // Resample and substitute time interval | ||
| auto resampled_path = | ||
| resamplePredictedPath(path, sampling_time_vector, use_spline_for_xy, use_spline_for_z); | ||
| resampled_path.time_step = rclcpp::Duration::from_seconds(sampling_time_interval); | ||
| return resampled_path; | ||
| } | ||
| } // namespace perception_utils |