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feat(tier4_localization_rviz_plugin): add visualization of pose with …
…covariance history (autowarefoundation#8191) * display PoseWithCovariance History Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Correct spelling errors and year Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Add arrows clear() Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * Extension to 3D in matrix calculations Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> * style(pre-commit): autofix * Correcting spelling mistakes and adding includes Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> --------- Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com> Co-authored-by: Yamato Ando <yamato.ando@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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285
...ion_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp
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| // Copyright 2024 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 "pose_with_covariance_history_display.hpp" | ||
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| #include <rviz_common/properties/bool_property.hpp> | ||
| #include <rviz_common/properties/color_property.hpp> | ||
| #include <rviz_common/properties/enum_property.hpp> | ||
| #include <rviz_common/properties/float_property.hpp> | ||
| #include <rviz_common/properties/int_property.hpp> | ||
| #include <rviz_common/properties/parse_color.hpp> | ||
| #include <rviz_common/validate_floats.hpp> | ||
| #include <rviz_rendering/objects/arrow.hpp> | ||
| #include <rviz_rendering/objects/billboard_line.hpp> | ||
| #include <rviz_rendering/objects/shape.hpp> | ||
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| #include <tf2/LinearMath/Quaternion.h> | ||
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| namespace rviz_plugins | ||
| { | ||
| PoseWithCovarianceHistory::PoseWithCovarianceHistory() : last_stamp_(0, 0, RCL_ROS_TIME) | ||
| { | ||
| property_buffer_size_ = new rviz_common::properties::IntProperty("Buffer Size", 100, "", this); | ||
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| property_path_view_ = new rviz_common::properties::BoolProperty("Path", true, "", this); | ||
| property_shape_type_ = new rviz_common::properties::EnumProperty( | ||
| "Shape Type", "Line", "", property_path_view_, SLOT(updateShapeType())); | ||
| property_shape_type_->addOption("Line", 0); | ||
| property_shape_type_->addOption("Arrow", 1); | ||
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| property_line_width_ = | ||
| new rviz_common::properties::FloatProperty("Width", 0.1, "", property_shape_type_); | ||
| property_line_alpha_ = | ||
| new rviz_common::properties::FloatProperty("Alpha", 1.0, "", property_shape_type_); | ||
| property_line_alpha_->setMin(0.0); | ||
| property_line_alpha_->setMax(1.0); | ||
| property_line_color_ = | ||
| new rviz_common::properties::ColorProperty("Color", Qt::white, "", property_shape_type_); | ||
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| property_arrow_shaft_length_ = | ||
| new rviz_common::properties::FloatProperty("Shaft Length", 0.3, "", property_shape_type_); | ||
| property_arrow_shaft_diameter_ = | ||
| new rviz_common::properties::FloatProperty("Shaft diameter", 0.15, "", property_shape_type_); | ||
| property_arrow_head_length_ = | ||
| new rviz_common::properties::FloatProperty("Head Length", 0.2, "", property_shape_type_); | ||
| property_arrow_head_diameter_ = | ||
| new rviz_common::properties::FloatProperty("Head diameter", 0.3, "", property_shape_type_); | ||
| property_arrow_alpha_ = | ||
| new rviz_common::properties::FloatProperty("Alpha", 1.0, "", property_shape_type_); | ||
| property_arrow_alpha_->setMin(0.0); | ||
| property_arrow_alpha_->setMax(1.0); | ||
| property_arrow_color_ = | ||
| new rviz_common::properties::ColorProperty("Color", Qt::white, "", property_shape_type_); | ||
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| property_sphere_view_ = new rviz_common::properties::BoolProperty("Covariance", true, "", this); | ||
| property_sphere_scale_ = | ||
| new rviz_common::properties::FloatProperty("Scale", 1.0, "", property_sphere_view_); | ||
| property_sphere_alpha_ = | ||
| new rviz_common::properties::FloatProperty("Alpha", 0.5, "", property_sphere_view_); | ||
| property_sphere_alpha_->setMin(0.0); | ||
| property_sphere_alpha_->setMax(1.0); | ||
| property_sphere_color_ = new rviz_common::properties::ColorProperty( | ||
| "Color", QColor(204, 51, 204), "", property_sphere_view_); | ||
|
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| property_buffer_size_->setMin(0); | ||
| property_buffer_size_->setMax(10000); | ||
| property_line_width_->setMin(0.0); | ||
| property_sphere_scale_->setMin(0.0); | ||
| property_sphere_scale_->setMax(1000); | ||
| property_arrow_shaft_length_->setMin(0.0); | ||
| property_arrow_shaft_diameter_->setMin(0.0); | ||
| property_arrow_head_length_->setMin(0.0); | ||
| property_arrow_head_diameter_->setMin(0.0); | ||
| } | ||
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| PoseWithCovarianceHistory::~PoseWithCovarianceHistory() = default; // Properties are deleted by Qt | ||
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| void PoseWithCovarianceHistory::onInitialize() | ||
| { | ||
| MFDClass::onInitialize(); | ||
| lines_ = std::make_unique<rviz_rendering::BillboardLine>(scene_manager_, scene_node_); | ||
| } | ||
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| void PoseWithCovarianceHistory::onEnable() | ||
| { | ||
| subscribe(); | ||
| } | ||
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| void PoseWithCovarianceHistory::onDisable() | ||
| { | ||
| unsubscribe(); | ||
| } | ||
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| void PoseWithCovarianceHistory::update(float wall_dt, float ros_dt) | ||
| { | ||
| (void)wall_dt; | ||
| (void)ros_dt; | ||
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| if (!history_.empty()) { | ||
| lines_->clear(); | ||
| arrows_.clear(); | ||
| spheres_.clear(); | ||
| updateShapeType(); | ||
| updateShapes(); | ||
| } | ||
| } | ||
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| void PoseWithCovarianceHistory::subscribe() | ||
| { | ||
| MFDClass::subscribe(); | ||
| } | ||
|
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| void PoseWithCovarianceHistory::unsubscribe() | ||
| { | ||
| MFDClass::unsubscribe(); | ||
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| history_.clear(); | ||
| lines_->clear(); | ||
| arrows_.clear(); | ||
| spheres_.clear(); | ||
| } | ||
|
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| void PoseWithCovarianceHistory::updateShapeType() | ||
| { | ||
| bool is_line = property_shape_type_->getOptionInt() == 0; | ||
| bool is_arrow = property_shape_type_->getOptionInt() == 1; | ||
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| property_line_width_->setHidden(!is_line); | ||
| property_line_alpha_->setHidden(!is_line); | ||
| property_line_color_->setHidden(!is_line); | ||
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| property_arrow_shaft_length_->setHidden(!is_arrow); | ||
| property_arrow_shaft_diameter_->setHidden(!is_arrow); | ||
| property_arrow_head_length_->setHidden(!is_arrow); | ||
| property_arrow_head_diameter_->setHidden(!is_arrow); | ||
| property_arrow_alpha_->setHidden(!is_arrow); | ||
| property_arrow_color_->setHidden(!is_arrow); | ||
| } | ||
|
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| void PoseWithCovarianceHistory::processMessage( | ||
| const geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr message) | ||
| { | ||
| if ( | ||
| !rviz_common::validateFloats(message->pose.pose) || | ||
| !rviz_common::validateFloats(message->pose.covariance)) { | ||
| setStatus( | ||
| rviz_common::properties::StatusProperty::Error, "Topic", | ||
| "Message contained invalid floating point values (nans or infs)"); | ||
| return; | ||
| } | ||
| if (target_frame_ != message->header.frame_id) { | ||
| history_.clear(); | ||
| spheres_.clear(); | ||
| target_frame_ = message->header.frame_id; | ||
| } | ||
| history_.emplace_back(message); | ||
| last_stamp_ = message->header.stamp; | ||
| updateHistory(); | ||
| } | ||
|
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| void PoseWithCovarianceHistory::updateHistory() | ||
| { | ||
| const auto buffer_size = static_cast<size_t>(property_buffer_size_->getInt()); | ||
| while (buffer_size < history_.size()) { | ||
| history_.pop_front(); | ||
| } | ||
| } | ||
|
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| void PoseWithCovarianceHistory::updateShapes() | ||
| { | ||
| int shape_type = property_shape_type_->getOptionInt(); | ||
| Ogre::ColourValue color_line = | ||
| rviz_common::properties::qtToOgre(property_line_color_->getColor()); | ||
| color_line.a = property_line_alpha_->getFloat(); | ||
| Ogre::ColourValue color_sphere = | ||
| rviz_common::properties::qtToOgre(property_sphere_color_->getColor()); | ||
| color_sphere.a = property_sphere_alpha_->getFloat(); | ||
| Ogre::ColourValue color_arrow = | ||
| rviz_common::properties::qtToOgre(property_arrow_color_->getColor()); | ||
| color_arrow.a = property_arrow_alpha_->getFloat(); | ||
|
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| Ogre::Vector3 line_position; | ||
| Ogre::Quaternion line_orientation; | ||
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| auto frame_manager = context_->getFrameManager(); | ||
| if (!frame_manager->getTransform(target_frame_, last_stamp_, line_position, line_orientation)) { | ||
| setMissingTransformToFixedFrame(target_frame_); | ||
| return; | ||
| } | ||
|
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| setTransformOk(); | ||
| lines_->setMaxPointsPerLine(history_.size()); | ||
| lines_->setLineWidth(property_line_width_->getFloat()); | ||
| lines_->setPosition(line_position); | ||
| lines_->setOrientation(line_orientation); | ||
| lines_->setColor(color_line.r, color_line.g, color_line.b, color_line.a); | ||
|
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| while (spheres_.size() < history_.size()) { | ||
| spheres_.emplace_back(std::make_unique<rviz_rendering::Shape>( | ||
| rviz_rendering::Shape::Sphere, scene_manager_, scene_node_)); | ||
| } | ||
| while (arrows_.size() < history_.size()) { | ||
| arrows_.emplace_back(std::make_unique<rviz_rendering::Arrow>(scene_manager_, scene_node_)); | ||
| } | ||
|
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| for (size_t i = 0; i < history_.size(); ++i) { | ||
| const auto & message = history_[i]; | ||
|
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| Ogre::Vector3 position; | ||
| position.x = message->pose.pose.position.x; | ||
| position.y = message->pose.pose.position.y; | ||
| position.z = message->pose.pose.position.z; | ||
|
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| Ogre::Quaternion orientation; | ||
| orientation.w = message->pose.pose.orientation.w; | ||
| orientation.x = message->pose.pose.orientation.x; | ||
| orientation.y = message->pose.pose.orientation.y; | ||
| orientation.z = message->pose.pose.orientation.z; | ||
|
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| Eigen::Matrix3d covariance_3d_map; | ||
| covariance_3d_map(0, 0) = message->pose.covariance[0]; | ||
| covariance_3d_map(0, 1) = message->pose.covariance[1 + 6 * 0]; | ||
| covariance_3d_map(0, 2) = message->pose.covariance[2 + 6 * 0]; | ||
| covariance_3d_map(1, 0) = message->pose.covariance[1 + 6 * 0]; | ||
| covariance_3d_map(1, 1) = message->pose.covariance[1 + 6 * 1]; | ||
| covariance_3d_map(1, 2) = message->pose.covariance[2 + 6 * 1]; | ||
| covariance_3d_map(2, 0) = message->pose.covariance[0 + 6 * 2]; | ||
| covariance_3d_map(2, 1) = message->pose.covariance[1 + 6 * 2]; | ||
| covariance_3d_map(2, 2) = message->pose.covariance[2 + 6 * 2]; | ||
|
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| if (property_sphere_view_->getBool()) { | ||
| Eigen::Matrix3d covariance_3d_base_link; | ||
| Eigen::Translation3f translation( | ||
| message->pose.pose.position.x, message->pose.pose.position.y, | ||
| message->pose.pose.position.z); | ||
| Eigen::Quaternionf rotation( | ||
| message->pose.pose.orientation.w, message->pose.pose.orientation.x, | ||
| message->pose.pose.orientation.y, message->pose.pose.orientation.z); | ||
| Eigen::Matrix4f pose_matrix4f = (translation * rotation).matrix(); | ||
| const Eigen::Matrix3d rot = pose_matrix4f.topLeftCorner<3, 3>().cast<double>(); | ||
| covariance_3d_base_link = rot.transpose() * covariance_3d_map * rot; | ||
|
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| auto & sphere = spheres_[i]; | ||
| sphere->setPosition(position); | ||
| sphere->setOrientation(orientation); | ||
| sphere->setColor(color_sphere.r, color_sphere.g, color_sphere.b, color_sphere.a); | ||
| sphere->setScale(Ogre::Vector3( | ||
| property_sphere_scale_->getFloat() * 2 * std::sqrt(covariance_3d_base_link(0, 0)), | ||
| property_sphere_scale_->getFloat() * 2 * std::sqrt(covariance_3d_base_link(1, 1)), | ||
| property_sphere_scale_->getFloat() * 2 * std::sqrt(covariance_3d_base_link(2, 2)))); | ||
| } | ||
|
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| if (property_path_view_->getBool()) { | ||
| if (shape_type == 0) { | ||
| lines_->addPoint(position); | ||
| } | ||
| if (shape_type == 1) { | ||
| auto & arrow = arrows_[i]; | ||
| arrow->set( | ||
| property_arrow_shaft_length_->getFloat(), property_arrow_shaft_diameter_->getFloat(), | ||
| property_arrow_head_length_->getFloat(), property_arrow_head_diameter_->getFloat()); | ||
| arrow->setPosition(position); | ||
| Ogre::Quaternion y90(Ogre::Degree(-90), Ogre::Vector3::UNIT_Y); | ||
| arrow->setOrientation(orientation * y90); | ||
| arrow->setColor(color_arrow.r, color_arrow.g, color_arrow.b, color_arrow.a); | ||
| } | ||
| } | ||
| } | ||
| } | ||
|
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| } // namespace rviz_plugins | ||
|
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| #include <pluginlib/class_list_macros.hpp> | ||
| PLUGINLIB_EXPORT_CLASS(rviz_plugins::PoseWithCovarianceHistory, rviz_common::Display) |
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