From 9aad8ce26074bc8e2c27819d974088c5bf2565ba Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Fri, 26 Aug 2022 15:38:39 +0200
Subject: [PATCH 01/44] Add dependency from dynamic scene provider to RobotAPI
to use ukfm
---
.../navigation/components/dynamic_scene_provider/CMakeLists.txt | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
index e061ea23..70f871f1 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
+++ b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
@@ -20,7 +20,7 @@ armarx_add_component(dynamic_scene_provider
## ArmarXCoreComponentPlugins # For DebugObserver plugin.
# ArmarXGui
## ArmarXGuiComponentPlugins # For RemoteGui plugin.
- # RobotAPI
+ RobotAPI
armem
armem_robot
armem_robot_state
--
GitLab
From 686e36019cb434f529002cb34c67ef239a6dd371 Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Fri, 26 Aug 2022 18:05:11 +0200
Subject: [PATCH 02/44] Correct dependency from RobotAPI to ukfm
---
.../components/dynamic_scene_provider/CMakeLists.txt | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
index 70f871f1..f3cedc48 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
+++ b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
@@ -20,7 +20,8 @@ armarx_add_component(dynamic_scene_provider
## ArmarXCoreComponentPlugins # For DebugObserver plugin.
# ArmarXGui
## ArmarXGuiComponentPlugins # For RemoteGui plugin.
- RobotAPI
+ # RobotAPI
+ ukfm
armem
armem_robot
armem_robot_state
--
GitLab
From ef08c59792fb860f9b4e535ddd5ef85695750d42 Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Fri, 26 Aug 2022 18:05:48 +0200
Subject: [PATCH 03/44] Initialize new ukfm for every tracked human
---
.../dynamic_scene_provider/HumanTracker.cpp | 39 ++++++++++++++++++-
.../dynamic_scene_provider/HumanTracker.h | 6 +++
2 files changed, 43 insertions(+), 2 deletions(-)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
index 2196ad99..b405d696 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
+++ b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
@@ -11,6 +11,12 @@
namespace armarx::navigation::components::dynamic_scene_provider
{
+ //TODO which values are here good?
+ constexpr T acc_noise_std = 0.01;
+ constexpr T om_noise_std = 0.01;
+ constexpr T obs_noise_std = 0.01;
+ constexpr T initial_offset_angle = 0.0 * 10 * M_PI / 180;
+ const Vector initial_offset_pos = 0.5 * Vector(1, 0.7);
HumanTracker::DetectedHuman
convertHumanPoseToPosition(const DateTime& time, const armem::human::HumanPose& humanPose)
@@ -71,12 +77,41 @@ namespace armarx::navigation::components::dynamic_scene_provider
{
if (!detectedHuman.associated)
{
+ //initialize new human for detected human
human::Human human{.pose = detectedHuman.pose,
.linearVelocity = Eigen::Vector2f::Zero(),
.detectionTime = detectedHuman.detectionTime};
- trackedHumans.push_back(
- {.human = human, .trackingId = detectedHuman.trackingId, .associated = true});
+
+ //initialize new kalman filter for new detected human
+ UnscentedKalmanFilter<SystemModelT>::PropCovT Q =
+ UnscentedKalmanFilter<SystemModelT>::PropCovT::Identity();
+ Q.block<2, 2>(0, 0) *= acc_noise_std * acc_noise_std;
+ Q.block<1, 1>(2, 2) *= om_noise_std * om_noise_std;
+
+ UnscentedKalmanFilter<SystemModelT>::ObsCovT R =
+ UnscentedKalmanFilter<SystemModelT>::ObsCovT::Identity() * obs_noise_std *
+ obs_noise_std;
+
+ UnscentedKalmanFilter<SystemModelT>::StateCovT P0 =
+ UnscentedKalmanFilter<SystemModelT>::StateCovT::Identity();
+ P0.block<1, 1>(2, 2) *= initial_offset_angle * initial_offset_angle;
+ P0.block<2, 2>(0, 0) *= initial_offset_pos.norm() * initial_offset_pos.norm();
+
+ UnscentedKalmanFilter<SystemModelT>::AlphaT alpha =
+ UnscentedKalmanFilter<SystemModelT>::AlphaT::Ones() * 1e-3;
+
+ SystemModelT::StateT state0;
+ state0.position = initial_offset_pos;
+ state0.orientation = manif::SO2<T>{initial_offset_angle};
+
+ UnscentedKalmanFilter<SystemModelT> ukf{Q, R, alpha, state0, P0};
+
+ //add new tracked human to list of tracked humans
+ trackedHumans.push_back(TrackedHuman{.human = human,
+ .ukf = ukf,
+ .trackingId = detectedHuman.trackingId,
+ .associated = true});
}
}
}
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h
index 9146a798..cb14edaa 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h
+++ b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h
@@ -3,6 +3,8 @@
#include <ArmarXCore/core/time.h>
+#include "RobotAPI/libraries/ukfm/UnscentedKalmanFilter.h"
+
#include "VisionX/libraries/armem_human/types.h"
#include "armarx/navigation/core/basic_types.h"
@@ -10,6 +12,9 @@
namespace armarx::navigation::components::dynamic_scene_provider
{
+ using T = double; //TODO double or float?
+ using Vector = Eigen::Matrix<T, 2, 1>;
+ using SystemModelT = SystemModelSO2xR2<T>;
class HumanTracker
{
@@ -33,6 +38,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
struct TrackedHuman
{
human::Human human;
+ UnscentedKalmanFilter<SystemModelT> ukf;
std::optional<std::string> trackingId = std::nullopt;
bool associated;
};
--
GitLab
From 08d7c37779314796ee94ad4a588309bd64b83fef Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Fri, 26 Aug 2022 18:06:47 +0200
Subject: [PATCH 04/44] Move system models into dynamic scene provider
---
.../dynamic_scene_provider/CMakeLists.txt | 3 +
.../HumanSystemModel.cpp | 60 ++++++++++++++
.../dynamic_scene_provider/HumanSystemModel.h | 78 +++++++++++++++++++
3 files changed, 141 insertions(+)
create mode 100644 source/armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.cpp
create mode 100644 source/armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.h
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
index e061ea23..308c3b01 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
+++ b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
@@ -10,10 +10,12 @@ armarx_add_component(dynamic_scene_provider
Component.cpp
ArVizDrawer.cpp
HumanTracker.cpp
+ HumanSystemModel.cpp
HEADERS
Component.h
ArVizDrawer.h
HumanTracker.h
+ HumanSystemModel.h
DEPENDENCIES
# ArmarXCore
ArmarXCore
@@ -21,6 +23,7 @@ armarx_add_component(dynamic_scene_provider
# ArmarXGui
## ArmarXGuiComponentPlugins # For RemoteGui plugin.
# RobotAPI
+ ukfm
armem
armem_robot
armem_robot_state
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.cpp b/source/armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.cpp
new file mode 100644
index 00000000..684026bd
--- /dev/null
+++ b/source/armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.cpp
@@ -0,0 +1,60 @@
+#include "HumanSystemModel.h"
+
+namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
+{
+
+ // ------------------------------ SO2xR2 -----------------------------------------
+
+ template <typename floatT>
+ typename SystemModelSO2xR2<floatT>::ObsT
+ SystemModelSO2xR2<floatT>::observationFunction(const SystemModelSO2xR2::StateT& state)
+ {
+ ObsT observation;
+ observation.segment(0, 2) = state.position;
+ observation.segment(2, 1) = state.orientation.log().coeffs();
+ return observation;
+ }
+
+ template <typename floatT>
+ typename SystemModelSO2xR2<floatT>::StateT
+ SystemModelSO2xR2<floatT>::propagationFunction(const SystemModelSO2xR2::StateT& state,
+ const SystemModelSO2xR2::ControlT& control,
+ const SystemModelSO2xR2::ControlNoiseT& noise,
+ FloatT dt)
+ {
+ StateT new_state;
+ new_state.orientation = state.orientation.template rplus(control.angular_velocity * dt);
+ new_state.position = state.position + control.euclidean_velocity * dt;
+ return new_state;
+ }
+
+ template <typename floatT>
+ typename SystemModelSO2xR2<floatT>::StateT
+ SystemModelSO2xR2<floatT>::retraction(const SystemModelSO2xR2::StateT& state,
+ const SystemModelSO2xR2::SigmaPointsT& sigmaPoints)
+ {
+ StateT new_state;
+ manif::SO2Tangent<FloatT> tan;
+ tan.coeffs() << sigmaPoints.segment(2, 1);
+ new_state.orientation = state.orientation.lplus(tan);
+
+ new_state.position = state.position + sigmaPoints.segment(0, 2);
+ return new_state;
+ }
+
+ template <typename floatT>
+ typename SystemModelSO2xR2<floatT>::SigmaPointsT
+ SystemModelSO2xR2<floatT>::inverseRetraction(const SystemModelSO2xR2::StateT& state1,
+ const SystemModelSO2xR2::StateT& state2)
+ {
+ SigmaPointsT sigma;
+ // TODO: check if right order of substraction
+ sigma.segment(0, 2) = state1.position - state2.position;
+ sigma.segment(2, 1) = state2.orientation.lminus(state1.orientation).coeffs();
+ return sigma;
+ }
+
+ template struct SystemModelSO2xR2<float>;
+ template struct SystemModelSO2xR2<double>;
+
+} // namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.h b/source/armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.h
new file mode 100644
index 00000000..05ae031d
--- /dev/null
+++ b/source/armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.h
@@ -0,0 +1,78 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Tobias Gröger ( tobias dot groeger at student dot kit dot edu )
+ * @author Corvin Navarro Ecker ( corvin dot ecker at student dot kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#pragma once
+
+#include <RobotAPI/libraries/ukfm/SystemModel.h>
+
+#include <manif/SO2.h>
+
+namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
+{
+ //----------- SO2xR2 -----------------
+
+ template <typename floatT>
+ struct StateSO2xR2
+ {
+ manif::SO2<floatT> orientation;
+ Eigen::Matrix<floatT, 2, 1> position;
+ };
+
+ template <typename floatT>
+ struct ControlSO2xR2
+ {
+ typename manif::SO2<floatT>::Tangent angular_velocity;
+ Eigen::Matrix<floatT, 2, 1> euclidean_velocity;
+ };
+
+ template <typename floatT>
+ struct SystemModelSO2xR2
+ {
+ static_assert(std::is_floating_point_v<floatT>);
+ struct dim
+ {
+ static constexpr long state = 3, control = 3, obs = 3;
+ };
+
+ using FloatT = floatT;
+ using StateT = StateSO2xR2<FloatT>;
+ using ControlT = ControlSO2xR2<FloatT>;
+ using ObsT = Eigen::Matrix<FloatT, dim::obs, 1>;
+ using ControlNoiseT = Eigen::
+ Matrix<FloatT, dim::control, 1>; // todo: correct name? Is it the same as ControlT?
+ using SigmaPointsT = Eigen::Matrix<FloatT, dim::state, 1>; // todo: rename
+
+ static ObsT observationFunction(const StateT& state);
+
+ static StateT propagationFunction(const StateT& state,
+ const ControlT& control,
+ const ControlNoiseT& noise,
+ FloatT dt);
+
+ static StateT retraction(const StateT& state, const SigmaPointsT& sigmaPoints);
+
+ static SigmaPointsT inverseRetraction(const StateT& state1, const StateT& state2);
+ };
+
+ extern template struct SystemModelSO2xR2<float>;
+ extern template struct SystemModelSO2xR2<double>;
+
+} // namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
--
GitLab
From dce40c6bc3ec2222cc2c661fa1f5baccafec849d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Fri, 26 Aug 2022 18:07:21 +0200
Subject: [PATCH 05/44] Setup test for kalman filter
---
.../dynamic_scene_provider/CMakeLists.txt | 8 +++++
.../test/kalmanFilterTest.cpp | 30 +++++++++++++++++++
2 files changed, 38 insertions(+)
create mode 100644 source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
index 308c3b01..b1f2efeb 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
+++ b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
@@ -46,3 +46,11 @@ armarx_add_component(dynamic_scene_provider
# If you need a separate shared component library you can enable it with the following flag.
# SHARED_COMPONENT_LIBRARY
)
+
+armarx_add_test(kalman_test
+ TEST_FILES
+ test/kalmanFilterTest.cpp
+ DEPENDENCIES
+ PUBLIC
+ ArmarXCore
+)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp b/source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp
new file mode 100644
index 00000000..8ec2e970
--- /dev/null
+++ b/source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp
@@ -0,0 +1,30 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Tobias Gröger ( tobias dot groeger at student dot kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE Navigation::ArmarXLibraries::dynamic_scene_provicer
+#define ARMARX_BOOST_TEST
+
+#include <armarx/navigation/Test.h>
+
+BOOST_AUTO_TEST_CASE(kalmanFilterTest)
+{
+ BOOST_CHECK_EQUAL(true, true);
+}
--
GitLab
From 0fbc1a2dcc521f32372a2f307a578064fc805827 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Fri, 26 Aug 2022 18:53:23 +0200
Subject: [PATCH 06/44] Fix SystemModels include includess
---
.../components/dynamic_scene_provider/CMakeLists.txt | 1 +
.../components/dynamic_scene_provider/HumanTracker.h | 3 ++-
.../UnscentedKalmanFilter_impl.cpp | 9 +++++++++
3 files changed, 12 insertions(+), 1 deletion(-)
create mode 100644 source/armarx/navigation/components/dynamic_scene_provider/UnscentedKalmanFilter_impl.cpp
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
index b1f2efeb..6897cc65 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
+++ b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
@@ -11,6 +11,7 @@ armarx_add_component(dynamic_scene_provider
ArVizDrawer.cpp
HumanTracker.cpp
HumanSystemModel.cpp
+ UnscentedKalmanFilter_impl.cpp
HEADERS
Component.h
ArVizDrawer.h
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h
index cb14edaa..30cb4dfe 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h
+++ b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h
@@ -9,12 +9,13 @@
#include "armarx/navigation/core/basic_types.h"
#include "armarx/navigation/human/types.h"
+#include <armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.h>
namespace armarx::navigation::components::dynamic_scene_provider
{
using T = double; //TODO double or float?
using Vector = Eigen::Matrix<T, 2, 1>;
- using SystemModelT = SystemModelSO2xR2<T>;
+ using SystemModelT = kalman_filter::SystemModelSO2xR2<T>;
class HumanTracker
{
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/UnscentedKalmanFilter_impl.cpp b/source/armarx/navigation/components/dynamic_scene_provider/UnscentedKalmanFilter_impl.cpp
new file mode 100644
index 00000000..6242d973
--- /dev/null
+++ b/source/armarx/navigation/components/dynamic_scene_provider/UnscentedKalmanFilter_impl.cpp
@@ -0,0 +1,9 @@
+#include <RobotAPI/libraries/ukfm/UnscentedKalmanFilter.cpp>
+
+#include <armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.h>
+
+
+template class UnscentedKalmanFilter<armarx::navigation::components::dynamic_scene_provider::
+ kalman_filter::SystemModelSO2xR2<float>>;
+template class UnscentedKalmanFilter<armarx::navigation::components::dynamic_scene_provider::
+ kalman_filter::SystemModelSO2xR2<double>>;
--
GitLab
From cb29d4b21c0e4470e35bc8b202de14985dd0cf59 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Fri, 26 Aug 2022 18:55:12 +0200
Subject: [PATCH 07/44] Use angled-bracket includes
---
.../components/dynamic_scene_provider/HumanTracker.h | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h
index 30cb4dfe..77a10ab3 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h
+++ b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h
@@ -3,13 +3,13 @@
#include <ArmarXCore/core/time.h>
-#include "RobotAPI/libraries/ukfm/UnscentedKalmanFilter.h"
+#include <RobotAPI/libraries/ukfm/UnscentedKalmanFilter.h>
-#include "VisionX/libraries/armem_human/types.h"
+#include <VisionX/libraries/armem_human/types.h>
-#include "armarx/navigation/core/basic_types.h"
-#include "armarx/navigation/human/types.h"
#include <armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.h>
+#include <armarx/navigation/core/basic_types.h>
+#include <armarx/navigation/human/types.h>
namespace armarx::navigation::components::dynamic_scene_provider
{
--
GitLab
From 90b010919b5e67d3fa4a5109f8c1d62a5a3751aa Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Fri, 26 Aug 2022 21:15:33 +0200
Subject: [PATCH 08/44] Move HumanSystemModel to human library
---
.../components/dynamic_scene_provider/CMakeLists.txt | 5 +----
source/armarx/navigation/human/CMakeLists.txt | 4 ++++
.../dynamic_scene_provider => human}/HumanSystemModel.cpp | 4 ++--
.../dynamic_scene_provider => human}/HumanSystemModel.h | 2 --
.../UnscentedKalmanFilter_impl.cpp | 0
5 files changed, 7 insertions(+), 8 deletions(-)
rename source/armarx/navigation/{components/dynamic_scene_provider => human}/HumanSystemModel.cpp (95%)
rename source/armarx/navigation/{components/dynamic_scene_provider => human}/HumanSystemModel.h (98%)
rename source/armarx/navigation/{components/dynamic_scene_provider => human}/UnscentedKalmanFilter_impl.cpp (100%)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
index 6897cc65..ed763369 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
+++ b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
@@ -10,13 +10,10 @@ armarx_add_component(dynamic_scene_provider
Component.cpp
ArVizDrawer.cpp
HumanTracker.cpp
- HumanSystemModel.cpp
- UnscentedKalmanFilter_impl.cpp
HEADERS
Component.h
ArVizDrawer.h
HumanTracker.h
- HumanSystemModel.h
DEPENDENCIES
# ArmarXCore
ArmarXCore
@@ -24,7 +21,6 @@ armarx_add_component(dynamic_scene_provider
# ArmarXGui
## ArmarXGuiComponentPlugins # For RemoteGui plugin.
# RobotAPI
- ukfm
armem
armem_robot
armem_robot_state
@@ -54,4 +50,5 @@ armarx_add_test(kalman_test
DEPENDENCIES
PUBLIC
ArmarXCore
+ armarx_navigation::teb_human
)
diff --git a/source/armarx/navigation/human/CMakeLists.txt b/source/armarx/navigation/human/CMakeLists.txt
index c0a1b74e..9e357d43 100644
--- a/source/armarx/navigation/human/CMakeLists.txt
+++ b/source/armarx/navigation/human/CMakeLists.txt
@@ -11,15 +11,19 @@ armarx_add_library(teb_human
ArmarXCore
armarx_navigation::core
armarx_navigation::conversions
+ ukfm
DEPENDENCIES_PRIVATE
range-v3::range-v3
SOURCES
types.cpp
aron_conversions.cpp
ProxemicZoneCreator.cpp
+ HumanSystemModel.cpp
+ UnscentedKalmanFilter_impl.cpp
HEADERS
types.h
aron_conversions.h
shapes.h
ProxemicZoneCreator.h
+ HumanSystemModel.h
)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.cpp b/source/armarx/navigation/human/HumanSystemModel.cpp
similarity index 95%
rename from source/armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.cpp
rename to source/armarx/navigation/human/HumanSystemModel.cpp
index 684026bd..4d5e86c9 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.cpp
+++ b/source/armarx/navigation/human/HumanSystemModel.cpp
@@ -10,8 +10,8 @@ namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
SystemModelSO2xR2<floatT>::observationFunction(const SystemModelSO2xR2::StateT& state)
{
ObsT observation;
- observation.segment(0, 2) = state.position;
- observation.segment(2, 1) = state.orientation.log().coeffs();
+ observation.segment(0, 1) = state.orientation.log().coeffs();
+ observation.segment(1, 2) = state.position;
return observation;
}
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.h b/source/armarx/navigation/human/HumanSystemModel.h
similarity index 98%
rename from source/armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.h
rename to source/armarx/navigation/human/HumanSystemModel.h
index 05ae031d..fc0b8658 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.h
+++ b/source/armarx/navigation/human/HumanSystemModel.h
@@ -21,8 +21,6 @@
*/
#pragma once
-#include <RobotAPI/libraries/ukfm/SystemModel.h>
-
#include <manif/SO2.h>
namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/UnscentedKalmanFilter_impl.cpp b/source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp
similarity index 100%
rename from source/armarx/navigation/components/dynamic_scene_provider/UnscentedKalmanFilter_impl.cpp
rename to source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp
--
GitLab
From 1458fbfdd8dd6d0117d3fc33235c0d51108900dd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Fri, 26 Aug 2022 21:16:27 +0200
Subject: [PATCH 09/44] Implement basic kalman filter test
---
.../test/kalmanFilterTest.cpp | 221 +++++++++++++++++-
1 file changed, 218 insertions(+), 3 deletions(-)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp b/source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp
index 8ec2e970..38909a91 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp
+++ b/source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp
@@ -22,9 +22,224 @@
#define BOOST_TEST_MODULE Navigation::ArmarXLibraries::dynamic_scene_provicer
#define ARMARX_BOOST_TEST
+#include <cstdlib> /* srand, rand */
+#include <ctime> /* time */
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/util/time.h>
+
+#include <RobotAPI/libraries/ukfm/UnscentedKalmanFilter.h>
+
#include <armarx/navigation/Test.h>
+#include <armarx/navigation/components/dynamic_scene_provider/sciplot/sciplot.hpp>
+#include <armarx/navigation/human/HumanSystemModel.h>
+#include <manif/SO2.h>
+
-BOOST_AUTO_TEST_CASE(kalmanFilterTest)
+namespace armarx::navigation::components::dynamic_scene_provider
{
- BOOST_CHECK_EQUAL(true, true);
-}
+ using T = double; //TODO double or float?
+ using Vector = Eigen::Matrix<T, 2, 1>;
+ using SystemModelT = kalman_filter::SystemModelSO2xR2<T>;
+
+ constexpr long num_timesteps = 3000;
+ constexpr T max_time = 1;
+ constexpr T dt = max_time / num_timesteps;
+ constexpr T c = (1 / max_time) * 2 * M_PI; // rotation per time
+
+ constexpr T rot_noise_std = 0.01;
+ constexpr T pos_noise_std = 0.01;
+ constexpr T obs_noise_std = 0.01;
+ constexpr T initial_offset_angle = 0.0 * 10 * M_PI / 180;
+ const Vector initial_offet_pos = 0.5 * Vector(1, 0.5);
+
+
+ void
+ simulate_trajectory(std::vector<SystemModelT::StateT>& states,
+ std::vector<SystemModelT::ControlT>& omegas)
+ {
+ SystemModelT::StateT state;
+ state.position = Vector{1, 0};
+ state.orientation = manif::SO2<T>(0);
+ states.push_back(state);
+
+ for (int i = 1; i < num_timesteps; i++)
+ {
+ const T t = dt * i;
+ const T angle = t * c;
+
+
+ const Vector last_pos = states.at(i - 1).position;
+ const Vector pos(std::cos(angle), std::sin(angle));
+
+ BOOST_TEST(((last_pos - pos).norm() < 0.1),
+ "position differs too much from last step: " << (last_pos - pos).norm());
+
+ SystemModelT::ControlT control;
+ control.angular_velocity.coeffs() << angle / dt;
+ control.euclidean_velocity << (pos - last_pos) / dt;
+
+ const SystemModelT::StateT propagated = SystemModelT::propagationFunction(
+ state, control, SystemModelT::ControlNoiseT::Zero(), dt);
+
+ T pos_diff1 = (propagated.position - pos).norm();
+ BOOST_TEST(pos_diff1 < 2e-5,
+ "propagated position differs too much from real position: " << pos_diff1);
+
+ state.position = pos;
+ state.orientation = manif::SO2<T>(angle);
+ states.push_back(propagated);
+
+
+ // add noise
+ control.angular_velocity.coeffs() += rot_noise_std * Eigen::Matrix<T, 1, 1>::Random();
+ control.euclidean_velocity += pos_noise_std * Vector::Random();
+ omegas.push_back(control);
+ }
+ }
+
+ void
+ simulate_observation(const std::vector<SystemModelT::StateT>& states,
+ std::vector<SystemModelT::ObsT>& observations)
+ {
+ for (const auto& state : states)
+ {
+ SystemModelT::ObsT obs = SystemModelT::observationFunction(state);
+ SystemModelT::ObsT true_obs;
+ true_obs.segment(0, 1) = state.orientation.log().coeffs();
+ true_obs.segment(1, 2) = state.position;
+
+ BOOST_TEST(
+ (obs - true_obs).norm() < std::numeric_limits<T>::epsilon(),
+ "observation differs too much from real observation: " << (obs - true_obs).norm());
+ observations.push_back(obs + obs_noise_std * SystemModelT::ObsT::Random());
+ }
+ }
+
+
+ BOOST_AUTO_TEST_CASE(kalmanFilterTest)
+ {
+ srand(time(NULL));
+
+ std::vector<SystemModelT::StateT> states;
+ std::vector<SystemModelT::ControlT> omegas;
+ std::vector<SystemModelT::ObsT> observations;
+ simulate_trajectory(states, omegas);
+ simulate_observation(states, observations);
+
+ ARMARX_INFO << "Num States: " << states.size() << " Num Controls: " << omegas.size()
+ << " Num Obs: " << observations.size();
+
+ UnscentedKalmanFilter<SystemModelT>::PropCovT Q =
+ UnscentedKalmanFilter<SystemModelT>::PropCovT::Identity();
+ Q.block<1, 1>(0, 0) *= rot_noise_std * rot_noise_std;
+ Q.block<2, 2>(1, 1) *= pos_noise_std * pos_noise_std;
+
+ UnscentedKalmanFilter<SystemModelT>::ObsCovT R =
+ UnscentedKalmanFilter<SystemModelT>::ObsCovT::Identity() * obs_noise_std *
+ obs_noise_std;
+ UnscentedKalmanFilter<SystemModelT>::StateCovT P0 =
+ UnscentedKalmanFilter<SystemModelT>::StateCovT::Identity();
+ P0.block<1, 1>(0, 0) *= initial_offset_angle * initial_offset_angle;
+ P0.block<2, 2>(1, 1) *= initial_offet_pos.norm() * initial_offet_pos.norm();
+
+ UnscentedKalmanFilter<SystemModelT>::AlphaT alpha =
+ UnscentedKalmanFilter<SystemModelT>::AlphaT::Ones() * 1e-3;
+
+ SystemModelT::StateT state0;
+ state0.orientation = manif::SO2<T>(initial_offset_angle);
+ state0.position = states.at(0).position + initial_offet_pos;
+
+ UnscentedKalmanFilter<SystemModelT> ukf(Q, R, alpha, state0, P0);
+
+ std::vector<SystemModelT::StateT> ukf_states;
+ std::vector<UnscentedKalmanFilter<SystemModelT>::StateCovT> ukf_Ps;
+ ukf_states.push_back(state0);
+ ukf_Ps.push_back(P0);
+
+ std::vector<T> x_true, y_true, x_obs, y_obs, x_ukf, y_ukf;
+ std::vector<T> vx_true, vy_true, vx_ukf, vy_ukf;
+ std::vector<T> a_true, a_obs, a_ukf;
+
+ for (int i = 1; i < num_timesteps; i++)
+ {
+ // propagate
+ TIMING_START(LOOP);
+ TIMING_START(PROPAGATION);
+ ukf.propagation(omegas.at(i - 1), dt);
+ TIMING_END(PROPAGATION);
+ if ((i - 1) % 100 == 0)
+ {
+ TIMING_START(UPDATE);
+ ukf.update(observations.at(i));
+ TIMING_END(UPDATE);
+ TIMING_START(REST);
+ const SystemModelT::StateT& current_state = ukf.getCurrentState();
+
+ BOOST_TEST_MESSAGE(
+ "Position Diff: " << (states.at(i).position - current_state.position).norm());
+ BOOST_TEST_MESSAGE(
+ "Orientation Diff: "
+ << (states.at(i).orientation - current_state.orientation).coeffs().norm());
+
+ BOOST_TEST_MESSAGE("Max Cov "
+ << ukf.getCurrentStateCovariance().cwiseAbs().maxCoeff());
+ BOOST_TEST_MESSAGE("Diag: " << (ukf.getCurrentStateCovariance() -
+ Eigen::Matrix<T, 3, 3>::Identity())
+ .norm());
+
+ x_true.push_back(states.at(i).position.x());
+ y_true.push_back(states.at(i).position.y());
+
+ x_obs.push_back(observations.at(i)(0));
+ y_obs.push_back(observations.at(i)(1));
+
+ x_ukf.push_back(ukf.getCurrentState().position.x());
+ y_ukf.push_back(ukf.getCurrentState().position.y());
+
+ a_true.push_back(states.at(i).orientation.log().coeffs()(0));
+ a_obs.push_back(observations.at(i)(0, 0));
+ a_ukf.push_back(ukf.getCurrentState().orientation.log().coeffs()(0));
+
+ TIMING_END(REST);
+ }
+
+ ukf_states.push_back(ukf.getCurrentState());
+ ukf_Ps.push_back(ukf.getCurrentStateCovariance());
+
+ TIMING_END(LOOP);
+ }
+
+ /*
+ sciplot::Plot3D position_plot;
+ sciplot::Plot pos_plot;
+
+ position_plot.drawCurve(x_true, y_true, z_true).label("True").lineWidth(1);
+ position_plot.drawCurve(x_obs, y_obs, z_obs).label("Obs").lineWidth(1);
+ position_plot.drawCurve(x_ukf, y_ukf, z_ukf).label("UKF").lineWidth(1);
+
+ pos_plot.drawCurve(x_true, y_true).label("True");
+ pos_plot.drawCurve(x_obs, y_obs).label("Obs");
+ pos_plot.drawCurve(x_ukf, y_ukf).label("UKF");
+
+ // sciplot::Plot3D vel_plot;
+ //
+ // vel_plot.drawCurve(vx_true, vy_true, vz_true).label("True").lineWidth(1);
+ // vel_plot.drawCurve(vx_ukf, vy_ukf, vz_ukf).label("UKF").lineWidth(1);
+
+
+ sciplot::Plot3D orientation_plot;
+
+ orientation_plot.drawCurve(a_true, b_true, c_true).label("True").lineWidth(1);
+ orientation_plot.drawCurve(a_obs, b_obs, c_obs).label("Obs").lineWidth(1);
+ orientation_plot.drawCurve(a_ukf, b_ukf, c_ukf).label("UKF").lineWidth(1);
+
+ pos_plot.show();
+ position_plot.show();
+ // vel_plot.show();
+ orientation_plot.show();
+ */
+ }
+
+} // namespace armarx::navigation::components::dynamic_scene_provider
--
GitLab
From 27901af5e61f492e9bdc3158b6b00ff7f882fd3b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Fri, 26 Aug 2022 21:19:43 +0200
Subject: [PATCH 10/44] Fix includes
---
.../navigation/components/dynamic_scene_provider/HumanTracker.h | 2 +-
source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h
index 77a10ab3..adb3bad7 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h
+++ b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h
@@ -7,8 +7,8 @@
#include <VisionX/libraries/armem_human/types.h>
-#include <armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.h>
#include <armarx/navigation/core/basic_types.h>
+#include <armarx/navigation/human/HumanSystemModel.h>
#include <armarx/navigation/human/types.h>
namespace armarx::navigation::components::dynamic_scene_provider
diff --git a/source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp b/source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp
index 6242d973..672e487f 100644
--- a/source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp
+++ b/source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp
@@ -1,6 +1,6 @@
#include <RobotAPI/libraries/ukfm/UnscentedKalmanFilter.cpp>
-#include <armarx/navigation/components/dynamic_scene_provider/HumanSystemModel.h>
+#include <armarx/navigation/human/HumanSystemModel.h>
template class UnscentedKalmanFilter<armarx::navigation::components::dynamic_scene_provider::
--
GitLab
From 05e740b7011945f3089fda17442ce3b766c042a7 Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Fri, 26 Aug 2022 21:47:22 +0200
Subject: [PATCH 11/44] Cleanup initialization of ukf
---
.../dynamic_scene_provider/HumanTracker.cpp | 32 ++++++++++++-------
1 file changed, 20 insertions(+), 12 deletions(-)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
index b405d696..3529987b 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
+++ b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
@@ -11,12 +11,12 @@
namespace armarx::navigation::components::dynamic_scene_provider
{
- //TODO which values are here good?
- constexpr T acc_noise_std = 0.01;
- constexpr T om_noise_std = 0.01;
+ //TODO which values are appropriate?
+ constexpr T pos_noise_std = 0.01;
+ constexpr T rot_noise_std = 0.01;
constexpr T obs_noise_std = 0.01;
- constexpr T initial_offset_angle = 0.0 * 10 * M_PI / 180;
- const Vector initial_offset_pos = 0.5 * Vector(1, 0.7);
+ constexpr T initial_pos_state_cov = 0.01;
+ constexpr T initial_rot_state_cov = 0.01;
HumanTracker::DetectedHuman
convertHumanPoseToPosition(const DateTime& time, const armem::human::HumanPose& humanPose)
@@ -82,28 +82,34 @@ namespace armarx::navigation::components::dynamic_scene_provider
.linearVelocity = Eigen::Vector2f::Zero(),
.detectionTime = detectedHuman.detectionTime};
-
//initialize new kalman filter for new detected human
+
UnscentedKalmanFilter<SystemModelT>::PropCovT Q =
UnscentedKalmanFilter<SystemModelT>::PropCovT::Identity();
- Q.block<2, 2>(0, 0) *= acc_noise_std * acc_noise_std;
- Q.block<1, 1>(2, 2) *= om_noise_std * om_noise_std;
+ //rotation noise at (0,0)
+ Q.block<1, 1>(0, 0) *= rot_noise_std * rot_noise_std;
+ //position noise at (1,1) and (2,2)
+ Q.block<2, 2>(1, 1) *= pos_noise_std * pos_noise_std;
+ //observation noise at (0,0), (1,1) and (2,2)
UnscentedKalmanFilter<SystemModelT>::ObsCovT R =
UnscentedKalmanFilter<SystemModelT>::ObsCovT::Identity() * obs_noise_std *
obs_noise_std;
UnscentedKalmanFilter<SystemModelT>::StateCovT P0 =
UnscentedKalmanFilter<SystemModelT>::StateCovT::Identity();
- P0.block<1, 1>(2, 2) *= initial_offset_angle * initial_offset_angle;
- P0.block<2, 2>(0, 0) *= initial_offset_pos.norm() * initial_offset_pos.norm();
+ P0.block<1, 1>(0, 0) *= initial_rot_state_cov * initial_rot_state_cov;
+ P0.block<2, 2>(1, 1) *= initial_pos_state_cov * initial_pos_state_cov;
UnscentedKalmanFilter<SystemModelT>::AlphaT alpha =
UnscentedKalmanFilter<SystemModelT>::AlphaT::Ones() * 1e-3;
+ //initial position and orientation according to detected human
SystemModelT::StateT state0;
- state0.position = initial_offset_pos;
- state0.orientation = manif::SO2<T>{initial_offset_angle};
+ //initialize with detected human pose position
+ state0.position = human.pose.translation();
+ //initialize with SO2 matrix according to detected human pose rotation
+ state0.orientation = manif::SO2<T>{Eigen::Rotation2Df(human.pose.linear()).angle()};
UnscentedKalmanFilter<SystemModelT> ukf{Q, R, alpha, state0, P0};
@@ -216,6 +222,8 @@ namespace armarx::navigation::components::dynamic_scene_provider
parameters.velocityAlpha * linVelocity +
(1 - parameters.velocityAlpha) * trackedHuman->human.linearVelocity;
+ //TODO extract new pose of tracked human from ukf after feeding the detected human
+
trackedHuman->human = {detectedHuman->pose, velocity, detectedHuman->detectionTime};
trackedHuman->trackingId = detectedHuman->trackingId;
}
--
GitLab
From 55ed9cb8b68f4919bafb9bd8f86c6ea5316debdf Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Fri, 26 Aug 2022 21:53:16 +0200
Subject: [PATCH 12/44] Add sciplot to test
To use sciplot it has to be installed locally. For example install it locally
like described in https://sciplot.github.io/installation/ under Installation using CMake.
---
.../dynamic_scene_provider/CMakeLists.txt | 3 ++
.../test/kalmanFilterTest.cpp | 43 ++++++++++---------
2 files changed, 26 insertions(+), 20 deletions(-)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
index ed763369..19def441 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
+++ b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
@@ -44,6 +44,8 @@ armarx_add_component(dynamic_scene_provider
# SHARED_COMPONENT_LIBRARY
)
+find_package(sciplot)
+
armarx_add_test(kalman_test
TEST_FILES
test/kalmanFilterTest.cpp
@@ -51,4 +53,5 @@ armarx_add_test(kalman_test
PUBLIC
ArmarXCore
armarx_navigation::teb_human
+ sciplot::sciplot
)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp b/source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp
index 38909a91..daad38bb 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp
+++ b/source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp
@@ -32,9 +32,9 @@
#include <RobotAPI/libraries/ukfm/UnscentedKalmanFilter.h>
#include <armarx/navigation/Test.h>
-#include <armarx/navigation/components/dynamic_scene_provider/sciplot/sciplot.hpp>
#include <armarx/navigation/human/HumanSystemModel.h>
#include <manif/SO2.h>
+#include <sciplot/sciplot.hpp>
namespace armarx::navigation::components::dynamic_scene_provider
@@ -211,35 +211,38 @@ namespace armarx::navigation::components::dynamic_scene_provider
TIMING_END(LOOP);
}
- /*
- sciplot::Plot3D position_plot;
- sciplot::Plot pos_plot;
- position_plot.drawCurve(x_true, y_true, z_true).label("True").lineWidth(1);
- position_plot.drawCurve(x_obs, y_obs, z_obs).label("Obs").lineWidth(1);
- position_plot.drawCurve(x_ukf, y_ukf, z_ukf).label("UKF").lineWidth(1);
+ sciplot::Plot2D pos_plot;
+ pos_plot.xlabel("x");
+ pos_plot.ylabel("y");
+ pos_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
pos_plot.drawCurve(x_true, y_true).label("True");
pos_plot.drawCurve(x_obs, y_obs).label("Obs");
pos_plot.drawCurve(x_ukf, y_ukf).label("UKF");
- // sciplot::Plot3D vel_plot;
- //
- // vel_plot.drawCurve(vx_true, vy_true, vz_true).label("True").lineWidth(1);
- // vel_plot.drawCurve(vx_ukf, vy_ukf, vz_ukf).label("UKF").lineWidth(1);
+ sciplot::Plot2D orientation_plot;
+ orientation_plot.xlabel("x");
+ orientation_plot.ylabel("y");
+ orientation_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
+ sciplot::Vec x = sciplot::linspace(0.0, 1.0, a_true.size());
+ orientation_plot.drawCurve(x, a_true).label("True").lineWidth(1);
+ orientation_plot.drawCurve(x, a_obs).label("Obs").lineWidth(1);
+ orientation_plot.drawCurve(x, a_ukf).label("UKF").lineWidth(1);
- sciplot::Plot3D orientation_plot;
- orientation_plot.drawCurve(a_true, b_true, c_true).label("True").lineWidth(1);
- orientation_plot.drawCurve(a_obs, b_obs, c_obs).label("Obs").lineWidth(1);
- orientation_plot.drawCurve(a_ukf, b_ukf, c_ukf).label("UKF").lineWidth(1);
+ // Create figure to hold plot
+ sciplot::Figure fig = {{pos_plot}, {orientation_plot}};
+ // Create canvas to hold figure
+ sciplot::Canvas canvas = {{fig}};
+ canvas.size(600, 600);
- pos_plot.show();
- position_plot.show();
- // vel_plot.show();
- orientation_plot.show();
- */
+ // Show the plot in a pop-up window
+ canvas.show();
+
+ // Save the plot to a PDF file
+ canvas.save("kalman_output.pdf");
}
} // namespace armarx::navigation::components::dynamic_scene_provider
--
GitLab
From fee3eacb4c791bf7be27f62d8bbaf247bc13fdd2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Fri, 26 Aug 2022 21:58:28 +0200
Subject: [PATCH 13/44] Fix Eigen cast
---
.../components/dynamic_scene_provider/HumanTracker.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
index 3529987b..04db3537 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
+++ b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
@@ -107,7 +107,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
//initial position and orientation according to detected human
SystemModelT::StateT state0;
//initialize with detected human pose position
- state0.position = human.pose.translation();
+ state0.position = human.pose.translation().cast<T>();
//initialize with SO2 matrix according to detected human pose rotation
state0.orientation = manif::SO2<T>{Eigen::Rotation2Df(human.pose.linear()).angle()};
--
GitLab
From 3429fd562e61af1497e990fd0bac8eed84b546a2 Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Fri, 26 Aug 2022 23:21:52 +0200
Subject: [PATCH 14/44] Add skeleton for HumanTracker::update() step using ukf
---
.../dynamic_scene_provider/HumanTracker.cpp | 11 ++++++++++-
1 file changed, 10 insertions(+), 1 deletion(-)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
index 04db3537..caf966bd 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
+++ b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
@@ -222,7 +222,16 @@ namespace armarx::navigation::components::dynamic_scene_provider
parameters.velocityAlpha * linVelocity +
(1 - parameters.velocityAlpha) * trackedHuman->human.linearVelocity;
- //TODO extract new pose of tracked human from ukf after feeding the detected human
+ //TODO initialize with velocity (control variables) from tracked human
+ UnscentedKalmanFilter<SystemModelT>::ControlT omega;
+ trackedHuman->ukf.propagation(omega, dt);
+
+ //TODO initialize with detected human data
+ UnscentedKalmanFilter<SystemModelT>::ObsT observation;
+ trackedHuman->ukf.update(observation);
+
+ //TODO use state as new pose of tracked human
+ UnscentedKalmanFilter<SystemModelT>::StateT state = trackedHuman->ukf.getCurrentState();
trackedHuman->human = {detectedHuman->pose, velocity, detectedHuman->detectionTime};
trackedHuman->trackingId = detectedHuman->trackingId;
--
GitLab
From 9b1b2100b8975126ae2713021d206ff83ad96b25 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Fri, 26 Aug 2022 23:21:56 +0200
Subject: [PATCH 15/44] Fix kalman test
---
.../test/kalmanFilterTest.cpp | 20 +++++++++----------
.../navigation/human/HumanSystemModel.cpp | 8 ++++----
2 files changed, 14 insertions(+), 14 deletions(-)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp b/source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp
index daad38bb..a2bc7c82 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp
+++ b/source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp
@@ -50,9 +50,9 @@ namespace armarx::navigation::components::dynamic_scene_provider
constexpr T rot_noise_std = 0.01;
constexpr T pos_noise_std = 0.01;
- constexpr T obs_noise_std = 0.01;
+ constexpr T obs_noise_std = 0.1;
constexpr T initial_offset_angle = 0.0 * 10 * M_PI / 180;
- const Vector initial_offet_pos = 0.5 * Vector(1, 0.5);
+ const Vector initial_offet_pos = 0.1 * Vector(1, 0.5);
void
@@ -68,16 +68,17 @@ namespace armarx::navigation::components::dynamic_scene_provider
{
const T t = dt * i;
const T angle = t * c;
-
+ const T last_angle = dt * (i - 1) * c;
const Vector last_pos = states.at(i - 1).position;
+ //const Vector pos(angle, std::cos(angle));
const Vector pos(std::cos(angle), std::sin(angle));
BOOST_TEST(((last_pos - pos).norm() < 0.1),
"position differs too much from last step: " << (last_pos - pos).norm());
SystemModelT::ControlT control;
- control.angular_velocity.coeffs() << angle / dt;
+ control.angular_velocity.coeffs() << (last_angle - angle) / dt;
control.euclidean_velocity << (pos - last_pos) / dt;
const SystemModelT::StateT propagated = SystemModelT::propagationFunction(
@@ -189,21 +190,20 @@ namespace armarx::navigation::components::dynamic_scene_provider
Eigen::Matrix<T, 3, 3>::Identity())
.norm());
- x_true.push_back(states.at(i).position.x());
- y_true.push_back(states.at(i).position.y());
-
- x_obs.push_back(observations.at(i)(0));
- y_obs.push_back(observations.at(i)(1));
+ x_obs.push_back(observations.at(i)(1));
+ y_obs.push_back(observations.at(i)(2));
x_ukf.push_back(ukf.getCurrentState().position.x());
y_ukf.push_back(ukf.getCurrentState().position.y());
a_true.push_back(states.at(i).orientation.log().coeffs()(0));
- a_obs.push_back(observations.at(i)(0, 0));
+ a_obs.push_back(observations.at(i)(0));
a_ukf.push_back(ukf.getCurrentState().orientation.log().coeffs()(0));
TIMING_END(REST);
}
+ x_true.push_back(states.at(i).position.x());
+ y_true.push_back(states.at(i).position.y());
ukf_states.push_back(ukf.getCurrentState());
ukf_Ps.push_back(ukf.getCurrentStateCovariance());
diff --git a/source/armarx/navigation/human/HumanSystemModel.cpp b/source/armarx/navigation/human/HumanSystemModel.cpp
index 4d5e86c9..1bc17e64 100644
--- a/source/armarx/navigation/human/HumanSystemModel.cpp
+++ b/source/armarx/navigation/human/HumanSystemModel.cpp
@@ -35,10 +35,10 @@ namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
{
StateT new_state;
manif::SO2Tangent<FloatT> tan;
- tan.coeffs() << sigmaPoints.segment(2, 1);
+ tan.coeffs() << sigmaPoints.segment(0, 1);
new_state.orientation = state.orientation.lplus(tan);
- new_state.position = state.position + sigmaPoints.segment(0, 2);
+ new_state.position = state.position + sigmaPoints.segment(1, 2);
return new_state;
}
@@ -49,8 +49,8 @@ namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
{
SigmaPointsT sigma;
// TODO: check if right order of substraction
- sigma.segment(0, 2) = state1.position - state2.position;
- sigma.segment(2, 1) = state2.orientation.lminus(state1.orientation).coeffs();
+ sigma.segment(0, 1) = state2.orientation.lminus(state1.orientation).coeffs();
+ sigma.segment(1, 2) = state1.position - state2.position;
return sigma;
}
--
GitLab
From 89cced53fbfb3fffe11070a09ad4b3d9448247fa Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Fri, 26 Aug 2022 23:23:23 +0200
Subject: [PATCH 16/44] Move kalman test to human library
---
.../components/dynamic_scene_provider/CMakeLists.txt | 12 ------------
source/armarx/navigation/human/CMakeLists.txt | 12 ++++++++++++
.../test/kalmanFilterTest.cpp | 2 +-
3 files changed, 13 insertions(+), 13 deletions(-)
rename source/armarx/navigation/{components/dynamic_scene_provider => human}/test/kalmanFilterTest.cpp (99%)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
index 19def441..e061ea23 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
+++ b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
@@ -43,15 +43,3 @@ armarx_add_component(dynamic_scene_provider
# If you need a separate shared component library you can enable it with the following flag.
# SHARED_COMPONENT_LIBRARY
)
-
-find_package(sciplot)
-
-armarx_add_test(kalman_test
- TEST_FILES
- test/kalmanFilterTest.cpp
- DEPENDENCIES
- PUBLIC
- ArmarXCore
- armarx_navigation::teb_human
- sciplot::sciplot
-)
diff --git a/source/armarx/navigation/human/CMakeLists.txt b/source/armarx/navigation/human/CMakeLists.txt
index 9e357d43..311fbcf3 100644
--- a/source/armarx/navigation/human/CMakeLists.txt
+++ b/source/armarx/navigation/human/CMakeLists.txt
@@ -27,3 +27,15 @@ armarx_add_library(teb_human
ProxemicZoneCreator.h
HumanSystemModel.h
)
+
+find_package(sciplot)
+
+armarx_add_test(kalman_test
+ TEST_FILES
+ test/kalmanFilterTest.cpp
+ DEPENDENCIES
+ PUBLIC
+ ArmarXCore
+ armarx_navigation::teb_human
+ sciplot::sciplot
+)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp b/source/armarx/navigation/human/test/kalmanFilterTest.cpp
similarity index 99%
rename from source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp
rename to source/armarx/navigation/human/test/kalmanFilterTest.cpp
index a2bc7c82..44971454 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/test/kalmanFilterTest.cpp
+++ b/source/armarx/navigation/human/test/kalmanFilterTest.cpp
@@ -19,7 +19,7 @@
* GNU General Public License
*/
-#define BOOST_TEST_MODULE Navigation::ArmarXLibraries::dynamic_scene_provicer
+#define BOOST_TEST_MODULE Navigation::ArmarXLibraries::human
#define ARMARX_BOOST_TEST
#include <cstdlib> /* srand, rand */
--
GitLab
From 07cb3cda9e648c5610d6c14ab9460e74e1953554 Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Sat, 27 Aug 2022 00:25:37 +0200
Subject: [PATCH 17/44] Implement usage of ukf in update step
---
.../dynamic_scene_provider/HumanTracker.cpp | 34 +++++++++++++++----
1 file changed, 28 insertions(+), 6 deletions(-)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
index caf966bd..d6332100 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
+++ b/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
@@ -212,6 +212,8 @@ namespace armarx::navigation::components::dynamic_scene_provider
trackedHuman->associated = true;
detectedHuman->associated = true;
+ //estimate velocity via exponential smoothing
+
float dt =
(detectedHuman->detectionTime - trackedHuman->human.detectionTime).toSecondsDouble();
Eigen::Vector2f ds =
@@ -222,18 +224,38 @@ namespace armarx::navigation::components::dynamic_scene_provider
parameters.velocityAlpha * linVelocity +
(1 - parameters.velocityAlpha) * trackedHuman->human.linearVelocity;
- //TODO initialize with velocity (control variables) from tracked human
- UnscentedKalmanFilter<SystemModelT>::ControlT omega;
- trackedHuman->ukf.propagation(omega, dt);
+ float angle_det = Eigen::Rotation2Df(detectedHuman->pose.linear()).angle();
+ float angle_track = Eigen::Rotation2Df(trackedHuman->human.pose.linear()).angle();
+ //TODO Check angular velocity! Calculation at turning point may be wrong (jump from +pi to -pi)
+ float angular_velocity = (angle_det - angle_track) / dt;
+
+
+ //estimate pose via ukf
- //TODO initialize with detected human data
+ //initialize with estimated velocity (control variables) from tracked human
+ UnscentedKalmanFilter<SystemModelT>::ControlT control;
+ control.angular_velocity.coeffs() << static_cast<T>(angular_velocity);
+ control.euclidean_velocity << velocity.cast<T>();
+
+ //propagate control input for time diff
+ trackedHuman->ukf.propagation(control, dt);
+
+ //initialize observation with detected human data
UnscentedKalmanFilter<SystemModelT>::ObsT observation;
+ observation.segment(0, 1) =
+ Eigen::Matrix<T, 1, 1>{Eigen::Rotation2Df(detectedHuman->pose.linear()).angle()};
+ observation.segment(1, 2) = detectedHuman->pose.translation().cast<T>();
+
+ //update with new observation
trackedHuman->ukf.update(observation);
- //TODO use state as new pose of tracked human
+ //use current state as new pose of tracked human
UnscentedKalmanFilter<SystemModelT>::StateT state = trackedHuman->ukf.getCurrentState();
+ core::Pose2D filteredPose = core::Pose2D::Identity();
+ filteredPose.translation() = state.position.cast<float>();
+ filteredPose.linear() = Eigen::Rotation2Df(state.orientation.angle()).toRotationMatrix();
- trackedHuman->human = {detectedHuman->pose, velocity, detectedHuman->detectionTime};
+ trackedHuman->human = {filteredPose, velocity, detectedHuman->detectionTime};
trackedHuman->trackingId = detectedHuman->trackingId;
}
--
GitLab
From f9dd944820437e59734ccb326046bc65d2b0fb7f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Sat, 27 Aug 2022 00:25:14 +0200
Subject: [PATCH 18/44] Kalman test check angular velocity
---
source/armarx/navigation/human/test/kalmanFilterTest.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/source/armarx/navigation/human/test/kalmanFilterTest.cpp b/source/armarx/navigation/human/test/kalmanFilterTest.cpp
index 44971454..7f9b5f6c 100644
--- a/source/armarx/navigation/human/test/kalmanFilterTest.cpp
+++ b/source/armarx/navigation/human/test/kalmanFilterTest.cpp
@@ -78,7 +78,8 @@ namespace armarx::navigation::components::dynamic_scene_provider
"position differs too much from last step: " << (last_pos - pos).norm());
SystemModelT::ControlT control;
- control.angular_velocity.coeffs() << (last_angle - angle) / dt;
+ //TODO (SALt): check angular velocity (>pi overflow)
+ control.angular_velocity.coeffs() << c; //(last_angle - angle) / dt;
control.euclidean_velocity << (pos - last_pos) / dt;
const SystemModelT::StateT propagated = SystemModelT::propagationFunction(
--
GitLab
From c06dd826e5b2da5008b80ffb0de484c920a5c623 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Sat, 27 Aug 2022 00:25:32 +0200
Subject: [PATCH 19/44] Add UnscentedKalmanfilterTest.cpp from Christoph Pohl
Copied Test from RobotAPI/libraries/ukfm/test to human library
and fixed sciplot usage.
Does not work currently.
---
source/armarx/navigation/human/CMakeLists.txt | 10 +
.../human/test/UnscentedKalmanFilterTest.cpp | 322 ++++++++++++++++++
2 files changed, 332 insertions(+)
create mode 100644 source/armarx/navigation/human/test/UnscentedKalmanFilterTest.cpp
diff --git a/source/armarx/navigation/human/CMakeLists.txt b/source/armarx/navigation/human/CMakeLists.txt
index 311fbcf3..f3b7cc38 100644
--- a/source/armarx/navigation/human/CMakeLists.txt
+++ b/source/armarx/navigation/human/CMakeLists.txt
@@ -39,3 +39,13 @@ armarx_add_test(kalman_test
armarx_navigation::teb_human
sciplot::sciplot
)
+
+armarx_add_test(se3_kalman_test
+ TEST_FILES
+ test/UnscentedKalmanFilterTest.cpp
+ DEPENDENCIES
+ PUBLIC
+ ArmarXCore
+ ukfm
+ sciplot::sciplot
+)
diff --git a/source/armarx/navigation/human/test/UnscentedKalmanFilterTest.cpp b/source/armarx/navigation/human/test/UnscentedKalmanFilterTest.cpp
new file mode 100644
index 00000000..bc1ec384
--- /dev/null
+++ b/source/armarx/navigation/human/test/UnscentedKalmanFilterTest.cpp
@@ -0,0 +1,322 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package ROBDEKON
+ * @author Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date 18.03.21
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ *
+ * Code adapted to C++ from: https://github.com/CAOR-MINES-ParisTech/ukfm
+ * See also:
+ * - https://arxiv.org/pdf/2002.00878.pdf
+ * - https://ieeexplore.ieee.org/document/8206066/
+ */
+#define BOOST_TEST_MODULE Navigation::ArmarXLibraries::human
+#define ARMARX_BOOST_TEST
+
+#include <cstdlib> /* srand, rand */
+#include <ctime> /* time */
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/util/time.h>
+
+#include <RobotAPI/libraries/ukfm/UnscentedKalmanFilter.h>
+
+#include <armarx/navigation/Test.h>
+#include <sciplot/sciplot.hpp>
+
+using T = double;
+using Vector = Eigen::Matrix<T, 3, 1>;
+using Matrix = Eigen::Matrix<T, 3, 3>;
+using SystemModelT = SystemModelSE3<T>;
+
+constexpr long num_timesteps = 3000;
+constexpr T max_time = 1;
+constexpr T dt = max_time / num_timesteps;
+constexpr T c = (1 / max_time) * 2 * M_PI;
+
+constexpr T acc_noise_std = 0.01;
+constexpr T om_noise_std = 0.01;
+constexpr T obs_noise_std = 0.01;
+constexpr T initial_offset_angle = 0.0 * 10 * M_PI / 180;
+const Vector initial_offet_pos = 0.5 * Vector(1, 0.5, 0.7);
+
+void
+test_retract()
+{
+ for (int i = 0; i < num_timesteps; i++)
+ {
+ SystemModelT::StateT state1, state2;
+ state1.pose = manif::SE3<T>::Random();
+ // state1.velocity.setRandom();
+ state2.pose = manif::SE3<T>::Random();
+ // state2.velocity.setRandom();
+ // sigma = state2 - state1
+ SystemModelT::SigmaPointsT sigma = SystemModelT::inverseRetraction(state1, state2);
+ // state3 = state1 + sigma --> state3 = state2
+ SystemModelT::StateT state3 = SystemModelT::retraction(state1, sigma);
+ // ARMARX_CHECK((state2.velocity - state3.velocity).norm() < 10 * std::numeric_limits<T>::epsilon());
+ ARMARX_CHECK((state2.pose - state3.pose).coeffs().norm() <
+ 10000 * std::numeric_limits<T>::epsilon())
+ << (state2.pose - state3.pose).coeffs().norm();
+
+ SystemModelT::SigmaPointsT sigma2 = SystemModelT::inverseRetraction(state1, state3);
+ // TODO: fix bad accuracy
+ ARMARX_CHECK((sigma2 - sigma).norm() < 10000 * std::numeric_limits<T>::epsilon())
+ << (sigma2 - sigma).norm();
+ }
+}
+
+void
+test_se3()
+{
+ for (int i = 1; i < num_timesteps; i++)
+ {
+ const T t = dt * i;
+ const T angle = t * c;
+ const Eigen::Matrix<T, 3, 1> pos(std::sin(angle), std::cos(angle), 0);
+ manif::SO3<T> rot = manif::SO3<T>(0, 0, angle);
+ ARMARX_CHECK(std::abs(rot.log().coeffs()(2) - angle) < 1e-6);
+ manif::SE3<T> pose(pos, rot);
+
+ manif::SE3Tangent<T> tangent = pose.log();
+ ARMARX_CHECK((tangent.coeffs().segment(0, 3) - pos).norm() < 1e-6);
+ ARMARX_CHECK(std::abs(tangent.coeffs()(5) - angle) < 1e-6);
+ }
+}
+
+void
+simulate_trajectory(std::vector<SystemModelT::StateT>& states,
+ std::vector<SystemModelT::ControlT>& omegas)
+{
+ SystemModelT::StateT state;
+ // state.velocity = Vector(c, 0, 0);
+ state.pose = manif::SE3<T>(0, 1, 0, M_PI, M_PI, 0);
+ states.push_back(state);
+ for (int i = 1; i < num_timesteps; i++)
+ {
+ const T t = dt * i;
+ const T t_prev = dt * (i - 1);
+ const T angle = t * c;
+ // yaw goes from -pi to pi
+ const T yaw = 1 * M_PI * std::sin(angle);
+ const T roll = 0.1 * M_PI * std::sin(angle) + M_PI;
+ const T pitch = 0.1 * M_PI * std::sin(angle) + M_PI;
+ const Vector pos(std::sin(angle), std::cos(angle), 0);
+ manif::SE3Tangent<T> tangent(states.at(i - 1).pose.log());
+ ARMARX_CHECK((states.at(i - 1).pose.translation() - pos).norm() < 0.1);
+ // ARMARX_CHECK((tangent.coeffs().segment(0, 3) - pos).norm() < 0.1);
+ const Vector vel(std::cos(angle) * c, -std::sin(angle) * c, 0);
+ const Vector acc(-std::sin(angle) * (c * c), -std::cos(angle) * (c * c), 0);
+ const Vector acc_prev(-std::sin(t_prev * c) * (c * c), -std::cos(t_prev * c) * (c * c), 0);
+ // const Eigen::Vector3f vel((pos - state.position) / dt);
+ // Eigen::Vector3f acc = (vel - state.velocity) / dt;
+ manif::SO3<T> rot = manif::SO3<T>(roll, pitch, yaw);
+ // Eigen::Matrix<T, 3, 1> rot_tan = rot.log().coeffs();
+ // ARMARX_CHECK(std::abs(rot_tan(2) - yaw) < 1e-6);
+ SystemModelT::ControlT control;
+ // control.linear_accel = state.pose.rotation().inverse() * acc_prev;
+ Vector angular_velocity(0.1 * M_PI * std::cos(angle) * c,
+ 0.1 * M_PI * std::cos(angle) * c,
+ M_PI * std::cos(angle) * c);
+ control.velocity.coeffs() << state.pose.asSO3().inverse().act(vel), angular_velocity;
+
+ const SystemModelT::StateT propagated = SystemModelT::propagationFunction(
+ state, control, SystemModelT::ControlNoiseT::Zero(), dt);
+ manif::SE3Tangent<T> pro_tangent = propagated.pose.log();
+ T pos_diff1 = (propagated.pose.translation() - pos).norm();
+ // ARMARX_CHECK(pos_diff1 < pos_diff2);
+ ARMARX_CHECK(pos_diff1 < 2e-5)
+ << "Position is not the same: " << pos << " vs " << propagated.pose.translation();
+ // ARMARX_CHECK((propagated.velocity - vel).norm() < 1e-4) << "Velocity is not the same: " << vel << " vs " << propagated.velocity;
+ // ARMARX_CHECK(propagated.pose.asSO3().lminus(rot).coeffs().norm() < 1e-2) << "Rotation is not the same: " << rot.rotation() << " vs " << propagated.pose.rotation();
+ // state.velocity = vel;
+ state.pose = manif::SE3<T>(pos, rot);
+ states.push_back(propagated);
+
+ tangent = state.pose.log();
+ ARMARX_CHECK((state.pose.translation() - pos).norm() < 1e-6);
+ // ARMARX_CHECK(std::abs(tangent.coeffs()(5) - yaw) < 1e-2);
+
+ // add noise
+ control.velocity.coeffs().segment(0, 3) += acc_noise_std * Vector::Random();
+ control.velocity.coeffs().segment(3, 3) += om_noise_std * Vector::Random();
+ omegas.push_back(control);
+ }
+}
+
+void
+simulate_observation(const std::vector<SystemModelT::StateT>& states,
+ std::vector<SystemModelT::ObsT>& observations)
+{
+ for (const auto& state : states)
+ {
+ SystemModelT::ObsT obs = SystemModelT::observationFunction(state);
+ SystemModelT::ObsT true_obs;
+ true_obs = state.pose.log().coeffs();
+ // true_obs.segment(0, 3) = state.pose.translation();
+ // true_obs.segment(3, 3) = state.pose.asSO3().log().coeffs();
+ ARMARX_CHECK((obs - true_obs).norm() < std::numeric_limits<T>::epsilon());
+ observations.push_back(obs + obs_noise_std * SystemModelT::ObsT::Random());
+ }
+}
+
+
+BOOST_AUTO_TEST_CASE(se3KalmanFilterTest)
+{
+ srand(time(NULL));
+
+ test_retract();
+ // test_se3();
+
+ std::vector<SystemModelT::StateT> states;
+ std::vector<SystemModelT::ControlT> omegas;
+ std::vector<SystemModelT::ObsT> observations;
+ simulate_trajectory(states, omegas);
+ simulate_observation(states, observations);
+
+ ARMARX_INFO << "Num States: " << states.size() << " Num Controls: " << omegas.size()
+ << " Num Obs: " << observations.size();
+ UnscentedKalmanFilter<SystemModelT>::PropCovT Q =
+ UnscentedKalmanFilter<SystemModelT>::PropCovT::Identity();
+ Q.block<3, 3>(0, 0) *= acc_noise_std * acc_noise_std;
+ Q.block<3, 3>(3, 3) *= om_noise_std * om_noise_std;
+
+ UnscentedKalmanFilter<SystemModelT>::ObsCovT R =
+ UnscentedKalmanFilter<SystemModelT>::ObsCovT::Identity() * obs_noise_std * obs_noise_std;
+ UnscentedKalmanFilter<SystemModelT>::StateCovT P0 =
+ UnscentedKalmanFilter<SystemModelT>::StateCovT::Identity();
+ P0.block<3, 3>(3, 3) *= initial_offset_angle * initial_offset_angle;
+ P0.block<3, 3>(0, 0) *= initial_offet_pos.norm() * initial_offet_pos.norm();
+ // P0.block<3, 3>(6, 6) *= 0.0;
+ UnscentedKalmanFilter<SystemModelT>::AlphaT alpha =
+ UnscentedKalmanFilter<SystemModelT>::AlphaT::Ones() * 1e-3;
+
+ SystemModelT::StateT state0;
+ manif::SO3<T> rot(0, 0, initial_offset_angle);
+ state0.pose = states.at(0).pose.lplus(manif::SE3<T>(initial_offet_pos, rot).log());
+ // state0.velocity = states.at(0).velocity;
+ UnscentedKalmanFilter<SystemModelT> ukf(Q, R, alpha, state0, P0);
+
+ std::vector<SystemModelT::StateT> ukf_states;
+ std::vector<UnscentedKalmanFilter<SystemModelT>::StateCovT> ukf_Ps;
+ ukf_states.push_back(state0);
+ ukf_Ps.push_back(P0);
+
+ std::vector<T> x_true, y_true, z_true, x_obs, y_obs, z_obs, x_ukf, y_ukf, z_ukf;
+ std::vector<T> vx_true, vy_true, vz_true, vx_ukf, vy_ukf, vz_ukf;
+ std::vector<T> a_true, b_true, c_true, a_obs, b_obs, c_obs, a_ukf, b_ukf, c_ukf;
+
+ for (int i = 1; i < num_timesteps; i++)
+ {
+ // propagate
+ TIMING_START(LOOP);
+ TIMING_START(PROPAGATION);
+ ukf.propagation(omegas.at(i - 1), dt);
+ TIMING_END(PROPAGATION);
+ if ((i - 1) % 100 == 0)
+ {
+ TIMING_START(UPDATE);
+ ukf.update(observations.at(i));
+ TIMING_END(UPDATE);
+ TIMING_START(REST);
+ const SystemModelT::StateT& current_state = ukf.getCurrentState();
+ // ARMARX_INFO << "Velocity Diff: " << (states.at(i).velocity - current_state.velocity).norm();
+ ARMARX_INFO << "Pose Diff: "
+ << (states.at(i).pose - current_state.pose).coeffs().norm();
+ // ARMARX_INFO << "Vel: " << current_state.velocity - states.at(i).velocity;
+ ARMARX_INFO << "Max Cov " << ukf.getCurrentStateCovariance().cwiseAbs().maxCoeff();
+ ARMARX_INFO
+ << "Diag: "
+ << (ukf.getCurrentStateCovariance() - Eigen::Matrix<T, 6, 6>::Identity()).norm();
+ // ARMARX_CHECK((states.at(i).position - current_state.position).norm() < 1);
+
+ x_true.push_back(states.at(i).pose.log().coeffs()(0));
+ y_true.push_back(states.at(i).pose.log().coeffs()(1));
+ z_true.push_back(states.at(i).pose.log().coeffs()(2));
+
+ x_obs.push_back(observations.at(i)(0));
+ y_obs.push_back(observations.at(i)(1));
+ z_obs.push_back(observations.at(i)(2));
+
+ x_ukf.push_back(ukf.getCurrentState().pose.log().coeffs()(0));
+ y_ukf.push_back(ukf.getCurrentState().pose.log().coeffs()(1));
+ z_ukf.push_back(ukf.getCurrentState().pose.log().coeffs()(2));
+
+ // vx_true.push_back(states.at(i).velocity(0, 0));
+ // vy_true.push_back(states.at(i).velocity(1, 0));
+ // vz_true.push_back(states.at(i).velocity(2, 0));
+ //
+ // vx_ukf.push_back(ukf.getCurrentState().velocity(0, 0));
+ // vy_ukf.push_back(ukf.getCurrentState().velocity(1, 0));
+ // vz_ukf.push_back(ukf.getCurrentState().velocity(2, 0));
+
+ a_true.push_back(states.at(i).pose.log().coeffs()(3));
+ b_true.push_back(states.at(i).pose.log().coeffs()(4));
+ c_true.push_back(states.at(i).pose.log().coeffs()(5));
+
+ a_obs.push_back(observations.at(i)(3, 0));
+ b_obs.push_back(observations.at(i)(4, 0));
+ c_obs.push_back(observations.at(i)(5, 0));
+
+ a_ukf.push_back(ukf.getCurrentState().pose.log().coeffs()(3));
+ b_ukf.push_back(ukf.getCurrentState().pose.log().coeffs()(4));
+ c_ukf.push_back(ukf.getCurrentState().pose.log().coeffs()(5));
+ TIMING_END(REST);
+ }
+
+ ukf_states.push_back(ukf.getCurrentState());
+ ukf_Ps.push_back(ukf.getCurrentStateCovariance());
+
+ TIMING_END(LOOP);
+ }
+
+ sciplot::Plot3D position_plot;
+ sciplot::Plot2D pos_plot;
+
+ position_plot.drawCurve(x_true, y_true, z_true).label("True").lineWidth(1);
+ position_plot.drawCurve(x_obs, y_obs, z_obs).label("Obs").lineWidth(1);
+ position_plot.drawCurve(x_ukf, y_ukf, z_ukf).label("UKF").lineWidth(1);
+
+ pos_plot.drawCurve(x_true, y_true).label("True");
+ pos_plot.drawCurve(x_obs, y_obs).label("Obs");
+ pos_plot.drawCurve(x_ukf, y_ukf).label("UKF");
+
+ // sciplot::Plot3D vel_plot;
+ //
+ // vel_plot.drawCurve(vx_true, vy_true, vz_true).label("True").lineWidth(1);
+ // vel_plot.drawCurve(vx_ukf, vy_ukf, vz_ukf).label("UKF").lineWidth(1);
+
+
+ sciplot::Plot3D orientation_plot;
+
+ orientation_plot.drawCurve(a_true, b_true, c_true).label("True").lineWidth(1);
+ orientation_plot.drawCurve(a_obs, b_obs, c_obs).label("Obs").lineWidth(1);
+ orientation_plot.drawCurve(a_ukf, b_ukf, c_ukf).label("UKF").lineWidth(1);
+
+ // Create figure to hold plot
+ sciplot::Figure fig = {{pos_plot}, {position_plot}, {orientation_plot}};
+ // Create canvas to hold figure
+ sciplot::Canvas canvas = {{fig}};
+ canvas.size(600, 600);
+
+ // Show the plot in a pop-up window
+ canvas.show();
+
+ // Save the plot to a PDF file
+ canvas.save("kalman_output.pdf");
+}
--
GitLab
From b51cb7620736caf4b6892dd8053e66b40d47b686 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Sun, 28 Aug 2022 01:57:12 +0200
Subject: [PATCH 20/44] Use Robot local velocity
---
source/armarx/navigation/human/HumanSystemModel.cpp | 2 ++
source/armarx/navigation/human/test/kalmanFilterTest.cpp | 1 +
2 files changed, 3 insertions(+)
diff --git a/source/armarx/navigation/human/HumanSystemModel.cpp b/source/armarx/navigation/human/HumanSystemModel.cpp
index 1bc17e64..f660f1fd 100644
--- a/source/armarx/navigation/human/HumanSystemModel.cpp
+++ b/source/armarx/navigation/human/HumanSystemModel.cpp
@@ -25,6 +25,8 @@ namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
StateT new_state;
new_state.orientation = state.orientation.template rplus(control.angular_velocity * dt);
new_state.position = state.position + control.euclidean_velocity * dt;
+ //new_state.position =
+ // state.position + state.orientation.rotation() * control.euclidean_velocity * dt;
return new_state;
}
diff --git a/source/armarx/navigation/human/test/kalmanFilterTest.cpp b/source/armarx/navigation/human/test/kalmanFilterTest.cpp
index 7f9b5f6c..7cfe6d5e 100644
--- a/source/armarx/navigation/human/test/kalmanFilterTest.cpp
+++ b/source/armarx/navigation/human/test/kalmanFilterTest.cpp
@@ -81,6 +81,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
//TODO (SALt): check angular velocity (>pi overflow)
control.angular_velocity.coeffs() << c; //(last_angle - angle) / dt;
control.euclidean_velocity << (pos - last_pos) / dt;
+ //control.euclidean_velocity = Eigen::Vector2d{0, c};
const SystemModelT::StateT propagated = SystemModelT::propagationFunction(
state, control, SystemModelT::ControlNoiseT::Zero(), dt);
--
GitLab
From d1e6eae0dc701a792682da837cba73a4fad6796b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Sun, 28 Aug 2022 02:09:06 +0200
Subject: [PATCH 21/44] Alternative system models
---
source/armarx/navigation/human/HumanSystemModel.cpp | 10 ++++++++--
1 file changed, 8 insertions(+), 2 deletions(-)
diff --git a/source/armarx/navigation/human/HumanSystemModel.cpp b/source/armarx/navigation/human/HumanSystemModel.cpp
index f660f1fd..7a613595 100644
--- a/source/armarx/navigation/human/HumanSystemModel.cpp
+++ b/source/armarx/navigation/human/HumanSystemModel.cpp
@@ -38,7 +38,8 @@ namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
StateT new_state;
manif::SO2Tangent<FloatT> tan;
tan.coeffs() << sigmaPoints.segment(0, 1);
- new_state.orientation = state.orientation.lplus(tan);
+ //new_state.orientation = state.orientation.lplus(tan);
+ new_state.orientation = state.orientation.rplus(tan);
new_state.position = state.position + sigmaPoints.segment(1, 2);
return new_state;
@@ -51,8 +52,13 @@ namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
{
SigmaPointsT sigma;
// TODO: check if right order of substraction
- sigma.segment(0, 1) = state2.orientation.lminus(state1.orientation).coeffs();
+
+ //sigma.segment(0, 1) = state2.orientation.lminus(state1.orientation).coeffs();
+ sigma.segment(0, 1) = state1.orientation.lminus(state2.orientation).coeffs();
+
sigma.segment(1, 2) = state1.position - state2.position;
+ //sigma.segment(1, 2) = state2.position - state1.position;
+
return sigma;
}
--
GitLab
From 6c48ca563dead87f3ba4174021270365ecc00fe3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Sun, 28 Aug 2022 02:10:05 +0200
Subject: [PATCH 22/44] Fix kalman filter test
---
.../human/test/kalmanFilterTest.cpp | 60 +++++++++++++------
1 file changed, 42 insertions(+), 18 deletions(-)
diff --git a/source/armarx/navigation/human/test/kalmanFilterTest.cpp b/source/armarx/navigation/human/test/kalmanFilterTest.cpp
index 7cfe6d5e..1ccc3114 100644
--- a/source/armarx/navigation/human/test/kalmanFilterTest.cpp
+++ b/source/armarx/navigation/human/test/kalmanFilterTest.cpp
@@ -50,8 +50,8 @@ namespace armarx::navigation::components::dynamic_scene_provider
constexpr T rot_noise_std = 0.01;
constexpr T pos_noise_std = 0.01;
- constexpr T obs_noise_std = 0.1;
- constexpr T initial_offset_angle = 0.0 * 10 * M_PI / 180;
+ constexpr T obs_noise_std = 0.01;
+ constexpr T initial_offset_angle = 0.1 * 10 * M_PI / 180;
const Vector initial_offet_pos = 0.1 * Vector(1, 0.5);
@@ -59,9 +59,11 @@ namespace armarx::navigation::components::dynamic_scene_provider
simulate_trajectory(std::vector<SystemModelT::StateT>& states,
std::vector<SystemModelT::ControlT>& omegas)
{
+ constexpr T startAngle = 0;
+
SystemModelT::StateT state;
state.position = Vector{1, 0};
- state.orientation = manif::SO2<T>(0);
+ state.orientation = manif::SO2<T>(startAngle);
states.push_back(state);
for (int i = 1; i < num_timesteps; i++)
@@ -86,12 +88,17 @@ namespace armarx::navigation::components::dynamic_scene_provider
const SystemModelT::StateT propagated = SystemModelT::propagationFunction(
state, control, SystemModelT::ControlNoiseT::Zero(), dt);
- T pos_diff1 = (propagated.position - pos).norm();
- BOOST_TEST(pos_diff1 < 2e-5,
- "propagated position differs too much from real position: " << pos_diff1);
-
state.position = pos;
- state.orientation = manif::SO2<T>(angle);
+ state.orientation = manif::SO2<T>(angle + startAngle);
+
+ T pos_diff = (propagated.position - state.position).norm();
+ BOOST_TEST(pos_diff < 2e-5,
+ "propagated position differs too much from real position: " << pos_diff);
+
+ T rot_diff = propagated.orientation.angle() - state.orientation.angle();
+ BOOST_TEST(rot_diff < 2e-5,
+ "propagated rotation differs too much from real orientation: " << rot_diff);
+
states.push_back(propagated);
@@ -116,6 +123,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
BOOST_TEST(
(obs - true_obs).norm() < std::numeric_limits<T>::epsilon(),
"observation differs too much from real observation: " << (obs - true_obs).norm());
+
observations.push_back(obs + obs_noise_std * SystemModelT::ObsT::Random());
}
}
@@ -151,7 +159,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
UnscentedKalmanFilter<SystemModelT>::AlphaT::Ones() * 1e-3;
SystemModelT::StateT state0;
- state0.orientation = manif::SO2<T>(initial_offset_angle);
+ state0.orientation = manif::SO2<T>(states.at(0).orientation.angle() + initial_offset_angle);
state0.position = states.at(0).position + initial_offet_pos;
UnscentedKalmanFilter<SystemModelT> ukf(Q, R, alpha, state0, P0);
@@ -162,8 +170,8 @@ namespace armarx::navigation::components::dynamic_scene_provider
ukf_Ps.push_back(P0);
std::vector<T> x_true, y_true, x_obs, y_obs, x_ukf, y_ukf;
- std::vector<T> vx_true, vy_true, vx_ukf, vy_ukf;
std::vector<T> a_true, a_obs, a_ukf;
+ std::vector<T> x_ukf_full, y_ukf_full, a_ukf_full;
for (int i = 1; i < num_timesteps; i++)
{
@@ -172,8 +180,14 @@ namespace armarx::navigation::components::dynamic_scene_provider
TIMING_START(PROPAGATION);
ukf.propagation(omegas.at(i - 1), dt);
TIMING_END(PROPAGATION);
- if ((i - 1) % 100 == 0)
+ if ((i - 1) % 101 == 0)
{
+ // dirty hack
+ //if (std::abs(M_PI - std::abs(observations.at(i)(0))) < 0.1)
+ //{
+ // continue;
+ //}
+
TIMING_START(UPDATE);
ukf.update(observations.at(i));
TIMING_END(UPDATE);
@@ -194,18 +208,21 @@ namespace armarx::navigation::components::dynamic_scene_provider
x_obs.push_back(observations.at(i)(1));
y_obs.push_back(observations.at(i)(2));
+ a_obs.push_back(observations.at(i)(0));
x_ukf.push_back(ukf.getCurrentState().position.x());
y_ukf.push_back(ukf.getCurrentState().position.y());
-
- a_true.push_back(states.at(i).orientation.log().coeffs()(0));
- a_obs.push_back(observations.at(i)(0));
a_ukf.push_back(ukf.getCurrentState().orientation.log().coeffs()(0));
TIMING_END(REST);
}
x_true.push_back(states.at(i).position.x());
y_true.push_back(states.at(i).position.y());
+ a_true.push_back(states.at(i).orientation.log().coeffs()(0));
+
+ x_ukf_full.push_back(ukf.getCurrentState().position.x());
+ y_ukf_full.push_back(ukf.getCurrentState().position.y());
+ a_ukf_full.push_back(ukf.getCurrentState().orientation.log().coeffs()(0));
ukf_states.push_back(ukf.getCurrentState());
ukf_Ps.push_back(ukf.getCurrentStateCovariance());
@@ -218,27 +235,34 @@ namespace armarx::navigation::components::dynamic_scene_provider
pos_plot.xlabel("x");
pos_plot.ylabel("y");
pos_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
+ pos_plot.xrange(-1.6, 1.6).yrange(-1.6, 1.6);
+ //pos_plot.xrange(-4, 4).yrange(-4, 4);
pos_plot.drawCurve(x_true, y_true).label("True");
pos_plot.drawCurve(x_obs, y_obs).label("Obs");
- pos_plot.drawCurve(x_ukf, y_ukf).label("UKF");
+ pos_plot.drawCurveWithPoints(x_ukf, y_ukf).label("UKF");
+ pos_plot.drawCurve(x_ukf_full, y_ukf_full).label("Full UKF");
+
sciplot::Plot2D orientation_plot;
orientation_plot.xlabel("x");
orientation_plot.ylabel("y");
orientation_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
+ orientation_plot.xrange(-0.1, 1.1).yrange(-4, 4);
- sciplot::Vec x = sciplot::linspace(0.0, 1.0, a_true.size());
- orientation_plot.drawCurve(x, a_true).label("True").lineWidth(1);
+ sciplot::Vec x = sciplot::linspace(0.0, 1.0, a_obs.size());
+ sciplot::Vec x_t = sciplot::linspace(0.0, 1.0, a_true.size());
+ orientation_plot.drawCurve(x_t, a_true).label("True").lineWidth(1);
orientation_plot.drawCurve(x, a_obs).label("Obs").lineWidth(1);
orientation_plot.drawCurve(x, a_ukf).label("UKF").lineWidth(1);
+ orientation_plot.drawCurve(x_t, a_ukf_full).label("Full UKF").lineWidth(1);
// Create figure to hold plot
sciplot::Figure fig = {{pos_plot}, {orientation_plot}};
// Create canvas to hold figure
sciplot::Canvas canvas = {{fig}};
- canvas.size(600, 600);
+ canvas.size(600, 1200);
// Show the plot in a pop-up window
canvas.show();
--
GitLab
From c2a93dddbc17920dd1a39c154457b1e3321a3e37 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Sun, 28 Aug 2022 02:11:01 +0200
Subject: [PATCH 23/44] Document test findings
---
.../navigation/human/test/findings/Notice.md | 18 ++++++++++++++++++
...l-start_0-mod_100-low_error-dirty_hack.pdf | Bin 0 -> 67584 bytes
...native_model-start_0-mod_100-low_error.pdf | Bin 0 -> 60874 bytes
...start_0-mod_101-high_error-high_offset.pdf | Bin 0 -> 67438 bytes
...ative_model-start_0-mod_101-high_error.pdf | Bin 0 -> 67428 bytes
...native_model-start_0-mod_101-low_error.pdf | Bin 0 -> 67336 bytes
...2-start_0-mod_100-low_error-dirty_hack.pdf | Bin 0 -> 67677 bytes
...start_0-mod_101-high_error-high_offset.pdf | Bin 0 -> 67596 bytes
...tive_model2-start_0-mod_101-high_error.pdf | Bin 0 -> 67633 bytes
...ative_model2-start_0-mod_101-low_error.pdf | Bin 0 -> 67431 bytes
.../start_0-mod_10-low_error-dirty_hack.pdf | Bin 0 -> 79390 bytes
.../findings/start_0-mod_10-low_error.pdf | Bin 0 -> 76832 bytes
.../start_0-mod_100-low_error-dirty_hack.pdf | Bin 0 -> 67390 bytes
.../findings/start_0-mod_100-low_error.pdf | Bin 0 -> 60704 bytes
...start_0-mod_101-high_error-high_offset.pdf | Bin 0 -> 67661 bytes
.../findings/start_0-mod_101-high_error.pdf | Bin 0 -> 67660 bytes
.../findings/start_0-mod_101-low_error.pdf | Bin 0 -> 67362 bytes
.../findings/start_0-mod_11-low_error.pdf | Bin 0 -> 75469 bytes
.../findings/start_01-mod_10-low_error.pdf | Bin 0 -> 76717 bytes
.../findings/start_01-mod_100-low_error.pdf | Bin 0 -> 67290 bytes
.../findings/start_pi_2-mod_10-low_error.pdf | Bin 0 -> 76444 bytes
...start_pi_2-mod_10-low_error_dirty-hack.pdf | Bin 0 -> 79465 bytes
.../findings/start_pi_2-mod_100-low_error.pdf | Bin 0 -> 67483 bytes
23 files changed, 18 insertions(+)
create mode 100644 source/armarx/navigation/human/test/findings/Notice.md
create mode 100644 source/armarx/navigation/human/test/findings/alternative_model-start_0-mod_100-low_error-dirty_hack.pdf
create mode 100644 source/armarx/navigation/human/test/findings/alternative_model-start_0-mod_100-low_error.pdf
create mode 100644 source/armarx/navigation/human/test/findings/alternative_model-start_0-mod_101-high_error-high_offset.pdf
create mode 100644 source/armarx/navigation/human/test/findings/alternative_model-start_0-mod_101-high_error.pdf
create mode 100644 source/armarx/navigation/human/test/findings/alternative_model-start_0-mod_101-low_error.pdf
create mode 100644 source/armarx/navigation/human/test/findings/alternative_model2-start_0-mod_100-low_error-dirty_hack.pdf
create mode 100644 source/armarx/navigation/human/test/findings/alternative_model2-start_0-mod_101-high_error-high_offset.pdf
create mode 100644 source/armarx/navigation/human/test/findings/alternative_model2-start_0-mod_101-high_error.pdf
create mode 100644 source/armarx/navigation/human/test/findings/alternative_model2-start_0-mod_101-low_error.pdf
create mode 100644 source/armarx/navigation/human/test/findings/start_0-mod_10-low_error-dirty_hack.pdf
create mode 100644 source/armarx/navigation/human/test/findings/start_0-mod_10-low_error.pdf
create mode 100644 source/armarx/navigation/human/test/findings/start_0-mod_100-low_error-dirty_hack.pdf
create mode 100644 source/armarx/navigation/human/test/findings/start_0-mod_100-low_error.pdf
create mode 100644 source/armarx/navigation/human/test/findings/start_0-mod_101-high_error-high_offset.pdf
create mode 100644 source/armarx/navigation/human/test/findings/start_0-mod_101-high_error.pdf
create mode 100644 source/armarx/navigation/human/test/findings/start_0-mod_101-low_error.pdf
create mode 100644 source/armarx/navigation/human/test/findings/start_0-mod_11-low_error.pdf
create mode 100644 source/armarx/navigation/human/test/findings/start_01-mod_10-low_error.pdf
create mode 100644 source/armarx/navigation/human/test/findings/start_01-mod_100-low_error.pdf
create mode 100644 source/armarx/navigation/human/test/findings/start_pi_2-mod_10-low_error.pdf
create mode 100644 source/armarx/navigation/human/test/findings/start_pi_2-mod_10-low_error_dirty-hack.pdf
create mode 100644 source/armarx/navigation/human/test/findings/start_pi_2-mod_100-low_error.pdf
diff --git a/source/armarx/navigation/human/test/findings/Notice.md b/source/armarx/navigation/human/test/findings/Notice.md
new file mode 100644
index 00000000..61048442
--- /dev/null
+++ b/source/armarx/navigation/human/test/findings/Notice.md
@@ -0,0 +1,18 @@
+# Different configurations of the kalman filter test:
+
+- start_* is the start angle of the simulated trajectory
+- mod_* is the modulo value used to define how often the kalman filter is updated
+- error is the noise added to the measurements
+ - low: 0.01
+ - high: 0.1
+- offset is the initial position offset:
+ - blank: 0.1
+ - high: 0.5 (1 for the alternative models)
+- dirty hack: skip orientations close to pi
+
+Alternative models use different calculations for retract and inverseRetract
+
+- normal: lplus(tan), 2.lminus(1), 1-2
+- alternative_model: rplus(tan), 1.lminus(2), 2-1
+- alternative_model2: rplus(tan), 1.lminus(2), 1-2
+
diff --git a/source/armarx/navigation/human/test/findings/alternative_model-start_0-mod_100-low_error-dirty_hack.pdf b/source/armarx/navigation/human/test/findings/alternative_model-start_0-mod_100-low_error-dirty_hack.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..dcb8673c9ff6ed9fbb63c7d22740bb65ddfac5b2
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diff --git a/source/armarx/navigation/human/test/findings/alternative_model-start_0-mod_100-low_error.pdf b/source/armarx/navigation/human/test/findings/alternative_model-start_0-mod_100-low_error.pdf
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diff --git a/source/armarx/navigation/human/test/findings/alternative_model-start_0-mod_101-high_error-high_offset.pdf b/source/armarx/navigation/human/test/findings/alternative_model-start_0-mod_101-high_error-high_offset.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..934d6ddc327f7f50022048264af1854d8fdccbdd
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diff --git a/source/armarx/navigation/human/test/findings/alternative_model-start_0-mod_101-high_error.pdf b/source/armarx/navigation/human/test/findings/alternative_model-start_0-mod_101-high_error.pdf
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diff --git a/source/armarx/navigation/human/test/findings/alternative_model-start_0-mod_101-low_error.pdf b/source/armarx/navigation/human/test/findings/alternative_model-start_0-mod_101-low_error.pdf
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diff --git a/source/armarx/navigation/human/test/findings/alternative_model2-start_0-mod_100-low_error-dirty_hack.pdf b/source/armarx/navigation/human/test/findings/alternative_model2-start_0-mod_100-low_error-dirty_hack.pdf
new file mode 100644
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diff --git a/source/armarx/navigation/human/test/findings/alternative_model2-start_0-mod_101-high_error.pdf b/source/armarx/navigation/human/test/findings/alternative_model2-start_0-mod_101-high_error.pdf
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diff --git a/source/armarx/navigation/human/test/findings/alternative_model2-start_0-mod_101-low_error.pdf b/source/armarx/navigation/human/test/findings/alternative_model2-start_0-mod_101-low_error.pdf
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diff --git a/source/armarx/navigation/human/test/findings/start_0-mod_10-low_error-dirty_hack.pdf b/source/armarx/navigation/human/test/findings/start_0-mod_10-low_error-dirty_hack.pdf
new file mode 100644
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diff --git a/source/armarx/navigation/human/test/findings/start_0-mod_10-low_error.pdf b/source/armarx/navigation/human/test/findings/start_0-mod_10-low_error.pdf
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diff --git a/source/armarx/navigation/human/test/findings/start_0-mod_100-low_error-dirty_hack.pdf b/source/armarx/navigation/human/test/findings/start_0-mod_100-low_error-dirty_hack.pdf
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diff --git a/source/armarx/navigation/human/test/findings/start_0-mod_100-low_error.pdf b/source/armarx/navigation/human/test/findings/start_0-mod_100-low_error.pdf
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diff --git a/source/armarx/navigation/human/test/findings/start_0-mod_101-high_error-high_offset.pdf b/source/armarx/navigation/human/test/findings/start_0-mod_101-high_error-high_offset.pdf
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diff --git a/source/armarx/navigation/human/test/findings/start_0-mod_101-high_error.pdf b/source/armarx/navigation/human/test/findings/start_0-mod_101-high_error.pdf
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diff --git a/source/armarx/navigation/human/test/findings/start_0-mod_101-low_error.pdf b/source/armarx/navigation/human/test/findings/start_0-mod_101-low_error.pdf
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diff --git a/source/armarx/navigation/human/test/findings/start_0-mod_11-low_error.pdf b/source/armarx/navigation/human/test/findings/start_0-mod_11-low_error.pdf
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diff --git a/source/armarx/navigation/human/test/findings/start_01-mod_100-low_error.pdf b/source/armarx/navigation/human/test/findings/start_01-mod_100-low_error.pdf
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diff --git a/source/armarx/navigation/human/test/findings/start_pi_2-mod_10-low_error.pdf b/source/armarx/navigation/human/test/findings/start_pi_2-mod_10-low_error.pdf
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diff --git a/source/armarx/navigation/human/test/findings/start_pi_2-mod_10-low_error_dirty-hack.pdf b/source/armarx/navigation/human/test/findings/start_pi_2-mod_10-low_error_dirty-hack.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..4588d6b1975fd9b8cff13350d14858343a4ce472
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diff --git a/source/armarx/navigation/human/test/findings/start_pi_2-mod_100-low_error.pdf b/source/armarx/navigation/human/test/findings/start_pi_2-mod_100-low_error.pdf
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d&*uia_MNbe?_y2@n=nRqsYWDI6zAK;d;rFh<-`C0
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--
GitLab
From 11a5e219e602abb69c03d6de7760c116621e42df Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Mon, 29 Aug 2022 20:05:28 +0200
Subject: [PATCH 24/44] Debugging kalman test
Try periodic clamping of observation orientation.
Plot covariance of kalman filter.
---
.../human/test/kalmanFilterTest.cpp | 42 +++++++++++++++++--
1 file changed, 39 insertions(+), 3 deletions(-)
diff --git a/source/armarx/navigation/human/test/kalmanFilterTest.cpp b/source/armarx/navigation/human/test/kalmanFilterTest.cpp
index 1ccc3114..22e37372 100644
--- a/source/armarx/navigation/human/test/kalmanFilterTest.cpp
+++ b/source/armarx/navigation/human/test/kalmanFilterTest.cpp
@@ -25,6 +25,8 @@
#include <cstdlib> /* srand, rand */
#include <ctime> /* time */
+#include <SimoxUtility/math/periodic/periodic_clamp.h>
+
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/util/time.h>
@@ -124,7 +126,24 @@ namespace armarx::navigation::components::dynamic_scene_provider
(obs - true_obs).norm() < std::numeric_limits<T>::epsilon(),
"observation differs too much from real observation: " << (obs - true_obs).norm());
- observations.push_back(obs + obs_noise_std * SystemModelT::ObsT::Random());
+ //observations.push_back(obs + obs_noise_std * SystemModelT::ObsT::Random());
+ //continue;
+
+ obs += obs_noise_std * SystemModelT::ObsT::Random();
+
+
+ SystemModelT::StateT noisyState;
+ noisyState.orientation = manif::SO2<T>(obs(0));
+ noisyState.position = obs.segment(1, 2);
+
+ constexpr T eps = 0.1;
+ SystemModelT::ObsT noisyObs = SystemModelT::observationFunction(noisyState);
+
+ //noisyObs(0) = std::clamp(noisyObs(0), -M_PI + eps, M_PI - eps);
+
+ noisyObs(0) = simox::math::periodic_clamp(noisyObs(0), -M_PI, M_PI);
+
+ observations.push_back(noisyObs);
}
}
@@ -172,6 +191,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
std::vector<T> x_true, y_true, x_obs, y_obs, x_ukf, y_ukf;
std::vector<T> a_true, a_obs, a_ukf;
std::vector<T> x_ukf_full, y_ukf_full, a_ukf_full;
+ std::vector<T> ukf_pos_var, ukf_rot_var, ukf_var;
for (int i = 1; i < num_timesteps; i++)
{
@@ -227,6 +247,12 @@ namespace armarx::navigation::components::dynamic_scene_provider
ukf_states.push_back(ukf.getCurrentState());
ukf_Ps.push_back(ukf.getCurrentStateCovariance());
+ ukf_pos_var.push_back(
+ ukf.getCurrentStateCovariance().block<2, 2>(1, 1).cwiseAbs().maxCoeff());
+ ukf_rot_var.push_back(
+ ukf.getCurrentStateCovariance().block<1, 1>(0, 0).cwiseAbs().maxCoeff());
+ ukf_var.push_back(ukf.getCurrentStateCovariance().cwiseAbs().maxCoeff());
+
TIMING_END(LOOP);
}
@@ -257,12 +283,22 @@ namespace armarx::navigation::components::dynamic_scene_provider
orientation_plot.drawCurve(x, a_ukf).label("UKF").lineWidth(1);
orientation_plot.drawCurve(x_t, a_ukf_full).label("Full UKF").lineWidth(1);
+ sciplot::Plot2D error_plot;
+ error_plot.xlabel("x");
+ error_plot.ylabel("y");
+ error_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
+ error_plot.xrange(-0.1, 1.1).yrange(-1e-3, 1e-3);
+
+ error_plot.drawCurve(x_t, ukf_pos_var).label("Pos cariance").lineWidth(1);
+ error_plot.drawCurve(x_t, ukf_rot_var).label("Rot variance").lineWidth(1);
+ error_plot.drawCurve(x_t, ukf_var).label("Total variance").lineWidth(1);
+
// Create figure to hold plot
- sciplot::Figure fig = {{pos_plot}, {orientation_plot}};
+ sciplot::Figure fig = {{pos_plot, orientation_plot}, {error_plot}};
// Create canvas to hold figure
sciplot::Canvas canvas = {{fig}};
- canvas.size(600, 1200);
+ canvas.size(1000, 1000);
// Show the plot in a pop-up window
canvas.show();
--
GitLab
From 73be85a1b9ae3e1e9bdfc10e46339ba2d8bf72a7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Mon, 29 Aug 2022 21:36:59 +0200
Subject: [PATCH 25/44] Fix kalman test
---
.../human/test/kalmanFilterTest.cpp | 71 +++++++------------
1 file changed, 27 insertions(+), 44 deletions(-)
diff --git a/source/armarx/navigation/human/test/kalmanFilterTest.cpp b/source/armarx/navigation/human/test/kalmanFilterTest.cpp
index 22e37372..9a80c9ec 100644
--- a/source/armarx/navigation/human/test/kalmanFilterTest.cpp
+++ b/source/armarx/navigation/human/test/kalmanFilterTest.cpp
@@ -25,8 +25,6 @@
#include <cstdlib> /* srand, rand */
#include <ctime> /* time */
-#include <SimoxUtility/math/periodic/periodic_clamp.h>
-
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/util/time.h>
@@ -38,23 +36,24 @@
#include <manif/SO2.h>
#include <sciplot/sciplot.hpp>
-
namespace armarx::navigation::components::dynamic_scene_provider
{
using T = double; //TODO double or float?
using Vector = Eigen::Matrix<T, 2, 1>;
using SystemModelT = kalman_filter::SystemModelSO2xR2<T>;
+ constexpr T RAD = 8000;
constexpr long num_timesteps = 3000;
constexpr T max_time = 1;
constexpr T dt = max_time / num_timesteps;
constexpr T c = (1 / max_time) * 2 * M_PI; // rotation per time
- constexpr T rot_noise_std = 0.01;
- constexpr T pos_noise_std = 0.01;
- constexpr T obs_noise_std = 0.01;
- constexpr T initial_offset_angle = 0.1 * 10 * M_PI / 180;
- const Vector initial_offet_pos = 0.1 * Vector(1, 0.5);
+ constexpr T rot_noise_std = 0.2;
+ constexpr T pos_noise_std = 200;
+ constexpr T obs_rot_noise_std = 0.2;
+ constexpr T obs_pos_noise_std = 200;
+ constexpr T initial_offset_angle = 1 * 10 * M_PI / 180;
+ const Vector initial_offet_pos = 0.8 * RAD * Vector(1, 0.5);
void
@@ -64,7 +63,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
constexpr T startAngle = 0;
SystemModelT::StateT state;
- state.position = Vector{1, 0};
+ state.position = Vector{RAD, 0};
state.orientation = manif::SO2<T>(startAngle);
states.push_back(state);
@@ -76,9 +75,9 @@ namespace armarx::navigation::components::dynamic_scene_provider
const Vector last_pos = states.at(i - 1).position;
//const Vector pos(angle, std::cos(angle));
- const Vector pos(std::cos(angle), std::sin(angle));
+ const Vector pos = RAD * Vector(std::cos(angle), std::sin(angle));
- BOOST_TEST(((last_pos - pos).norm() < 0.1),
+ BOOST_TEST(((last_pos - pos).norm() < 0.1 * RAD),
"position differs too much from last step: " << (last_pos - pos).norm());
SystemModelT::ControlT control;
@@ -94,11 +93,11 @@ namespace armarx::navigation::components::dynamic_scene_provider
state.orientation = manif::SO2<T>(angle + startAngle);
T pos_diff = (propagated.position - state.position).norm();
- BOOST_TEST(pos_diff < 2e-5,
+ BOOST_TEST(pos_diff < 2e-10,
"propagated position differs too much from real position: " << pos_diff);
T rot_diff = propagated.orientation.angle() - state.orientation.angle();
- BOOST_TEST(rot_diff < 2e-5,
+ BOOST_TEST(rot_diff < 2e-10,
"propagated rotation differs too much from real orientation: " << rot_diff);
states.push_back(propagated);
@@ -126,24 +125,11 @@ namespace armarx::navigation::components::dynamic_scene_provider
(obs - true_obs).norm() < std::numeric_limits<T>::epsilon(),
"observation differs too much from real observation: " << (obs - true_obs).norm());
- //observations.push_back(obs + obs_noise_std * SystemModelT::ObsT::Random());
- //continue;
-
- obs += obs_noise_std * SystemModelT::ObsT::Random();
-
-
- SystemModelT::StateT noisyState;
- noisyState.orientation = manif::SO2<T>(obs(0));
- noisyState.position = obs.segment(1, 2);
-
- constexpr T eps = 0.1;
- SystemModelT::ObsT noisyObs = SystemModelT::observationFunction(noisyState);
+ SystemModelT::ObsT noise = SystemModelT::ObsT::Random();
+ noise.segment(0, 1) *= obs_rot_noise_std;
+ noise.segment(1, 2) *= obs_pos_noise_std;
- //noisyObs(0) = std::clamp(noisyObs(0), -M_PI + eps, M_PI - eps);
-
- noisyObs(0) = simox::math::periodic_clamp(noisyObs(0), -M_PI, M_PI);
-
- observations.push_back(noisyObs);
+ observations.push_back(obs + noise);
}
}
@@ -167,15 +153,19 @@ namespace armarx::navigation::components::dynamic_scene_provider
Q.block<2, 2>(1, 1) *= pos_noise_std * pos_noise_std;
UnscentedKalmanFilter<SystemModelT>::ObsCovT R =
- UnscentedKalmanFilter<SystemModelT>::ObsCovT::Identity() * obs_noise_std *
- obs_noise_std;
+ UnscentedKalmanFilter<SystemModelT>::ObsCovT::Identity();
+ R.block<1, 1>(0, 0) *= obs_rot_noise_std * obs_rot_noise_std;
+ R.block<2, 2>(1, 1) *= obs_pos_noise_std * obs_pos_noise_std;
+
UnscentedKalmanFilter<SystemModelT>::StateCovT P0 =
UnscentedKalmanFilter<SystemModelT>::StateCovT::Identity();
P0.block<1, 1>(0, 0) *= initial_offset_angle * initial_offset_angle;
P0.block<2, 2>(1, 1) *= initial_offet_pos.norm() * initial_offet_pos.norm();
- UnscentedKalmanFilter<SystemModelT>::AlphaT alpha =
- UnscentedKalmanFilter<SystemModelT>::AlphaT::Ones() * 1e-3;
+ UnscentedKalmanFilter<SystemModelT>::AlphaT alpha;
+ alpha(0) = 0.8; // state
+ alpha(1) = 0.1; // control
+ alpha(2) = 0.1; // update
SystemModelT::StateT state0;
state0.orientation = manif::SO2<T>(states.at(0).orientation.angle() + initial_offset_angle);
@@ -200,14 +190,8 @@ namespace armarx::navigation::components::dynamic_scene_provider
TIMING_START(PROPAGATION);
ukf.propagation(omegas.at(i - 1), dt);
TIMING_END(PROPAGATION);
- if ((i - 1) % 101 == 0)
+ if ((i - 1) % 50 == 0)
{
- // dirty hack
- //if (std::abs(M_PI - std::abs(observations.at(i)(0))) < 0.1)
- //{
- // continue;
- //}
-
TIMING_START(UPDATE);
ukf.update(observations.at(i));
TIMING_END(UPDATE);
@@ -256,12 +240,11 @@ namespace armarx::navigation::components::dynamic_scene_provider
TIMING_END(LOOP);
}
-
sciplot::Plot2D pos_plot;
pos_plot.xlabel("x");
pos_plot.ylabel("y");
pos_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
- pos_plot.xrange(-1.6, 1.6).yrange(-1.6, 1.6);
+ pos_plot.xrange(-RAD * 1.1, RAD * 1.1).yrange(-RAD * 1.1, RAD * 1.1);
//pos_plot.xrange(-4, 4).yrange(-4, 4);
pos_plot.drawCurve(x_true, y_true).label("True");
@@ -287,7 +270,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
error_plot.xlabel("x");
error_plot.ylabel("y");
error_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
- error_plot.xrange(-0.1, 1.1).yrange(-1e-3, 1e-3);
+
error_plot.drawCurve(x_t, ukf_pos_var).label("Pos cariance").lineWidth(1);
error_plot.drawCurve(x_t, ukf_rot_var).label("Rot variance").lineWidth(1);
--
GitLab
From 837596d9d10b44b72a37da5e62646f29018be5ff Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Thu, 1 Sep 2022 20:10:29 +0200
Subject: [PATCH 26/44] Add SE2 SystemModel
---
.../navigation/human/HumanSystemModel.cpp | 48 +++++++++++++++++++
.../navigation/human/HumanSystemModel.h | 48 +++++++++++++++++++
2 files changed, 96 insertions(+)
diff --git a/source/armarx/navigation/human/HumanSystemModel.cpp b/source/armarx/navigation/human/HumanSystemModel.cpp
index 7a613595..2aabff49 100644
--- a/source/armarx/navigation/human/HumanSystemModel.cpp
+++ b/source/armarx/navigation/human/HumanSystemModel.cpp
@@ -65,4 +65,52 @@ namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
template struct SystemModelSO2xR2<float>;
template struct SystemModelSO2xR2<double>;
+
+ // ------------------------------ SE2 -----------------------------------------
+
+ template <typename floatT>
+ typename SystemModelSE2<floatT>::ObsT
+ SystemModelSE2<floatT>::observationFunction(const SystemModelSE2::StateT& state)
+ {
+ ObsT observation = state.pose.log().coeffs();
+ return observation;
+ }
+
+ template <typename floatT>
+ typename SystemModelSE2<floatT>::StateT
+ SystemModelSE2<floatT>::propagationFunction(const SystemModelSE2::StateT& state,
+ const SystemModelSE2::ControlT& control,
+ const SystemModelSE2::ControlNoiseT& noise,
+ FloatT dt)
+ {
+ StateT new_state;
+ new_state.pose = state.pose.template rplus(control.velocity * dt);
+ return new_state;
+ }
+
+ template <typename floatT>
+ typename SystemModelSE2<floatT>::StateT
+ SystemModelSE2<floatT>::retraction(const SystemModelSE2::StateT& state,
+ const SystemModelSE2::SigmaPointsT& sigmaPoints)
+ {
+ StateT new_state;
+ manif::SE2Tangent<FloatT> tan;
+ tan.coeffs() << sigmaPoints;
+ new_state.pose = state.pose.lplus(tan);
+ return new_state;
+ }
+
+ template <typename floatT>
+ typename SystemModelSE2<floatT>::SigmaPointsT
+ SystemModelSE2<floatT>::inverseRetraction(const SystemModelSE2::StateT& state1,
+ const SystemModelSE2::StateT& state2)
+ {
+ SigmaPointsT sigma;
+ sigma = state2.pose.lminus(state1.pose).coeffs();
+ return sigma;
+ }
+
+ template struct SystemModelSE2<float>;
+ template struct SystemModelSE2<double>;
+
} // namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
diff --git a/source/armarx/navigation/human/HumanSystemModel.h b/source/armarx/navigation/human/HumanSystemModel.h
index fc0b8658..fb0309e1 100644
--- a/source/armarx/navigation/human/HumanSystemModel.h
+++ b/source/armarx/navigation/human/HumanSystemModel.h
@@ -21,6 +21,7 @@
*/
#pragma once
+#include <manif/SE2.h>
#include <manif/SO2.h>
namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
@@ -73,4 +74,51 @@ namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
extern template struct SystemModelSO2xR2<float>;
extern template struct SystemModelSO2xR2<double>;
+
+ //----------- SE2 -----------------
+
+ template <typename floatT>
+ struct StateSE2
+ {
+ manif::SE2<floatT> pose;
+ };
+
+ template <typename floatT>
+ struct ControlSE2
+ {
+ typename manif::SE2<floatT>::Tangent velocity;
+ };
+
+ template <typename floatT>
+ struct SystemModelSE2
+ {
+ static_assert(std::is_floating_point_v<floatT>);
+ struct dim
+ {
+ static constexpr long state = 3, control = 3, obs = 3;
+ };
+
+ using FloatT = floatT;
+ using StateT = StateSE2<FloatT>;
+ using ControlT = ControlSE2<FloatT>;
+ using ObsT = Eigen::Matrix<FloatT, dim::obs, 1>;
+ using ControlNoiseT = Eigen::
+ Matrix<FloatT, dim::control, 1>; // todo: correct name? Is it the same as ControlT?
+ using SigmaPointsT = Eigen::Matrix<FloatT, dim::state, 1>; // todo: rename
+
+ static ObsT observationFunction(const StateT& state);
+
+ static StateT propagationFunction(const StateT& state,
+ const ControlT& control,
+ const ControlNoiseT& noise,
+ FloatT dt);
+
+ static StateT retraction(const StateT& state, const SigmaPointsT& sigmaPoints);
+
+ static SigmaPointsT inverseRetraction(const StateT& state1, const StateT& state2);
+ };
+
+ extern template struct SystemModelSE2<float>;
+ extern template struct SystemModelSE2<double>;
+
} // namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
--
GitLab
From 537c8b70c1ac3cc09b1a2f70e2fb91009205c58e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Sat, 3 Sep 2022 23:27:27 +0200
Subject: [PATCH 27/44] Add SE2xV system model
---
.../navigation/human/HumanSystemModel.cpp | 55 +++++++++++++++++++
.../navigation/human/HumanSystemModel.h | 47 ++++++++++++++++
2 files changed, 102 insertions(+)
diff --git a/source/armarx/navigation/human/HumanSystemModel.cpp b/source/armarx/navigation/human/HumanSystemModel.cpp
index 2aabff49..32b18fd1 100644
--- a/source/armarx/navigation/human/HumanSystemModel.cpp
+++ b/source/armarx/navigation/human/HumanSystemModel.cpp
@@ -113,4 +113,59 @@ namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
template struct SystemModelSE2<float>;
template struct SystemModelSE2<double>;
+
+ // ------------------------------ SE2xV -----------------------------------------
+
+ template <typename floatT>
+ typename SystemModelSE2xV<floatT>::ObsT
+ SystemModelSE2xV<floatT>::observationFunction(const SystemModelSE2xV::StateT& state)
+ {
+ ObsT observation = state.pose.log().coeffs();
+ return observation;
+ }
+
+ template <typename floatT>
+ typename SystemModelSE2xV<floatT>::StateT
+ SystemModelSE2xV<floatT>::propagationFunction(const SystemModelSE2xV::StateT& state,
+ const SystemModelSE2xV::ControlT& control,
+ const SystemModelSE2xV::ControlNoiseT& noise,
+ FloatT dt)
+ {
+ StateT new_state;
+ new_state.pose = state.pose.template rplus(state.velocity * dt);
+ new_state.velocity = state.velocity;
+ return new_state;
+ }
+
+ template <typename floatT>
+ typename SystemModelSE2xV<floatT>::StateT
+ SystemModelSE2xV<floatT>::retraction(const SystemModelSE2xV::StateT& state,
+ const SystemModelSE2xV::SigmaPointsT& sigmaPoints)
+ {
+ StateT new_state;
+ manif::SE2Tangent<FloatT> tan;
+ tan.coeffs() << sigmaPoints.segment(0, 3);
+ new_state.pose = state.pose.lplus(tan);
+ tan.coeffs() << sigmaPoints.segment(3, 3);
+ // TODO: this is probably not correct, i.e. there needs to be some interaction between velocity and pose
+ new_state.velocity += tan;
+ return new_state;
+ }
+
+ template <typename floatT>
+ typename SystemModelSE2xV<floatT>::SigmaPointsT
+ SystemModelSE2xV<floatT>::inverseRetraction(const SystemModelSE2xV::StateT& state1,
+ const SystemModelSE2xV::StateT& state2)
+ {
+ SigmaPointsT sigma;
+ sigma.segment(0, 3) = state2.pose.lminus(state1.pose).coeffs();
+ // TODO: this is probably not correct; probably one cannot subtract two tangent vectors at two different poses
+ // from each other
+ sigma.segment(3, 3) = (state2.velocity - state1.velocity).coeffs();
+ return sigma;
+ }
+
+ template struct SystemModelSE2xV<float>;
+ template struct SystemModelSE2xV<double>;
+
} // namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
diff --git a/source/armarx/navigation/human/HumanSystemModel.h b/source/armarx/navigation/human/HumanSystemModel.h
index fb0309e1..8cbda525 100644
--- a/source/armarx/navigation/human/HumanSystemModel.h
+++ b/source/armarx/navigation/human/HumanSystemModel.h
@@ -121,4 +121,51 @@ namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
extern template struct SystemModelSE2<float>;
extern template struct SystemModelSE2<double>;
+
+ //----------- SE2xV -----------------
+
+ template <typename floatT>
+ struct StateSE2xV
+ {
+ manif::SE2<floatT> pose;
+ typename manif::SE2<floatT>::Tangent velocity;
+ };
+
+ template <typename floatT>
+ struct ControlSE2xV
+ {
+ };
+
+ template <typename floatT>
+ struct SystemModelSE2xV
+ {
+ static_assert(std::is_floating_point_v<floatT>);
+ struct dim
+ {
+ static constexpr long state = 6, control = 0, obs = 3;
+ };
+
+ using FloatT = floatT;
+ using StateT = StateSE2xV<FloatT>;
+ using ControlT = ControlSE2xV<FloatT>;
+ using ObsT = Eigen::Matrix<FloatT, dim::obs, 1>;
+ using ControlNoiseT = Eigen::
+ Matrix<FloatT, dim::control, 1>; // todo: correct name? Is it the same as ControlT?
+ using SigmaPointsT = Eigen::Matrix<FloatT, dim::state, 1>; // todo: rename
+
+ static ObsT observationFunction(const StateT& state);
+
+ static StateT propagationFunction(const StateT& state,
+ const ControlT& control,
+ const ControlNoiseT& noise,
+ FloatT dt);
+
+ static StateT retraction(const StateT& state, const SigmaPointsT& sigmaPoints);
+
+ static SigmaPointsT inverseRetraction(const StateT& state1, const StateT& state2);
+ };
+
+ extern template struct SystemModelSE2xV<float>;
+ extern template struct SystemModelSE2xV<double>;
+
} // namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
--
GitLab
From b30861a097a3eda09149745e8c993ec7b6c63273 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Mon, 5 Sep 2022 19:17:10 +0200
Subject: [PATCH 28/44] Some kalman filter updates
---
source/armarx/navigation/human/CMakeLists.txt | 35 +-
.../human/UnscentedKalmanFilter_impl.cpp | 3 +
.../navigation/human/test/manifKalmanTest.cpp | 462 ++++++++++++++++++
.../human/test/se2KalmanFilterTest.cpp | 295 +++++++++++
.../human/test/se2xVkalmanFilterTest.cpp | 295 +++++++++++
...FilterTest.cpp => so2kalmanFilterTest.cpp} | 11 +-
6 files changed, 1094 insertions(+), 7 deletions(-)
create mode 100644 source/armarx/navigation/human/test/manifKalmanTest.cpp
create mode 100644 source/armarx/navigation/human/test/se2KalmanFilterTest.cpp
create mode 100644 source/armarx/navigation/human/test/se2xVkalmanFilterTest.cpp
rename source/armarx/navigation/human/test/{kalmanFilterTest.cpp => so2kalmanFilterTest.cpp} (98%)
diff --git a/source/armarx/navigation/human/CMakeLists.txt b/source/armarx/navigation/human/CMakeLists.txt
index f3b7cc38..2ffaa3d1 100644
--- a/source/armarx/navigation/human/CMakeLists.txt
+++ b/source/armarx/navigation/human/CMakeLists.txt
@@ -30,9 +30,9 @@ armarx_add_library(teb_human
find_package(sciplot)
-armarx_add_test(kalman_test
+armarx_add_test(so2_kalman_test
TEST_FILES
- test/kalmanFilterTest.cpp
+ test/so2kalmanFilterTest.cpp
DEPENDENCIES
PUBLIC
ArmarXCore
@@ -40,6 +40,37 @@ armarx_add_test(kalman_test
sciplot::sciplot
)
+armarx_add_test(se2_kalman_test
+ TEST_FILES
+ test/se2KalmanFilterTest.cpp
+ DEPENDENCIES
+ PUBLIC
+ ArmarXCore
+ armarx_navigation::teb_human
+ sciplot::sciplot
+)
+
+armarx_add_test(se2xV_kalman_test
+ TEST_FILES
+ test/se2xVkalmanFilterTest.cpp
+ DEPENDENCIES
+ PUBLIC
+ ArmarXCore
+ armarx_navigation::teb_human
+ sciplot::sciplot
+)
+
+armarx_add_test(manif_kalman_test
+ TEST_FILES
+ test/manifKalmanTest.cpp
+ DEPENDENCIES
+ PUBLIC
+ ArmarXCore
+ armarx_navigation::teb_human
+ sciplot::sciplot
+)
+
+
armarx_add_test(se3_kalman_test
TEST_FILES
test/UnscentedKalmanFilterTest.cpp
diff --git a/source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp b/source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp
index 672e487f..168a9e03 100644
--- a/source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp
+++ b/source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp
@@ -7,3 +7,6 @@ template class UnscentedKalmanFilter<armarx::navigation::components::dynamic_sce
kalman_filter::SystemModelSO2xR2<float>>;
template class UnscentedKalmanFilter<armarx::navigation::components::dynamic_scene_provider::
kalman_filter::SystemModelSO2xR2<double>>;
+
+template class UnscentedKalmanFilter<
+ armarx::navigation::components::dynamic_scene_provider::kalman_filter::SystemModelSE2<double>>;
diff --git a/source/armarx/navigation/human/test/manifKalmanTest.cpp b/source/armarx/navigation/human/test/manifKalmanTest.cpp
new file mode 100644
index 00000000..4940ab7c
--- /dev/null
+++ b/source/armarx/navigation/human/test/manifKalmanTest.cpp
@@ -0,0 +1,462 @@
+/**
+ * \file se2_localization_ukfm.cpp
+ *
+ * Created on: Dec 10, 2018
+ * \author: artivis
+ *
+ * ---------------------------------------------------------
+ * This file is:
+ * (c) 2021 Jeremie Deray
+ *
+ * This file is part of `manif`, a C++ template-only library
+ * for Lie theory targeted at estimation for robotics.
+ * Manif is:
+ * (c) 2018 Jeremie Deray @ IRI-UPC, Barcelona
+ * ---------------------------------------------------------
+ *
+ * ---------------------------------------------------------
+ * Demonstration example:
+ *
+ * 2D Robot localization based on fixed beacons.
+ *
+ * See se3_localization.cpp for the 3D equivalent.
+ * See se3_sam.cpp for a more advanced example performing smoothing and mapping.
+ * ---------------------------------------------------------
+ *
+ * This demo showcases an application of an Unscented Kalman Filter on Manifold,
+ * based on the paper
+ * 'A Code for Unscented Kalman Filtering on Manifolds (UKF-M)'
+ * [https://arxiv.org/pdf/2002.00878.pdf], M. Brossard, A. Barrau and S. Bonnabel.
+ *
+ * The following is an abstract of the example hereafter.
+ * Please consult the aforemention paper for better UKF-M reference
+ * and the paper Sola-18, [https://arxiv.org/abs/1812.01537] for general
+ * Lie group reference.
+ *
+ *
+ * We consider a robot in the plane surrounded by a small
+ * number of punctual landmarks or _beacons_.
+ * The robot receives control actions in the form of axial
+ * and angular velocities, and is able to measure the location
+ * of the beacons w.r.t its own reference frame.
+ *
+ * The robot pose X is in SE(2) and the beacon positions b_k in R^2,
+ *
+ * | cos th -sin th x |
+ * X = | sin th cos th y | // position and orientation
+ * | 0 0 1 |
+ *
+ * b_k = (bx_k, by_k) // lmk coordinates in world frame
+ *
+ * The control signal u is a twist in se(2) comprising longitudinal
+ * velocity v and angular velocity w, with no lateral velocity
+ * component, integrated over the sampling time dt.
+ *
+ * u = (v*dt, 0, w*dt)
+ *
+ * The control is corrupted by additive Gaussian noise u_noise,
+ * with covariance
+ *
+ * Q = diagonal(sigma_v^2, sigma_s^2, sigma_w^2).
+ *
+ * This noise accounts for possible lateral slippage u_s
+ * through a non-zero value of sigma_s,
+ *
+ * At the arrival of a control u, the robot pose is updated
+ * with X <-- X * Exp(u) = X + u.
+ *
+ * Landmark measurements are of the range and bearing type,
+ * though they are put in Cartesian form for simplicity.
+ * Their noise n is zero mean Gaussian, and is specified
+ * with a covariances matrix R.
+ * We notice the rigid motion action y = h(X,b) = X^-1 * b
+ * (see appendix C),
+ *
+ * y_k = (brx_k, bry_k) // lmk coordinates in robot frame
+ *
+ * We consider the beacons b_k situated at known positions.
+ * We define the pose to estimate as X in SE(2).
+ * The estimation error dx and its covariance P are expressed
+ * in the tangent space at X.
+ *
+ * All these variables are summarized again as follows
+ *
+ * X : robot pose, SE(2)
+ * u : robot control, (v*dt ; 0 ; w*dt) in se(2)
+ * Q : control perturbation covariance
+ * b_k : k-th landmark position, R^2
+ * y : Cartesian landmark measurement in robot frame, R^2
+ * R : covariance of the measurement noise
+ *
+ * The motion and measurement models are
+ *
+ * X_(t+1) = f(X_t, u) = X_t * Exp ( w ) // motion equation
+ * y_k = h(X, b_k) = X^-1 * b_k // measurement equation
+ *
+ * The algorithm below comprises first a simulator to
+ * produce measurements, then uses these measurements
+ * to estimate the state, using a Lie-based error-state Kalman filter.
+ *
+ * This file has plain code with only one main() function.
+ * There are no function calls other than those involving `manif`.
+ *
+ * Printing simulated state and estimated state together
+ * with an unfiltered state (i.e. without Kalman corrections)
+ * allows for evaluating the quality of the estimates.
+ */
+
+#include <iomanip>
+#include <iostream>
+#include <tuple>
+#include <vector>
+
+#include <Eigen/Cholesky>
+
+#include "manif/SE2.h"
+#include <sciplot/sciplot.hpp>
+
+using std::cout;
+using std::endl;
+
+using namespace Eigen;
+
+typedef Array<double, 2, 1> Array2d;
+typedef Array<double, 3, 1> Array3d;
+
+template <typename Scalar>
+struct Weights
+{
+ Weights() = default;
+ ~Weights() = default;
+
+ Weights(const Scalar l, const Scalar alpha)
+ {
+ using std::sqrt;
+
+ const Scalar m = (alpha * alpha - 1) * l;
+ const Scalar ml = m + l;
+
+ sqrt_d_lambda = sqrt(ml);
+ wj = Scalar(1) / (Scalar(2) * (ml));
+ wm = m / (ml);
+ w0 = m / (ml) + Scalar(3) - alpha * alpha;
+ }
+
+ Scalar sqrt_d_lambda;
+ Scalar wj;
+ Scalar wm;
+ Scalar w0;
+};
+
+using Weightsd = Weights<double>;
+
+template <typename Scalar>
+std::tuple<Weights<Scalar>, Weights<Scalar>, Weights<Scalar>>
+compute_sigma_weights(const Scalar state_size,
+ const Scalar propagation_noise_size,
+ const Scalar alpha_0,
+ const Scalar alpha_1,
+ const Scalar alpha_2)
+{
+ assert(state_size > 0);
+ assert(propagation_noise_size > 0);
+ assert(alpha_0 >= 1e-3 && alpha_0 <= 1);
+ assert(alpha_1 >= 1e-3 && alpha_1 <= 1);
+ assert(alpha_2 >= 1e-3 && alpha_2 <= 1);
+
+ return std::make_tuple(Weights<Scalar>(state_size, alpha_0),
+ Weights<Scalar>(propagation_noise_size, alpha_1),
+ Weights<Scalar>(state_size, alpha_2));
+}
+
+int
+main()
+{
+ std::srand((unsigned int)time(0));
+
+ // START CONFIGURATION
+ //
+ //
+ const int NUMBER_OF_LMKS_TO_MEASURE = 3;
+ constexpr int DoF = manif::SE2d::DoF;
+ constexpr int SystemNoiseSize = manif::SE2d::DoF;
+ // Measurement Dim
+ constexpr int Rp = 2;
+
+ // Define the robot pose element and its covariance
+ manif::SE2d X = manif::SE2d::Identity(), X_simulation = manif::SE2d::Identity(),
+ X_unfiltered = manif::SE2d::Identity();
+ Matrix3d P = Matrix3d::Identity() * 1e-6;
+
+ // Define a control vector and its noise and covariance
+ manif::SE2Tangentd u_simu, u_est, u_unfilt;
+ Vector3d u_nom, u_noisy, u_noise;
+ Array3d u_sigmas;
+ Matrix3d U, Uchol;
+
+ u_nom << 0.1, 0.0, 0.05;
+ u_sigmas << 0.1, 0.1, 0.1;
+ U = (u_sigmas * u_sigmas).matrix().asDiagonal();
+ Uchol = U.llt().matrixL();
+
+ // Define three landmarks in R^2
+ Eigen::Vector2d b;
+ const std::vector<Eigen::Vector2d> landmarks{
+ Eigen::Vector2d(2.0, 0.0), Eigen::Vector2d(2.0, 1.0), Eigen::Vector2d(2.0, -1.0)};
+
+ // Define the beacon's measurements
+ Vector2d y, y_bar, y_noise;
+ Matrix<double, Rp, 2 * DoF> yj;
+ Array2d y_sigmas;
+ Matrix2d R;
+ std::vector<Vector2d> measurements(landmarks.size());
+
+ y_sigmas << 0.01, 0.01;
+ R = (y_sigmas * y_sigmas).matrix().asDiagonal();
+
+
+ // Declare UFK variables
+ Array3d alpha;
+ alpha << 1e-3, 1e-3, 1e-3;
+
+ Weightsd w_d, w_q, w_u;
+ std::tie(w_d, w_q, w_u) = compute_sigma_weights<double>(DoF, Rp, alpha(0), alpha(1), alpha(2));
+
+ // Declare some temporaries
+
+ manif::SE2d X_new;
+ Matrix3d P_new;
+ manif::SE2d s_j_p, s_j_m;
+ Vector3d xi_mean;
+ Vector3d w_p, w_m;
+
+ Matrix2d P_yy;
+ Matrix<double, DoF, 2 * DoF> xij;
+ Matrix<double, DoF, 2> P_xiy;
+
+ Vector2d e, z; // expectation, innovation
+ Matrix<double, 3, 2> K; // Kalman gain
+ manif::SE2Tangentd dx; // optimal update step, or error-state
+
+ Matrix<double, DoF, DoF> xis;
+ Matrix<double, DoF, DoF * 2> xis_new;
+ Matrix<double, DoF, SystemNoiseSize * 2> xis_new2;
+
+ //
+ //
+ // CONFIGURATION DONE
+
+
+ // DEBUG
+ cout << std::fixed << std::setprecision(4) << std::showpos << endl;
+ cout << "X STATE : X Y THETA" << endl;
+ cout << "----------------------------------" << endl;
+ cout << "X initial : " << X_simulation.log().coeffs().transpose() << endl;
+ cout << "----------------------------------" << endl;
+ // END DEBUG
+
+
+ std::vector<double> X_simulated_x, X_simulated_y, X_simulated_theta;
+ std::vector<double> X_estimated_x, X_estimated_y, X_estimated_theta;
+ std::vector<double> X_unfiltered_x, X_unfiltered_y, X_unfiltered_theta;
+
+ // START TEMPORAL LOOP
+ //
+ //
+
+ // Make 10 steps. Measure up to three landmarks each time.
+ for (int t = 0; t < 10; t++)
+ {
+ //// I. Simulation ###############################################################################
+
+ /// simulate noise
+ u_noise = u_sigmas * Array3d::Random(); // control noise
+ u_noisy = u_nom + u_noise; // noisy control
+
+ u_simu = u_nom;
+ u_est = u_noisy;
+ u_unfilt = u_noisy;
+
+ /// first we move - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+ X_simulation = X_simulation + u_simu; // overloaded X.rplus(u) = X * exp(u)
+
+ /// then we measure all landmarks - - - - - - - - - - - - - - - - - - - -
+ for (std::size_t i = 0; i < landmarks.size(); i++)
+ {
+ b = landmarks[i]; // lmk coordinates in world frame
+
+ /// simulate noise
+ y_noise = y_sigmas * Array2d::Random(); // measurement noise
+
+ y = X_simulation.inverse().act(b); // landmark measurement, before adding noise
+ y = y + y_noise; // landmark measurement, noisy
+ measurements[i] = y; // store for the estimator just below
+ }
+
+
+ //// II. Estimation ###############################################################################
+
+ /// First we move - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+
+ X_new = X + u_est; // X * exp(u)
+
+ // set sigma points
+ xis = w_d.sqrt_d_lambda * P.llt().matrixL().toDenseMatrix();
+
+ // sigma points on manifold
+ for (int i = 0; i < DoF; ++i)
+ {
+ s_j_p = X + manif::SE2Tangentd(xis.col(i));
+ s_j_m = X + manif::SE2Tangentd(-xis.col(i));
+
+ xis_new.col(i) = (X_new.lminus(s_j_p + u_est)).coeffs();
+ xis_new.col(i + DoF) = (X_new.lminus(s_j_m + u_est)).coeffs();
+ }
+
+ // compute covariance
+ xi_mean = w_d.wj * xis_new.rowwise().sum();
+ xis_new.colwise() -= xi_mean;
+
+ P_new = w_d.wj * xis_new * xis_new.transpose() + w_d.w0 * xi_mean * xi_mean.transpose();
+
+ // sigma points on manifold
+ for (int i = 0; i < SystemNoiseSize; ++i)
+ {
+ w_p = w_q.sqrt_d_lambda * Uchol.col(i);
+ w_m = -w_q.sqrt_d_lambda * Uchol.col(i);
+
+ xis_new2.col(i) = (X_new.lminus(X + (u_est + w_p))).coeffs();
+ xis_new2.col(i + SystemNoiseSize) = (X_new.lminus(X + (u_est + w_m))).coeffs();
+ }
+
+ xi_mean = w_q.wj * xis_new2.rowwise().sum();
+ xis_new2.colwise() -= xi_mean;
+
+ U = w_q.wj * xis_new2 * xis_new2.transpose() + w_q.w0 * xi_mean * xi_mean.transpose();
+
+ P = P_new + U;
+
+ X = X_new;
+
+ /// Then we correct using the measurements of each lmk - - - - - - - - -
+ for (int i = 0; i < NUMBER_OF_LMKS_TO_MEASURE; i++)
+ {
+ // landmark
+ b = landmarks[i]; // lmk coordinates in world frame
+
+ // measurement
+ y = measurements[i]; // lmk measurement, noisy
+
+ // expectation
+ e = X.inverse().act(b);
+
+ // set sigma points
+ xis = w_u.sqrt_d_lambda * P.llt().matrixL().toDenseMatrix();
+
+ // compute measurement sigma points
+ for (int d = 0; d < DoF; ++d)
+ {
+ s_j_p = X + manif::SE2Tangentd(xis.col(d));
+ s_j_m = X + manif::SE2Tangentd(-xis.col(d));
+
+ yj.col(d) = s_j_p.inverse().act(b);
+ yj.col(d + DoF) = s_j_m.inverse().act(b);
+ }
+
+ // measurement mean
+ y_bar = w_u.wm * e + w_u.wj * yj.rowwise().sum();
+
+ yj.colwise() -= y_bar;
+ e -= y_bar;
+
+ // compute covariance and cross covariance matrices
+ P_yy = w_u.w0 * e * e.transpose() + w_u.wj * yj * yj.transpose() + R;
+
+ xij << xis, -xis;
+ P_xiy = w_u.wj * xij * yj.transpose();
+
+ // Kalman gain
+ K = P_yy.colPivHouseholderQr().solve(P_xiy.transpose()).transpose();
+
+ // innovation
+ z = y - y_bar;
+
+ // Correction step
+ dx = K * z; // dx is in the tangent space at X
+
+ // Update
+ X = X + dx; // overloaded X.rplus(dx) = X * exp(dx)
+ P = P - K * P_yy * K.transpose();
+ }
+
+
+ //// III. Unfiltered ##############################################################################
+
+ // move also an unfiltered version for comparison purposes
+ X_unfiltered = X_unfiltered + u_unfilt;
+
+
+ //// IV. Results ##############################################################################
+
+ // DEBUG
+ cout << "X simulated : " << X_simulation.log().coeffs().transpose() << "\n";
+ cout << "X estimated : " << X.log().coeffs().transpose() << "\n";
+ cout << "X unfilterd : " << X_unfiltered.log().coeffs().transpose() << "\n";
+ cout << "----------------------------------" << endl;
+
+ const auto& X_simu = X_simulation.log().coeffs().transpose();
+ const auto& X_est = X.log().coeffs().transpose();
+ const auto& X_unf = X_unfiltered.log().coeffs().transpose();
+ X_simulated_x.push_back(X_simu(0));
+ X_simulated_y.push_back(X_simu(1));
+ X_simulated_theta.push_back(X_simu(2));
+ X_estimated_x.push_back(X_est(0));
+ X_estimated_y.push_back(X_est(1));
+ X_estimated_theta.push_back(X_est(2));
+ X_unfiltered_x.push_back(X_unf(0));
+ X_unfiltered_y.push_back(X_unf(1));
+ X_unfiltered_theta.push_back(X_unf(2));
+ // END DEBUG
+ }
+
+ sciplot::Plot2D pos_plot;
+ pos_plot.xlabel("x");
+ pos_plot.ylabel("y");
+ pos_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
+ pos_plot.xrange("*", "*").yrange("*", "*");
+
+ pos_plot.drawCurve(X_simulated_x, X_simulated_y).label("Simulated");
+ pos_plot.drawCurve(X_estimated_x, X_estimated_y).label("Estimated");
+ pos_plot.drawCurve(X_unfiltered_x, X_unfiltered_y).label("Unfiltered");
+
+
+ sciplot::Plot2D orientation_plot;
+ orientation_plot.xlabel("t");
+ orientation_plot.ylabel("rot");
+ orientation_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
+ orientation_plot.xrange("*", "*").yrange("*", "*");
+
+ sciplot::Vec x = sciplot::linspace(0.0, 1.0, X_estimated_theta.size());
+ orientation_plot.drawCurve(x, X_simulated_theta).label("Simulated");
+ orientation_plot.drawCurve(x, X_estimated_theta).label("Estimated");
+ orientation_plot.drawCurve(x, X_unfiltered_theta).label("Unfiltered");
+
+ // Create figure to hold plot
+ sciplot::Figure fig = {{pos_plot, orientation_plot}};
+ // Create canvas to hold figure
+ sciplot::Canvas canvas = {{fig}};
+ canvas.size(1000, 500);
+
+ // Show the plot in a pop-up window
+ canvas.show();
+
+ // Save the plot to a PDF file
+ canvas.save("manif_kalman_output.pdf");
+
+
+ //
+ //
+ // END OF TEMPORAL LOOP. DONE.
+
+ return 0;
+}
diff --git a/source/armarx/navigation/human/test/se2KalmanFilterTest.cpp b/source/armarx/navigation/human/test/se2KalmanFilterTest.cpp
new file mode 100644
index 00000000..61d37530
--- /dev/null
+++ b/source/armarx/navigation/human/test/se2KalmanFilterTest.cpp
@@ -0,0 +1,295 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Tobias Gröger ( tobias dot groeger at student dot kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE Navigation::ArmarXLibraries::human
+#define ARMARX_BOOST_TEST
+
+#include <cstdlib> /* srand, rand */
+#include <ctime> /* time */
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/util/time.h>
+
+#include <RobotAPI/libraries/ukfm/UnscentedKalmanFilter.h>
+
+#include <armarx/navigation/Test.h>
+#include <armarx/navigation/human/HumanSystemModel.h>
+#include <manif/SO2.h>
+#include <sciplot/sciplot.hpp>
+
+namespace armarx::navigation::components::dynamic_scene_provider
+{
+ using T = double; //TODO double or float?
+ using Vector = Eigen::Matrix<T, 2, 1>;
+ using SystemModelT = kalman_filter::SystemModelSE2<T>;
+
+ constexpr T RAD = 1;
+ constexpr long num_timesteps = 3000;
+ constexpr T max_time = 1;
+ constexpr T dt = max_time / num_timesteps;
+ constexpr T c = (1 / max_time) * 2 * M_PI; // rotation per time
+
+ constexpr T rot_noise_std = 0.1;
+ constexpr T pos_noise_std = 0.1;
+ constexpr T obs_rot_noise_std = 0.1;
+ constexpr T obs_pos_noise_std = 0.1;
+ constexpr T initial_offset_angle = 1 * 10 * M_PI / 180;
+ const Vector initial_offet_pos = 0.4 * RAD * Vector(1, 0.5);
+
+
+ void
+ simulate_trajectory(std::vector<SystemModelT::StateT>& states,
+ std::vector<SystemModelT::ControlT>& omegas)
+ {
+ constexpr T startAngle = 0;
+
+ SystemModelT::StateT state;
+ state.pose = manif::SE2<T>(RAD, 0, startAngle);
+ states.push_back(state);
+
+ for (int i = 1; i < num_timesteps; i++)
+ {
+ const T t = dt * i;
+ const T angle = t * c;
+
+ const Vector last_pos = states.at(i - 1).pose.translation();
+ //const Vector pos(angle, std::cos(angle));
+ const Vector pos = RAD * Vector(std::cos(angle), std::sin(angle));
+
+ BOOST_TEST(((last_pos - pos).norm() < 0.1 * RAD),
+ "position differs too much from last step: " << (last_pos - pos).norm());
+
+ Eigen::Vector2d euclidean_velocity = Eigen::Vector2d{0, c};
+ SystemModelT::ControlT control;
+ //control.velocity.coeffs() << (pos - last_pos) / dt, c;
+ control.velocity.coeffs() << euclidean_velocity, c;
+
+ const SystemModelT::StateT propagated = SystemModelT::propagationFunction(
+ state, control, SystemModelT::ControlNoiseT::Zero(), dt);
+
+ state.pose = manif::SE2<T>(pos.x(), pos.y(), angle + startAngle);
+
+ T pos_diff = (propagated.pose.translation() - state.pose.translation()).norm();
+ BOOST_TEST(pos_diff < 2e-10,
+ "propagated position differs too much from real position: " << pos_diff);
+
+ T rot_diff = propagated.pose.angle() - state.pose.angle();
+ BOOST_TEST(rot_diff < 2e-10,
+ "propagated rotation differs too much from real orientation: " << rot_diff);
+
+ states.push_back(propagated);
+
+
+ // add noise
+ control.velocity.coeffs().segment(0, 2) += pos_noise_std * Vector::Random();
+ control.velocity.coeffs().segment(2, 1) +=
+ rot_noise_std * Eigen::Matrix<T, 1, 1>::Random();
+ omegas.push_back(control);
+ }
+ }
+
+ void
+ simulate_observation(const std::vector<SystemModelT::StateT>& states,
+ std::vector<SystemModelT::ObsT>& observations)
+ {
+ for (const auto& state : states)
+ {
+ SystemModelT::ObsT obs = SystemModelT::observationFunction(state);
+
+ SystemModelT::ObsT noise = SystemModelT::ObsT::Random();
+ noise.segment(0, 2) *= obs_pos_noise_std;
+ noise.segment(2, 1) *= obs_rot_noise_std;
+
+ BOOST_TEST_MESSAGE("SALT TEST: noise " << noise);
+
+ observations.push_back(obs + noise);
+
+ BOOST_TEST_MESSAGE("SALT TEST: state:\n"
+ << state.pose.x() << "\n"
+ << state.pose.y() << "\n"
+ << state.pose.angle());
+
+ BOOST_TEST_MESSAGE("SALT TEST: state.log:\n" << state.pose.log().coeffs());
+
+ BOOST_TEST_MESSAGE("SALT TEST: noisy obs:\n" << (obs + noise));
+
+ SystemModelT::ObsT diff =
+ (obs + noise) -
+ SystemModelT::ObsT(state.pose.x(), state.pose.y(), state.pose.angle());
+
+ BOOST_TEST_MESSAGE("\nSALT TEST: diff:\n" << diff);
+ }
+ }
+
+
+ BOOST_AUTO_TEST_CASE(se2KalmanFilterTest)
+ {
+ srand(time(NULL));
+
+ std::vector<SystemModelT::StateT> states;
+ std::vector<SystemModelT::ControlT> omegas;
+ std::vector<SystemModelT::ObsT> observations;
+ simulate_trajectory(states, omegas);
+ simulate_observation(states, observations);
+
+ ARMARX_INFO << "Num States: " << states.size() << " Num Controls: " << omegas.size()
+ << " Num Obs: " << observations.size();
+
+ UnscentedKalmanFilter<SystemModelT>::PropCovT Q =
+ UnscentedKalmanFilter<SystemModelT>::PropCovT::Identity();
+ Q.block<2, 2>(0, 0) *= pos_noise_std * pos_noise_std;
+ Q.block<1, 1>(2, 2) *= rot_noise_std * rot_noise_std;
+
+ UnscentedKalmanFilter<SystemModelT>::ObsCovT R =
+ UnscentedKalmanFilter<SystemModelT>::ObsCovT::Identity();
+ R.block<2, 2>(0, 0) *= obs_pos_noise_std * obs_pos_noise_std;
+ R.block<1, 1>(2, 2) *= obs_rot_noise_std * obs_rot_noise_std;
+
+ UnscentedKalmanFilter<SystemModelT>::StateCovT P0 =
+ UnscentedKalmanFilter<SystemModelT>::StateCovT::Identity();
+ P0.block<2, 2>(0, 0) *= initial_offet_pos.norm() * initial_offet_pos.norm();
+ P0.block<1, 1>(2, 2) *= initial_offset_angle * initial_offset_angle;
+
+ UnscentedKalmanFilter<SystemModelT>::AlphaT alpha;
+ alpha(0) = 0.5; //0.8; // state
+ alpha(1) = 0.5; //0.1; // control
+ alpha(2) = 0.5; //0.1; // update
+
+ SystemModelT::StateT state0;
+ const Vector startPos = states.at(0).pose.translation() + initial_offet_pos;
+ state0.pose = manif::SE2<T>{
+ startPos.x(), startPos.y(), states.at(0).pose.angle() + initial_offset_angle};
+
+ UnscentedKalmanFilter<SystemModelT> ukf(Q, R, alpha, state0, P0);
+
+ std::vector<SystemModelT::StateT> ukf_states;
+ std::vector<UnscentedKalmanFilter<SystemModelT>::StateCovT> ukf_Ps;
+ ukf_states.push_back(state0);
+ ukf_Ps.push_back(P0);
+
+ std::vector<T> x_true, y_true, x_obs, y_obs, x_ukf, y_ukf;
+ std::vector<T> a_true, a_obs, a_ukf;
+ std::vector<T> x_ukf_full, y_ukf_full, a_ukf_full;
+ std::vector<T> ukf_pos_var, ukf_rot_var, ukf_var;
+
+ for (int i = 1; i < num_timesteps; i++)
+ {
+ // propagate
+ TIMING_START(LOOP);
+ TIMING_START(PROPAGATION);
+ ukf.propagation(omegas.at(i - 1), dt);
+ TIMING_END(PROPAGATION);
+ if ((i - 1) % 50 == 0)
+ {
+ TIMING_START(UPDATE);
+ ukf.update(observations.at(i));
+ TIMING_END(UPDATE);
+ TIMING_START(REST);
+
+ BOOST_TEST_MESSAGE("Max Cov "
+ << ukf.getCurrentStateCovariance().cwiseAbs().maxCoeff());
+ BOOST_TEST_MESSAGE("Diag: " << (ukf.getCurrentStateCovariance() -
+ Eigen::Matrix<T, 3, 3>::Identity())
+ .norm());
+
+ x_obs.push_back(observations.at(i)(0));
+ y_obs.push_back(observations.at(i)(1));
+ a_obs.push_back(observations.at(i)(2));
+
+ x_ukf.push_back(ukf.getCurrentState().pose.x());
+ y_ukf.push_back(ukf.getCurrentState().pose.y());
+ a_ukf.push_back(ukf.getCurrentState().pose.angle());
+
+ TIMING_END(REST);
+ }
+ x_true.push_back(states.at(i).pose.x());
+ y_true.push_back(states.at(i).pose.y());
+ a_true.push_back(states.at(i).pose.angle());
+
+ x_ukf_full.push_back(ukf.getCurrentState().pose.x());
+ y_ukf_full.push_back(ukf.getCurrentState().pose.y());
+ a_ukf_full.push_back(ukf.getCurrentState().pose.angle());
+
+ ukf_states.push_back(ukf.getCurrentState());
+ ukf_Ps.push_back(ukf.getCurrentStateCovariance());
+
+ ukf_pos_var.push_back(
+ ukf.getCurrentStateCovariance().block<2, 2>(0, 0).cwiseAbs().maxCoeff());
+ ukf_rot_var.push_back(
+ ukf.getCurrentStateCovariance().block<1, 1>(2, 2).cwiseAbs().maxCoeff());
+ ukf_var.push_back(ukf.getCurrentStateCovariance().cwiseAbs().maxCoeff());
+
+ TIMING_END(LOOP);
+ }
+
+ sciplot::Plot2D pos_plot;
+ pos_plot.xlabel("x");
+ pos_plot.ylabel("y");
+ pos_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
+ pos_plot.xrange(-RAD * 1.1, RAD * 1.1).yrange(-RAD * 1.1, RAD * 1.1);
+ //pos_plot.xrange(-4, 4).yrange(-4, 4);
+
+ pos_plot.drawCurve(x_true, y_true).label("True");
+ pos_plot.drawCurve(x_obs, y_obs).label("Obs");
+ pos_plot.drawCurveWithPoints(x_ukf, y_ukf).label("UKF");
+ pos_plot.drawCurve(x_ukf_full, y_ukf_full).label("Full UKF");
+
+
+ sciplot::Plot2D orientation_plot;
+ orientation_plot.xlabel("x");
+ orientation_plot.ylabel("y");
+ orientation_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
+ orientation_plot.xrange(-0.1, 1.1).yrange(-4, 4);
+
+ sciplot::Vec x = sciplot::linspace(0.0, 1.0, a_obs.size());
+ sciplot::Vec x_t = sciplot::linspace(0.0, 1.0, a_true.size());
+ orientation_plot.drawCurve(x_t, a_true).label("True").lineWidth(1);
+ orientation_plot.drawCurve(x, a_obs).label("Obs").lineWidth(1);
+ orientation_plot.drawCurve(x, a_ukf).label("UKF").lineWidth(1);
+ orientation_plot.drawCurve(x_t, a_ukf_full).label("Full UKF").lineWidth(1);
+
+
+ sciplot::Plot2D error_plot;
+ error_plot.xlabel("x");
+ error_plot.ylabel("y");
+ error_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
+ error_plot.xrange(-0.1, 1.1).yrange("*", "*");
+
+ error_plot.drawCurve(x_t, ukf_pos_var).label("Pos variance").lineWidth(1);
+ error_plot.drawCurve(x_t, ukf_rot_var).label("Rot variance").lineWidth(1);
+ error_plot.drawCurve(x_t, ukf_var).label("Total variance").lineWidth(1);
+
+
+ // Create figure to hold plot
+ sciplot::Figure fig = {{pos_plot, orientation_plot}, {error_plot}};
+ // Create canvas to hold figure
+ sciplot::Canvas canvas = {{fig}};
+ canvas.size(1000, 1000);
+
+ // Show the plot in a pop-up window
+ canvas.show();
+
+ // Save the plot to a PDF file
+ canvas.save("se2_kalman_output.pdf");
+ }
+
+} // namespace armarx::navigation::components::dynamic_scene_provider
diff --git a/source/armarx/navigation/human/test/se2xVkalmanFilterTest.cpp b/source/armarx/navigation/human/test/se2xVkalmanFilterTest.cpp
new file mode 100644
index 00000000..5187e87a
--- /dev/null
+++ b/source/armarx/navigation/human/test/se2xVkalmanFilterTest.cpp
@@ -0,0 +1,295 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Tobias Gröger ( tobias dot groeger at student dot kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE Navigation::ArmarXLibraries::human
+#define ARMARX_BOOST_TEST
+
+#include <cstdlib> /* srand, rand */
+#include <ctime> /* time */
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/util/time.h>
+
+#include <RobotAPI/libraries/ukfm/UnscentedKalmanFilter.h>
+
+#include <armarx/navigation/Test.h>
+#include <armarx/navigation/human/HumanSystemModel.h>
+#include <manif/SO2.h>
+#include <sciplot/sciplot.hpp>
+
+namespace armarx::navigation::components::dynamic_scene_provider
+{
+ using T = double; //TODO double or float?
+ using Vector = Eigen::Matrix<T, 2, 1>;
+ using SystemModelT = kalman_filter::SystemModelSE2xV<T>;
+
+ constexpr T RAD = 1;
+ constexpr long num_timesteps = 3000;
+ constexpr T max_time = 1;
+ constexpr T dt = max_time / num_timesteps;
+ constexpr T c = (1 / max_time) * 2 * M_PI; // rotation per time
+
+ constexpr T obs_rot_noise_std = 0.01;
+ constexpr T obs_pos_noise_std = 0.01;
+ constexpr T initial_offset_angle = 1 * 10 * M_PI / 180;
+ const Vector initial_offet_pos = 0.8 * RAD * Vector(1, 0.5);
+ const Vector initial_offet_vel = 0.8 * RAD * Vector(1, 0.5);
+
+
+ void
+ simulate_trajectory(std::vector<SystemModelT::StateT>& states)
+ {
+ constexpr T startAngle = 0;
+
+ SystemModelT::StateT state;
+ state.pose = manif::SE2<T>(RAD, 0, startAngle);
+ state.velocity = manif::SE2Tangent<T>(0, c, c);
+ states.push_back(state);
+
+ for (int i = 1; i < num_timesteps; i++)
+ {
+ const T t = dt * i;
+ const T angle = t * c;
+
+ const Vector last_pos = states.at(i - 1).pose.translation();
+ //const Vector pos(angle, std::cos(angle));
+ const Vector pos = RAD * Vector(std::cos(angle), std::sin(angle));
+
+ BOOST_TEST(((last_pos - pos).norm() < 0.1 * RAD),
+ "position differs too much from last step: " << (last_pos - pos).norm());
+
+ SystemModelT::ControlT control;
+
+ const SystemModelT::StateT propagated = SystemModelT::propagationFunction(
+ state, control, SystemModelT::ControlNoiseT::Zero(), dt);
+
+ state.pose = manif::SE2<T>(pos.x(), pos.y(), angle + startAngle);
+ state.velocity = manif::SE2Tangent<T>(0, c, c);
+
+ T pos_diff = (propagated.pose.translation() - state.pose.translation()).norm();
+ BOOST_TEST(pos_diff < 2e-10,
+ "propagated position differs too much from real position: " << pos_diff);
+
+ T rot_diff = propagated.pose.angle() - state.pose.angle();
+ BOOST_TEST(rot_diff < 2e-10,
+ "propagated rotation differs too much from real orientation: " << rot_diff);
+
+ T vel_diff = (propagated.velocity.coeffs() - state.velocity.coeffs()).norm();
+ BOOST_TEST(vel_diff < 2e-10,
+ "propagated velocity differs too much from real velocity: " << vel_diff);
+
+ states.push_back(state);
+ }
+ }
+
+ void
+ simulate_observation(const std::vector<SystemModelT::StateT>& states,
+ std::vector<SystemModelT::ObsT>& observations)
+ {
+ for (const auto& state : states)
+ {
+ SystemModelT::ObsT obs = SystemModelT::observationFunction(state);
+
+ SystemModelT::ObsT noise = SystemModelT::ObsT::Random();
+ noise.segment(0, 2) *= obs_pos_noise_std;
+ noise.segment(2, 1) *= obs_rot_noise_std;
+
+ observations.push_back(obs + noise);
+ }
+ }
+
+
+ BOOST_AUTO_TEST_CASE(se2xVkalmanFilterTest)
+ {
+ srand(time(NULL));
+
+ std::vector<SystemModelT::StateT> states;
+ std::vector<SystemModelT::ObsT> observations;
+ simulate_trajectory(states);
+ simulate_observation(states, observations);
+
+ ARMARX_INFO << "Num States: " << states.size() << " Num Obs: " << observations.size();
+
+ UnscentedKalmanFilter<SystemModelT>::PropCovT Q =
+ UnscentedKalmanFilter<SystemModelT>::PropCovT::Identity();
+
+ UnscentedKalmanFilter<SystemModelT>::ObsCovT R =
+ UnscentedKalmanFilter<SystemModelT>::ObsCovT::Identity();
+ R.block<2, 2>(0, 0) *= obs_pos_noise_std * obs_pos_noise_std;
+ R.block<1, 1>(2, 2) *= obs_rot_noise_std * obs_rot_noise_std;
+
+ UnscentedKalmanFilter<SystemModelT>::StateCovT P0 =
+ UnscentedKalmanFilter<SystemModelT>::StateCovT::Identity();
+ P0.block<2, 2>(0, 0) *= initial_offet_pos.norm() * initial_offet_pos.norm();
+ P0.block<1, 1>(2, 2) *= initial_offset_angle * initial_offset_angle;
+ P0.block<3, 3>(3, 3) *= initial_offet_vel.norm() * initial_offet_vel.norm();
+
+ UnscentedKalmanFilter<SystemModelT>::AlphaT alpha;
+ alpha(0) = 0.001; // state
+ alpha(1) = 0.001; // control
+ alpha(2) = 0.001; // update
+
+ SystemModelT::StateT state0;
+ const Vector startPos = states.at(0).pose.translation() + initial_offet_pos;
+ state0.pose = manif::SE2<T>{
+ startPos.x(), startPos.y(), states.at(0).pose.angle() + initial_offset_angle};
+ state0.velocity = states.at(0).velocity + initial_offet_vel;
+
+ UnscentedKalmanFilter<SystemModelT> ukf(Q, R, alpha, state0, P0);
+
+ std::vector<SystemModelT::StateT> ukf_states;
+ std::vector<UnscentedKalmanFilter<SystemModelT>::StateCovT> ukf_Ps;
+ ukf_states.push_back(state0);
+ ukf_Ps.push_back(P0);
+
+ std::vector<T> x_true, y_true, x_obs, y_obs, x_ukf, y_ukf;
+ std::vector<T> a_true, a_obs, a_ukf;
+ std::vector<T> vel_x_true, vel_y_true, vel_a_true;
+ std::vector<T> vel_x_ukf_full, vel_y_ukf_full, vel_a_ukf_full;
+ std::vector<T> x_ukf_full, y_ukf_full, a_ukf_full;
+ std::vector<T> ukf_pos_var, ukf_rot_var, ukf_var;
+
+ for (int i = 1; i < num_timesteps; i++)
+ {
+ // propagate
+ TIMING_START(LOOP);
+ TIMING_START(PROPAGATION);
+ ukf.propagation(SystemModelT::ControlT{}, dt);
+ TIMING_END(PROPAGATION);
+ if ((i - 1) % 5 == 0)
+ {
+ TIMING_START(UPDATE);
+ ukf.update(observations.at(i));
+ TIMING_END(UPDATE);
+ TIMING_START(REST);
+ const SystemModelT::StateT& current_state = ukf.getCurrentState();
+
+ BOOST_TEST_MESSAGE("Max Cov "
+ << ukf.getCurrentStateCovariance().cwiseAbs().maxCoeff());
+ BOOST_TEST_MESSAGE("Diag: " << (ukf.getCurrentStateCovariance() -
+ Eigen::Matrix<T, 3, 3>::Identity())
+ .norm());
+
+ x_obs.push_back(observations.at(i)(0));
+ y_obs.push_back(observations.at(i)(1));
+ a_obs.push_back(observations.at(i)(2));
+
+ x_ukf.push_back(ukf.getCurrentState().pose.x());
+ y_ukf.push_back(ukf.getCurrentState().pose.y());
+ a_ukf.push_back(ukf.getCurrentState().pose.angle());
+
+ TIMING_END(REST);
+ }
+
+ x_true.push_back(states.at(i).pose.x());
+ y_true.push_back(states.at(i).pose.y());
+ a_true.push_back(states.at(i).pose.angle());
+
+ vel_x_true.push_back(states.at(i).velocity.x());
+ vel_y_true.push_back(states.at(i).velocity.y());
+ vel_a_true.push_back(states.at(i).velocity.angle());
+
+ x_ukf_full.push_back(ukf.getCurrentState().pose.x());
+ y_ukf_full.push_back(ukf.getCurrentState().pose.y());
+ a_ukf_full.push_back(ukf.getCurrentState().pose.angle());
+
+ vel_x_ukf_full.push_back(ukf.getCurrentState().velocity.x());
+ vel_y_ukf_full.push_back(ukf.getCurrentState().velocity.y());
+ vel_a_ukf_full.push_back(ukf.getCurrentState().velocity.angle());
+
+ ukf_states.push_back(ukf.getCurrentState());
+ ukf_Ps.push_back(ukf.getCurrentStateCovariance());
+
+ ukf_pos_var.push_back(
+ ukf.getCurrentStateCovariance().block<2, 2>(0, 0).cwiseAbs().maxCoeff());
+ ukf_rot_var.push_back(
+ ukf.getCurrentStateCovariance().block<1, 1>(2, 2).cwiseAbs().maxCoeff());
+ ukf_var.push_back(ukf.getCurrentStateCovariance().cwiseAbs().maxCoeff());
+
+ TIMING_END(LOOP);
+ }
+
+ sciplot::Plot2D pos_plot;
+ pos_plot.xlabel("x");
+ pos_plot.ylabel("y");
+ pos_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
+ pos_plot.xrange(-RAD * 1.1, RAD * 1.1).yrange(-RAD * 1.1, RAD * 1.1);
+
+ pos_plot.drawCurve(x_true, y_true).label("True");
+ pos_plot.drawCurve(x_obs, y_obs).label("Obs");
+ pos_plot.drawCurveWithPoints(x_ukf, y_ukf).label("UKF");
+ pos_plot.drawCurve(x_ukf_full, y_ukf_full).label("Full UKF");
+
+
+ sciplot::Plot2D orientation_plot;
+ orientation_plot.xlabel("t");
+ orientation_plot.ylabel("rot");
+ orientation_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
+ orientation_plot.xrange(-0.1, 1.1).yrange(-4, 4);
+
+ sciplot::Vec x = sciplot::linspace(0.0, 1.0, a_obs.size());
+ sciplot::Vec x_t = sciplot::linspace(0.0, 1.0, a_true.size());
+ orientation_plot.drawCurve(x_t, a_true).label("True").lineWidth(1);
+ orientation_plot.drawCurve(x, a_obs).label("Obs").lineWidth(1);
+ orientation_plot.drawCurve(x, a_ukf).label("UKF").lineWidth(1);
+ orientation_plot.drawCurve(x_t, a_ukf_full).label("Full UKF").lineWidth(1);
+
+
+ sciplot::Plot2D velocity_plot;
+ orientation_plot.xlabel("t");
+ orientation_plot.ylabel("vel");
+ orientation_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
+ orientation_plot.xrange(-0.1, 1.1).yrange("*", "*");
+
+ orientation_plot.drawCurve(x_t, vel_x_true).label("x True").lineWidth(1);
+ orientation_plot.drawCurve(x_t, vel_y_true).label("y True").lineWidth(1);
+ orientation_plot.drawCurve(x_t, vel_a_true).label("a True").lineWidth(1);
+ orientation_plot.drawCurve(x_t, vel_x_ukf_full).label("x Ukf").lineWidth(1);
+ orientation_plot.drawCurve(x_t, vel_y_ukf_full).label("y Ukf").lineWidth(1);
+ orientation_plot.drawCurve(x_t, vel_a_ukf_full).label("a Ukf").lineWidth(1);
+
+
+ sciplot::Plot2D error_plot;
+ error_plot.xlabel("t");
+ error_plot.ylabel("err");
+ error_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
+ error_plot.xrange(-0.1, 1.1).yrange("*", "*");
+
+ error_plot.drawCurve(x_t, ukf_pos_var).label("Pos variance").lineWidth(1);
+ error_plot.drawCurve(x_t, ukf_rot_var).label("Rot variance").lineWidth(1);
+ error_plot.drawCurve(x_t, ukf_var).label("Total variance").lineWidth(1);
+
+
+ // Create figure to hold plot
+ sciplot::Figure fig = {{pos_plot, orientation_plot}, {velocity_plot, error_plot}};
+ // Create canvas to hold figure
+ sciplot::Canvas canvas = {{fig}};
+ canvas.size(1000, 1000);
+
+ // Show the plot in a pop-up window
+ //canvas.show();
+
+ // Save the plot to a PDF file
+ canvas.save("kalman_output.pdf");
+ }
+
+} // namespace armarx::navigation::components::dynamic_scene_provider
diff --git a/source/armarx/navigation/human/test/kalmanFilterTest.cpp b/source/armarx/navigation/human/test/so2kalmanFilterTest.cpp
similarity index 98%
rename from source/armarx/navigation/human/test/kalmanFilterTest.cpp
rename to source/armarx/navigation/human/test/so2kalmanFilterTest.cpp
index 9a80c9ec..d6778e2e 100644
--- a/source/armarx/navigation/human/test/kalmanFilterTest.cpp
+++ b/source/armarx/navigation/human/test/so2kalmanFilterTest.cpp
@@ -42,7 +42,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
using Vector = Eigen::Matrix<T, 2, 1>;
using SystemModelT = kalman_filter::SystemModelSO2xR2<T>;
- constexpr T RAD = 8000;
+ constexpr T RAD = 40;
constexpr long num_timesteps = 3000;
constexpr T max_time = 1;
constexpr T dt = max_time / num_timesteps;
@@ -134,7 +134,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
}
- BOOST_AUTO_TEST_CASE(kalmanFilterTest)
+ BOOST_AUTO_TEST_CASE(so2KalmanFilterTest)
{
srand(time(NULL));
@@ -266,13 +266,14 @@ namespace armarx::navigation::components::dynamic_scene_provider
orientation_plot.drawCurve(x, a_ukf).label("UKF").lineWidth(1);
orientation_plot.drawCurve(x_t, a_ukf_full).label("Full UKF").lineWidth(1);
+
sciplot::Plot2D error_plot;
error_plot.xlabel("x");
error_plot.ylabel("y");
error_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
+ error_plot.xrange(-0.1, 1.1).yrange("*", "*");
-
- error_plot.drawCurve(x_t, ukf_pos_var).label("Pos cariance").lineWidth(1);
+ error_plot.drawCurve(x_t, ukf_pos_var).label("Pos variance").lineWidth(1);
error_plot.drawCurve(x_t, ukf_rot_var).label("Rot variance").lineWidth(1);
error_plot.drawCurve(x_t, ukf_var).label("Total variance").lineWidth(1);
@@ -284,7 +285,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
canvas.size(1000, 1000);
// Show the plot in a pop-up window
- canvas.show();
+ //canvas.show();
// Save the plot to a PDF file
canvas.save("kalman_output.pdf");
--
GitLab
From cbc24d2e151398559d020555ea84b3fe1c989d16 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Mon, 5 Sep 2022 19:50:48 +0200
Subject: [PATCH 29/44] Fix kalman tests
---
.../navigation/human/HumanSystemModel.h | 2 +-
.../human/UnscentedKalmanFilter_impl.cpp | 2 ++
.../human/test/se2KalmanFilterTest.cpp | 33 ++++++++++---------
.../human/test/se2xVkalmanFilterTest.cpp | 31 ++++++++---------
4 files changed, 34 insertions(+), 34 deletions(-)
diff --git a/source/armarx/navigation/human/HumanSystemModel.h b/source/armarx/navigation/human/HumanSystemModel.h
index 8cbda525..036ed537 100644
--- a/source/armarx/navigation/human/HumanSystemModel.h
+++ b/source/armarx/navigation/human/HumanSystemModel.h
@@ -142,7 +142,7 @@ namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
static_assert(std::is_floating_point_v<floatT>);
struct dim
{
- static constexpr long state = 6, control = 0, obs = 3;
+ static constexpr long state = 6, control = 1, obs = 3;
};
using FloatT = floatT;
diff --git a/source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp b/source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp
index 168a9e03..37360a4b 100644
--- a/source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp
+++ b/source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp
@@ -10,3 +10,5 @@ template class UnscentedKalmanFilter<armarx::navigation::components::dynamic_sce
template class UnscentedKalmanFilter<
armarx::navigation::components::dynamic_scene_provider::kalman_filter::SystemModelSE2<double>>;
+template class UnscentedKalmanFilter<armarx::navigation::components::dynamic_scene_provider::
+ kalman_filter::SystemModelSE2xV<double>>;
diff --git a/source/armarx/navigation/human/test/se2KalmanFilterTest.cpp b/source/armarx/navigation/human/test/se2KalmanFilterTest.cpp
index 61d37530..3746662d 100644
--- a/source/armarx/navigation/human/test/se2KalmanFilterTest.cpp
+++ b/source/armarx/navigation/human/test/se2KalmanFilterTest.cpp
@@ -42,18 +42,18 @@ namespace armarx::navigation::components::dynamic_scene_provider
using Vector = Eigen::Matrix<T, 2, 1>;
using SystemModelT = kalman_filter::SystemModelSE2<T>;
- constexpr T RAD = 1;
+ constexpr T RAD = 10;
constexpr long num_timesteps = 3000;
constexpr T max_time = 1;
constexpr T dt = max_time / num_timesteps;
constexpr T c = (1 / max_time) * 2 * M_PI; // rotation per time
- constexpr T rot_noise_std = 0.1;
- constexpr T pos_noise_std = 0.1;
- constexpr T obs_rot_noise_std = 0.1;
- constexpr T obs_pos_noise_std = 0.1;
- constexpr T initial_offset_angle = 1 * 10 * M_PI / 180;
- const Vector initial_offet_pos = 0.4 * RAD * Vector(1, 0.5);
+ constexpr T rot_noise_std = 0.2;
+ constexpr T pos_noise_std = 2;
+ constexpr T obs_rot_noise_std = 0.2;
+ constexpr T obs_pos_noise_std = 2;
+ constexpr T initial_offset_angle = 0.1 * 10 * M_PI / 180;
+ const Vector initial_offet_pos = 0.1 * RAD * Vector(1, 0.5);
void
@@ -78,7 +78,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
BOOST_TEST(((last_pos - pos).norm() < 0.1 * RAD),
"position differs too much from last step: " << (last_pos - pos).norm());
- Eigen::Vector2d euclidean_velocity = Eigen::Vector2d{0, c};
+ Eigen::Vector2d euclidean_velocity = RAD * Eigen::Vector2d{0, c};
SystemModelT::ControlT control;
//control.velocity.coeffs() << (pos - last_pos) / dt, c;
control.velocity.coeffs() << euclidean_velocity, c;
@@ -211,9 +211,10 @@ namespace armarx::navigation::components::dynamic_scene_provider
Eigen::Matrix<T, 3, 3>::Identity())
.norm());
- x_obs.push_back(observations.at(i)(0));
- y_obs.push_back(observations.at(i)(1));
- a_obs.push_back(observations.at(i)(2));
+ manif::SE2Tangent<T> obs{observations.at(i)};
+ x_obs.push_back(obs.exp().x());
+ y_obs.push_back(obs.exp().y());
+ a_obs.push_back(obs.exp().angle());
x_ukf.push_back(ukf.getCurrentState().pose.x());
y_ukf.push_back(ukf.getCurrentState().pose.y());
@@ -245,7 +246,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
pos_plot.xlabel("x");
pos_plot.ylabel("y");
pos_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
- pos_plot.xrange(-RAD * 1.1, RAD * 1.1).yrange(-RAD * 1.1, RAD * 1.1);
+ pos_plot.xrange(-RAD * 1.2, RAD * 1.2).yrange(-RAD * 1.2, RAD * 1.2);
//pos_plot.xrange(-4, 4).yrange(-4, 4);
pos_plot.drawCurve(x_true, y_true).label("True");
@@ -255,8 +256,8 @@ namespace armarx::navigation::components::dynamic_scene_provider
sciplot::Plot2D orientation_plot;
- orientation_plot.xlabel("x");
- orientation_plot.ylabel("y");
+ orientation_plot.xlabel("t");
+ orientation_plot.ylabel("rot");
orientation_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
orientation_plot.xrange(-0.1, 1.1).yrange(-4, 4);
@@ -269,8 +270,8 @@ namespace armarx::navigation::components::dynamic_scene_provider
sciplot::Plot2D error_plot;
- error_plot.xlabel("x");
- error_plot.ylabel("y");
+ error_plot.xlabel("t");
+ error_plot.ylabel("err");
error_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
error_plot.xrange(-0.1, 1.1).yrange("*", "*");
diff --git a/source/armarx/navigation/human/test/se2xVkalmanFilterTest.cpp b/source/armarx/navigation/human/test/se2xVkalmanFilterTest.cpp
index 5187e87a..fa182266 100644
--- a/source/armarx/navigation/human/test/se2xVkalmanFilterTest.cpp
+++ b/source/armarx/navigation/human/test/se2xVkalmanFilterTest.cpp
@@ -52,7 +52,8 @@ namespace armarx::navigation::components::dynamic_scene_provider
constexpr T obs_pos_noise_std = 0.01;
constexpr T initial_offset_angle = 1 * 10 * M_PI / 180;
const Vector initial_offet_pos = 0.8 * RAD * Vector(1, 0.5);
- const Vector initial_offet_vel = 0.8 * RAD * Vector(1, 0.5);
+ const Eigen::Matrix<T, 3, 1> initial_offet_vel =
+ 0.8 * RAD * Eigen::Matrix<T, 3, 1>(1, 0.5, 0.5);
void
@@ -181,13 +182,9 @@ namespace armarx::navigation::components::dynamic_scene_provider
ukf.update(observations.at(i));
TIMING_END(UPDATE);
TIMING_START(REST);
- const SystemModelT::StateT& current_state = ukf.getCurrentState();
BOOST_TEST_MESSAGE("Max Cov "
<< ukf.getCurrentStateCovariance().cwiseAbs().maxCoeff());
- BOOST_TEST_MESSAGE("Diag: " << (ukf.getCurrentStateCovariance() -
- Eigen::Matrix<T, 3, 3>::Identity())
- .norm());
x_obs.push_back(observations.at(i)(0));
y_obs.push_back(observations.at(i)(1));
@@ -255,17 +252,17 @@ namespace armarx::navigation::components::dynamic_scene_provider
sciplot::Plot2D velocity_plot;
- orientation_plot.xlabel("t");
- orientation_plot.ylabel("vel");
- orientation_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
- orientation_plot.xrange(-0.1, 1.1).yrange("*", "*");
+ velocity_plot.xlabel("t");
+ velocity_plot.ylabel("vel");
+ velocity_plot.legend().atOutsideBottom().displayHorizontal().displayExpandWidthBy(2);
+ velocity_plot.xrange(-0.1, 1.1).yrange("*", "*");
- orientation_plot.drawCurve(x_t, vel_x_true).label("x True").lineWidth(1);
- orientation_plot.drawCurve(x_t, vel_y_true).label("y True").lineWidth(1);
- orientation_plot.drawCurve(x_t, vel_a_true).label("a True").lineWidth(1);
- orientation_plot.drawCurve(x_t, vel_x_ukf_full).label("x Ukf").lineWidth(1);
- orientation_plot.drawCurve(x_t, vel_y_ukf_full).label("y Ukf").lineWidth(1);
- orientation_plot.drawCurve(x_t, vel_a_ukf_full).label("a Ukf").lineWidth(1);
+ velocity_plot.drawCurve(x_t, vel_x_true).label("x True").lineWidth(1);
+ velocity_plot.drawCurve(x_t, vel_y_true).label("y True").lineWidth(1);
+ velocity_plot.drawCurve(x_t, vel_a_true).label("a True").lineWidth(1);
+ velocity_plot.drawCurve(x_t, vel_x_ukf_full).label("x Ukf").lineWidth(1);
+ velocity_plot.drawCurve(x_t, vel_y_ukf_full).label("y Ukf").lineWidth(1);
+ velocity_plot.drawCurve(x_t, vel_a_ukf_full).label("a Ukf").lineWidth(1);
sciplot::Plot2D error_plot;
@@ -286,10 +283,10 @@ namespace armarx::navigation::components::dynamic_scene_provider
canvas.size(1000, 1000);
// Show the plot in a pop-up window
- //canvas.show();
+ canvas.show();
// Save the plot to a PDF file
- canvas.save("kalman_output.pdf");
+ canvas.save("se2xV_kalman_output.pdf");
}
} // namespace armarx::navigation::components::dynamic_scene_provider
--
GitLab
From bf8174f7a42a365f54f4983236c6f84aee12fc2e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Thu, 8 Sep 2022 10:57:42 +0200
Subject: [PATCH 30/44] Adjust so2 kalman test parameters
---
.../navigation/human/test/so2kalmanFilterTest.cpp | 14 +++++++-------
1 file changed, 7 insertions(+), 7 deletions(-)
diff --git a/source/armarx/navigation/human/test/so2kalmanFilterTest.cpp b/source/armarx/navigation/human/test/so2kalmanFilterTest.cpp
index d6778e2e..7dbf4d9e 100644
--- a/source/armarx/navigation/human/test/so2kalmanFilterTest.cpp
+++ b/source/armarx/navigation/human/test/so2kalmanFilterTest.cpp
@@ -49,9 +49,9 @@ namespace armarx::navigation::components::dynamic_scene_provider
constexpr T c = (1 / max_time) * 2 * M_PI; // rotation per time
constexpr T rot_noise_std = 0.2;
- constexpr T pos_noise_std = 200;
+ constexpr T pos_noise_std = 5;
constexpr T obs_rot_noise_std = 0.2;
- constexpr T obs_pos_noise_std = 200;
+ constexpr T obs_pos_noise_std = 5;
constexpr T initial_offset_angle = 1 * 10 * M_PI / 180;
const Vector initial_offet_pos = 0.8 * RAD * Vector(1, 0.5);
@@ -163,9 +163,9 @@ namespace armarx::navigation::components::dynamic_scene_provider
P0.block<2, 2>(1, 1) *= initial_offet_pos.norm() * initial_offet_pos.norm();
UnscentedKalmanFilter<SystemModelT>::AlphaT alpha;
- alpha(0) = 0.8; // state
- alpha(1) = 0.1; // control
- alpha(2) = 0.1; // update
+ alpha(0) = 0.5; // state
+ alpha(1) = 0.5; // control
+ alpha(2) = 0.5; // update
SystemModelT::StateT state0;
state0.orientation = manif::SO2<T>(states.at(0).orientation.angle() + initial_offset_angle);
@@ -285,10 +285,10 @@ namespace armarx::navigation::components::dynamic_scene_provider
canvas.size(1000, 1000);
// Show the plot in a pop-up window
- //canvas.show();
+ canvas.show();
// Save the plot to a PDF file
- canvas.save("kalman_output.pdf");
+ canvas.save("so2_kalman_output.pdf");
}
} // namespace armarx::navigation::components::dynamic_scene_provider
--
GitLab
From a54fd52e9d61ea75d47dab767a43a7a736530077 Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Mon, 12 Sep 2022 16:44:13 +0200
Subject: [PATCH 31/44] Move HumanTracker.* from dsp to human and adjust
namespaces
---
.../dynamic_scene_provider/CMakeLists.txt | 2 -
.../dynamic_scene_provider/Component.cpp | 48 +++++++++++--------
.../dynamic_scene_provider/Component.h | 4 +-
source/armarx/navigation/human/CMakeLists.txt | 2 +
.../navigation/human/HumanSystemModel.cpp | 4 +-
.../navigation/human/HumanSystemModel.h | 4 +-
.../HumanTracker.cpp | 4 +-
.../HumanTracker.h | 4 +-
.../human/UnscentedKalmanFilter_impl.cpp | 14 +++---
.../human/test/se2KalmanFilterTest.cpp | 4 +-
.../human/test/se2xVkalmanFilterTest.cpp | 4 +-
.../human/test/so2kalmanFilterTest.cpp | 4 +-
12 files changed, 53 insertions(+), 45 deletions(-)
rename source/armarx/navigation/{components/dynamic_scene_provider => human}/HumanTracker.cpp (98%)
rename source/armarx/navigation/{components/dynamic_scene_provider => human}/HumanTracker.h (95%)
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
index e061ea23..52e4efdc 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
+++ b/source/armarx/navigation/components/dynamic_scene_provider/CMakeLists.txt
@@ -9,11 +9,9 @@ armarx_add_component(dynamic_scene_provider
SOURCES
Component.cpp
ArVizDrawer.cpp
- HumanTracker.cpp
HEADERS
Component.h
ArVizDrawer.h
- HumanTracker.h
DEPENDENCIES
# ArmarXCore
ArmarXCore
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/Component.cpp b/source/armarx/navigation/components/dynamic_scene_provider/Component.cpp
index 23a58b26..29c23bbf 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/Component.cpp
+++ b/source/armarx/navigation/components/dynamic_scene_provider/Component.cpp
@@ -76,18 +76,23 @@ namespace armarx::navigation::components::dynamic_scene_provider
// def->required(properties.boxLayerName, "p.box.LayerName", "Name of the box layer in ArViz.");
// Add an optionalproperty.
- def->optional(properties.taskPeriodMs, "p.taskPeriodMs", "Update rate of the running task.");
-
- def->optional(properties.laserScannerFeatures.providerName, "p.laserScannerFeatures.providerName", "");
+ def->optional(
+ properties.taskPeriodMs, "p.taskPeriodMs", "Update rate of the running task.");
+
+ def->optional(properties.laserScannerFeatures.providerName,
+ "p.laserScannerFeatures.providerName",
+ "");
def->optional(properties.laserScannerFeatures.name, "p.laserScannerFeatures.name", "");
-
+
def->optional(properties.robot.name, "p.robot.name", "");
-
+
def->optional(properties.occupancyGrid.providerName, "p.occupancyGrid.providerName", "");
def->optional(properties.occupancyGrid.name, "p.occupancyGrid.name", "");
- def->optional(properties.occupancyGrid.freespaceThreshold, "p.occupancyGrid.freespaceThreshold", "");
- def->optional(properties.occupancyGrid.occupiedThreshold, "p.occupancyGrid.occupiedThreshold", "");
-
+ def->optional(
+ properties.occupancyGrid.freespaceThreshold, "p.occupancyGrid.freespaceThreshold", "");
+ def->optional(
+ properties.occupancyGrid.occupiedThreshold, "p.occupancyGrid.occupiedThreshold", "");
+
def->optional(properties.humanPoseProvider, "p.humanPoseProvider", "");
return def;
@@ -137,10 +142,10 @@ namespace armarx::navigation::components::dynamic_scene_provider
}
*/
- while(true)
+ while (true)
{
robot = virtualRobotReaderPlugin->get().getRobot(properties.robot.name);
- if(robot != nullptr)
+ if (robot != nullptr)
{
break;
}
@@ -205,12 +210,15 @@ namespace armarx::navigation::components::dynamic_scene_provider
ARMARX_INFO << "Querying humans";
- const armem::human::client::Reader::Query humanPoseQuery{.providerName = properties.humanPoseProvider,
- .timestamp = timestamp, .maxAge = Duration::MilliSeconds(500)};
+ const armem::human::client::Reader::Query humanPoseQuery{
+ .providerName = properties.humanPoseProvider,
+ .timestamp = timestamp,
+ .maxAge = Duration::MilliSeconds(500)};
const armem::human::client::Reader::Result humanPoseResult =
humanPoseReaderPlugin->get().query(humanPoseQuery);
- ARMARX_CHECK_EQUAL(humanPoseResult.status, armem::human::client::Reader::Result::Success) << humanPoseResult.errorMessage;
+ ARMARX_CHECK_EQUAL(humanPoseResult.status, armem::human::client::Reader::Result::Success)
+ << humanPoseResult.errorMessage;
ARMARX_INFO << humanPoseResult.humanPoses.size() << " humans in the scene.";
@@ -265,10 +273,10 @@ namespace armarx::navigation::components::dynamic_scene_provider
ARMARX_INFO << "Querying costmap";
- const memory::client::costmap::Reader::Query costmapQuery{.providerName =
- "distance_to_obstacle_costmap_provider", // TODO check
- .name = "distance_to_obstacles",
- .timestamp = timestamp};
+ const memory::client::costmap::Reader::Query costmapQuery{
+ .providerName = "distance_to_obstacle_costmap_provider", // TODO check
+ .name = "distance_to_obstacles",
+ .timestamp = timestamp};
const memory::client::costmap::Reader::Result costmapResult =
costmapReaderPlugin->get().query(costmapQuery);
@@ -343,11 +351,11 @@ namespace armarx::navigation::components::dynamic_scene_provider
ARMARX_INFO << "Running human tracker";
- humanTracker.update(HumanTracker::Measurements{.detectionTime = timestamp,
- .humanPoses = humanPoseResult.humanPoses});
+ humanTracker.update(human::HumanTracker::Measurements{
+ .detectionTime = timestamp, .humanPoses = humanPoseResult.humanPoses});
- humanWriterPlugin->get().store(humanTracker.getTrackedHumans(),getName(), timestamp);
+ humanWriterPlugin->get().store(humanTracker.getTrackedHumans(), getName(), timestamp);
}
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/Component.h b/source/armarx/navigation/components/dynamic_scene_provider/Component.h
index bcc3ad7d..7d58e1bd 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/Component.h
+++ b/source/armarx/navigation/components/dynamic_scene_provider/Component.h
@@ -47,7 +47,7 @@
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include "armarx/navigation/components/dynamic_scene_provider/ArVizDrawer.h"
-#include "armarx/navigation/components/dynamic_scene_provider/HumanTracker.h"
+#include "armarx/navigation/human/HumanTracker.h"
#include "armarx/navigation/memory/client/costmap/Reader.h"
#include "armarx/navigation/memory/client/human/Writer.h"
#include <armarx/navigation/components/dynamic_scene_provider/ComponentInterface.h>
@@ -205,7 +205,7 @@ namespace armarx::navigation::components::dynamic_scene_provider
ReaderWriterPlugin<memory::client::human::Writer>* humanWriterPlugin = nullptr;
- HumanTracker humanTracker;
+ human::HumanTracker humanTracker;
};
} // namespace armarx::navigation::components::dynamic_scene_provider
diff --git a/source/armarx/navigation/human/CMakeLists.txt b/source/armarx/navigation/human/CMakeLists.txt
index 2ffaa3d1..4f772ebf 100644
--- a/source/armarx/navigation/human/CMakeLists.txt
+++ b/source/armarx/navigation/human/CMakeLists.txt
@@ -20,12 +20,14 @@ armarx_add_library(teb_human
ProxemicZoneCreator.cpp
HumanSystemModel.cpp
UnscentedKalmanFilter_impl.cpp
+ HumanTracker.cpp
HEADERS
types.h
aron_conversions.h
shapes.h
ProxemicZoneCreator.h
HumanSystemModel.h
+ HumanTracker.h
)
find_package(sciplot)
diff --git a/source/armarx/navigation/human/HumanSystemModel.cpp b/source/armarx/navigation/human/HumanSystemModel.cpp
index 32b18fd1..80f68205 100644
--- a/source/armarx/navigation/human/HumanSystemModel.cpp
+++ b/source/armarx/navigation/human/HumanSystemModel.cpp
@@ -1,6 +1,6 @@
#include "HumanSystemModel.h"
-namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
+namespace armarx::navigation::human::kalman_filter
{
// ------------------------------ SO2xR2 -----------------------------------------
@@ -168,4 +168,4 @@ namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
template struct SystemModelSE2xV<float>;
template struct SystemModelSE2xV<double>;
-} // namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
+} // namespace armarx::navigation::human::kalman_filter
diff --git a/source/armarx/navigation/human/HumanSystemModel.h b/source/armarx/navigation/human/HumanSystemModel.h
index 036ed537..05de1fdc 100644
--- a/source/armarx/navigation/human/HumanSystemModel.h
+++ b/source/armarx/navigation/human/HumanSystemModel.h
@@ -24,7 +24,7 @@
#include <manif/SE2.h>
#include <manif/SO2.h>
-namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
+namespace armarx::navigation::human::kalman_filter
{
//----------- SO2xR2 -----------------
@@ -168,4 +168,4 @@ namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
extern template struct SystemModelSE2xV<float>;
extern template struct SystemModelSE2xV<double>;
-} // namespace armarx::navigation::components::dynamic_scene_provider::kalman_filter
+} // namespace armarx::navigation::human::kalman_filter
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp b/source/armarx/navigation/human/HumanTracker.cpp
similarity index 98%
rename from source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
rename to source/armarx/navigation/human/HumanTracker.cpp
index ec7fca6e..6db5b4b3 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.cpp
+++ b/source/armarx/navigation/human/HumanTracker.cpp
@@ -7,7 +7,7 @@
#include <range/v3/range/conversion.hpp>
#include <range/v3/view/transform.hpp>
-namespace armarx::navigation::components::dynamic_scene_provider
+namespace armarx::navigation::human
{
//TODO which values are appropriate?
@@ -274,4 +274,4 @@ namespace armarx::navigation::components::dynamic_scene_provider
trackedHumans.clear();
}
-} // namespace armarx::navigation::components::dynamic_scene_provider
+} // namespace armarx::navigation::human
diff --git a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h b/source/armarx/navigation/human/HumanTracker.h
similarity index 95%
rename from source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h
rename to source/armarx/navigation/human/HumanTracker.h
index 5b015f7f..099aca7b 100644
--- a/source/armarx/navigation/components/dynamic_scene_provider/HumanTracker.h
+++ b/source/armarx/navigation/human/HumanTracker.h
@@ -32,7 +32,7 @@
#include <armarx/navigation/human/HumanSystemModel.h>
#include <armarx/navigation/human/types.h>
-namespace armarx::navigation::components::dynamic_scene_provider
+namespace armarx::navigation::human
{
using T = double; //TODO double or float?
using Vector = Eigen::Matrix<T, 2, 1>;
@@ -89,4 +89,4 @@ namespace armarx::navigation::components::dynamic_scene_provider
std::vector<TrackedHuman> trackedHumans;
Parameters parameters;
};
-} // namespace armarx::navigation::components::dynamic_scene_provider
+} // namespace armarx::navigation::human
diff --git a/source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp b/source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp
index 37360a4b..5818d6ed 100644
--- a/source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp
+++ b/source/armarx/navigation/human/UnscentedKalmanFilter_impl.cpp
@@ -3,12 +3,12 @@
#include <armarx/navigation/human/HumanSystemModel.h>
-template class UnscentedKalmanFilter<armarx::navigation::components::dynamic_scene_provider::
- kalman_filter::SystemModelSO2xR2<float>>;
-template class UnscentedKalmanFilter<armarx::navigation::components::dynamic_scene_provider::
- kalman_filter::SystemModelSO2xR2<double>>;
+template class UnscentedKalmanFilter<
+ armarx::navigation::human::kalman_filter::SystemModelSO2xR2<float>>;
+template class UnscentedKalmanFilter<
+ armarx::navigation::human::kalman_filter::SystemModelSO2xR2<double>>;
template class UnscentedKalmanFilter<
- armarx::navigation::components::dynamic_scene_provider::kalman_filter::SystemModelSE2<double>>;
-template class UnscentedKalmanFilter<armarx::navigation::components::dynamic_scene_provider::
- kalman_filter::SystemModelSE2xV<double>>;
+ armarx::navigation::human::kalman_filter::SystemModelSE2<double>>;
+template class UnscentedKalmanFilter<
+ armarx::navigation::human::kalman_filter::SystemModelSE2xV<double>>;
diff --git a/source/armarx/navigation/human/test/se2KalmanFilterTest.cpp b/source/armarx/navigation/human/test/se2KalmanFilterTest.cpp
index 3746662d..011d96b8 100644
--- a/source/armarx/navigation/human/test/se2KalmanFilterTest.cpp
+++ b/source/armarx/navigation/human/test/se2KalmanFilterTest.cpp
@@ -36,7 +36,7 @@
#include <manif/SO2.h>
#include <sciplot/sciplot.hpp>
-namespace armarx::navigation::components::dynamic_scene_provider
+namespace armarx::navigation::human
{
using T = double; //TODO double or float?
using Vector = Eigen::Matrix<T, 2, 1>;
@@ -293,4 +293,4 @@ namespace armarx::navigation::components::dynamic_scene_provider
canvas.save("se2_kalman_output.pdf");
}
-} // namespace armarx::navigation::components::dynamic_scene_provider
+} // namespace armarx::navigation::human
diff --git a/source/armarx/navigation/human/test/se2xVkalmanFilterTest.cpp b/source/armarx/navigation/human/test/se2xVkalmanFilterTest.cpp
index fa182266..9693e0f8 100644
--- a/source/armarx/navigation/human/test/se2xVkalmanFilterTest.cpp
+++ b/source/armarx/navigation/human/test/se2xVkalmanFilterTest.cpp
@@ -36,7 +36,7 @@
#include <manif/SO2.h>
#include <sciplot/sciplot.hpp>
-namespace armarx::navigation::components::dynamic_scene_provider
+namespace armarx::navigation::human
{
using T = double; //TODO double or float?
using Vector = Eigen::Matrix<T, 2, 1>;
@@ -289,4 +289,4 @@ namespace armarx::navigation::components::dynamic_scene_provider
canvas.save("se2xV_kalman_output.pdf");
}
-} // namespace armarx::navigation::components::dynamic_scene_provider
+} // namespace armarx::navigation::human
diff --git a/source/armarx/navigation/human/test/so2kalmanFilterTest.cpp b/source/armarx/navigation/human/test/so2kalmanFilterTest.cpp
index 7dbf4d9e..48529d44 100644
--- a/source/armarx/navigation/human/test/so2kalmanFilterTest.cpp
+++ b/source/armarx/navigation/human/test/so2kalmanFilterTest.cpp
@@ -36,7 +36,7 @@
#include <manif/SO2.h>
#include <sciplot/sciplot.hpp>
-namespace armarx::navigation::components::dynamic_scene_provider
+namespace armarx::navigation::human
{
using T = double; //TODO double or float?
using Vector = Eigen::Matrix<T, 2, 1>;
@@ -291,4 +291,4 @@ namespace armarx::navigation::components::dynamic_scene_provider
canvas.save("so2_kalman_output.pdf");
}
-} // namespace armarx::navigation::components::dynamic_scene_provider
+} // namespace armarx::navigation::human
--
GitLab
From 212ac40ab1531ab18593c558ac8607727839eb89 Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Mon, 12 Sep 2022 16:47:31 +0200
Subject: [PATCH 32/44] Create new class HumanFilter
---
source/armarx/navigation/human/CMakeLists.txt | 2 ++
.../armarx/navigation/human/HumanFilter.cpp | 10 ++++++
source/armarx/navigation/human/HumanFilter.h | 34 +++++++++++++++++++
.../human/test/se2KalmanFilterTest.cpp | 10 +++---
4 files changed, 51 insertions(+), 5 deletions(-)
create mode 100644 source/armarx/navigation/human/HumanFilter.cpp
create mode 100644 source/armarx/navigation/human/HumanFilter.h
diff --git a/source/armarx/navigation/human/CMakeLists.txt b/source/armarx/navigation/human/CMakeLists.txt
index 4f772ebf..14deaae1 100644
--- a/source/armarx/navigation/human/CMakeLists.txt
+++ b/source/armarx/navigation/human/CMakeLists.txt
@@ -21,6 +21,7 @@ armarx_add_library(teb_human
HumanSystemModel.cpp
UnscentedKalmanFilter_impl.cpp
HumanTracker.cpp
+ HumanFilter.cpp
HEADERS
types.h
aron_conversions.h
@@ -28,6 +29,7 @@ armarx_add_library(teb_human
ProxemicZoneCreator.h
HumanSystemModel.h
HumanTracker.h
+ HumanFilter.h
)
find_package(sciplot)
diff --git a/source/armarx/navigation/human/HumanFilter.cpp b/source/armarx/navigation/human/HumanFilter.cpp
new file mode 100644
index 00000000..436a9ceb
--- /dev/null
+++ b/source/armarx/navigation/human/HumanFilter.cpp
@@ -0,0 +1,10 @@
+#include "HumanFilter.h"
+
+namespace armarx::navigation::human
+{
+
+ HumanFilter::HumanFilter()
+ {
+ }
+
+} // namespace armarx::navigation::human
diff --git a/source/armarx/navigation/human/HumanFilter.h b/source/armarx/navigation/human/HumanFilter.h
new file mode 100644
index 00000000..9f4cf3ec
--- /dev/null
+++ b/source/armarx/navigation/human/HumanFilter.h
@@ -0,0 +1,34 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Tobias Gröger ( tobias dot groeger at student dot kit dot edu )
+ * @author Corvin Navarro Ecker ( corvin dot ecker at student dot kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+namespace armarx::navigation::human
+{
+
+ class HumanFilter
+ {
+ public:
+ HumanFilter();
+ };
+
+} // namespace armarx::navigation::human
diff --git a/source/armarx/navigation/human/test/se2KalmanFilterTest.cpp b/source/armarx/navigation/human/test/se2KalmanFilterTest.cpp
index 011d96b8..c83f4db5 100644
--- a/source/armarx/navigation/human/test/se2KalmanFilterTest.cpp
+++ b/source/armarx/navigation/human/test/se2KalmanFilterTest.cpp
@@ -48,10 +48,10 @@ namespace armarx::navigation::human
constexpr T dt = max_time / num_timesteps;
constexpr T c = (1 / max_time) * 2 * M_PI; // rotation per time
- constexpr T rot_noise_std = 0.2;
- constexpr T pos_noise_std = 2;
- constexpr T obs_rot_noise_std = 0.2;
- constexpr T obs_pos_noise_std = 2;
+ constexpr T rot_noise_std = 0.1;
+ constexpr T pos_noise_std = 1;
+ constexpr T obs_rot_noise_std = 0.1;
+ constexpr T obs_pos_noise_std = 1;
constexpr T initial_offset_angle = 0.1 * 10 * M_PI / 180;
const Vector initial_offet_pos = 0.1 * RAD * Vector(1, 0.5);
@@ -198,7 +198,7 @@ namespace armarx::navigation::human
TIMING_START(PROPAGATION);
ukf.propagation(omegas.at(i - 1), dt);
TIMING_END(PROPAGATION);
- if ((i - 1) % 50 == 0)
+ if ((i - 1) % 1 == 0)
{
TIMING_START(UPDATE);
ukf.update(observations.at(i));
--
GitLab
From f245fd9f893f58c47c4bd6172659d0582a840482 Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Mon, 12 Sep 2022 19:05:05 +0200
Subject: [PATCH 33/44] Implement HumanFilter and move functionality from
HumanTracker
---
.../armarx/navigation/human/HumanFilter.cpp | 111 +++++++++++++++++-
source/armarx/navigation/human/HumanFilter.h | 41 ++++++-
.../armarx/navigation/human/HumanTracker.cpp | 105 ++---------------
source/armarx/navigation/human/HumanTracker.h | 4 +-
4 files changed, 162 insertions(+), 99 deletions(-)
diff --git a/source/armarx/navigation/human/HumanFilter.cpp b/source/armarx/navigation/human/HumanFilter.cpp
index 436a9ceb..3c25d4ae 100644
--- a/source/armarx/navigation/human/HumanFilter.cpp
+++ b/source/armarx/navigation/human/HumanFilter.cpp
@@ -3,8 +3,117 @@
namespace armarx::navigation::human
{
- HumanFilter::HumanFilter()
+ HumanFilter::HumanFilter(const core::Pose2D& pose0, const DateTime& detectionTime)
{
+ //initialize new human for detected human
+ human.pose = pose0;
+ human.linearVelocity = Eigen::Vector2f::Zero();
+ human.detectionTime = detectionTime;
+
+
+ //initialize new kalman filter for new detected human
+
+ UnscentedKalmanFilter<SystemModelT>::PropCovT Q =
+ UnscentedKalmanFilter<SystemModelT>::PropCovT::Identity();
+ Q.block<2, 2>(0, 0) *= params.control_pos_cov * params.control_pos_cov;
+ Q.block<1, 1>(2, 2) *= params.control_rot_cov * params.control_rot_cov;
+
+ UnscentedKalmanFilter<SystemModelT>::ObsCovT R =
+ UnscentedKalmanFilter<SystemModelT>::ObsCovT::Identity();
+ R.block<2, 2>(0, 0) *= params.obs_pos_cov * params.obs_pos_cov;
+ R.block<1, 1>(2, 2) *= params.obs_rot_cov * params.obs_rot_cov;
+
+ UnscentedKalmanFilter<SystemModelT>::StateCovT P0 =
+ UnscentedKalmanFilter<SystemModelT>::StateCovT::Identity();
+ P0.block<2, 2>(0, 0) *= params.initial_state_pos_cov * params.initial_state_pos_cov;
+ P0.block<1, 1>(2, 2) *= params.initial_state_rot_cov * params.initial_state_rot_cov;
+
+ UnscentedKalmanFilter<SystemModelT>::AlphaT alpha =
+ UnscentedKalmanFilter<SystemModelT>::AlphaT::Ones() * params.alpha;
+
+ //initial position and orientation according to detected human
+ SystemModelT::StateT state0 = toUkfState(pose0);
+
+ ukf = std::make_unique<UnscentedKalmanFilter<SystemModelT>>(Q, R, alpha, state0, P0);
+ }
+
+ void
+ HumanFilter::propagation(const armarx::core::time::DateTime& detectionTime)
+ {
+ double dt = (detectionTime - human.detectionTime).toSecondsDouble();
+ oldPose = human.pose;
+
+ SystemModelT::ControlT control = toUkfControl(human.linearVelocity);
+ ukf->propagation(control, dt);
+
+ human.pose = fromUkfState(ukf->getCurrentState());
+ }
+
+ void
+ HumanFilter::update(const core::Pose2D& pose, const DateTime& detectionTime)
+ {
+ double dt = (detectionTime - human.detectionTime).toSecondsDouble();
+
+ SystemModelT::ObsT observation = toUkfObs(pose);
+ ukf->update(observation);
+
+ core::Pose2D newPose = fromUkfState(ukf->getCurrentState());
+
+ // calculate velocity
+ Eigen::Vector2f ds = newPose.translation() - oldPose.translation();
+ Eigen::Vector2f linVelocity = ds / dt;
+ Eigen::Vector2f newVelocity =
+ params.velocityAlpha * linVelocity + (1 - params.velocityAlpha) * human.linearVelocity;
+
+ human.detectionTime = detectionTime;
+ human.pose = newPose;
+ human.linearVelocity = newVelocity;
}
+ const Human&
+ HumanFilter::get() const
+ {
+ return human;
+ }
+
+
+ HumanFilter::SystemModelT::StateT
+ HumanFilter::toUkfState(const core::Pose2D& pose)
+ {
+ // [mm] to [m]
+ return {{pose.translation().x() / 1000,
+ pose.translation().y() / 1000,
+ Eigen::Rotation2Df(pose.linear()).angle()}};
+ }
+
+ core::Pose2D
+ HumanFilter::fromUkfState(const SystemModelT::StateT& pose)
+ {
+ core::Pose2D pose2d;
+ // [m] to [mm]
+ pose2d.translation().x() = pose.pose.x() * 1000;
+ pose2d.translation().y() = pose.pose.y() * 1000;
+ pose2d.linear() = Eigen::Rotation2Df(pose.pose.angle()).toRotationMatrix();
+
+ return pose2d;
+ }
+
+ HumanFilter::SystemModelT::ControlT
+ HumanFilter::toUkfControl(const Eigen::Vector2f& vel)
+ {
+ // convert velocity from global frame to human frame (required by kalman filter)
+ const auto& global_R_human = human.pose.linear();
+ const auto& human_V_vel = global_R_human.inverse() * vel;
+
+ // [mm] to [m]
+ return {{human_V_vel.x() / 1000, human_V_vel.y() / 1000, 0}};
+ }
+
+ HumanFilter::SystemModelT::ObsT
+ HumanFilter::toUkfObs(const core::Pose2D& pose)
+ {
+ return SystemModelT::observationFunction(toUkfState(pose));
+ }
+
+
} // namespace armarx::navigation::human
diff --git a/source/armarx/navigation/human/HumanFilter.h b/source/armarx/navigation/human/HumanFilter.h
index 9f4cf3ec..14be9eb1 100644
--- a/source/armarx/navigation/human/HumanFilter.h
+++ b/source/armarx/navigation/human/HumanFilter.h
@@ -22,13 +22,52 @@
#pragma once
+#include <RobotAPI/libraries/ukfm/UnscentedKalmanFilter.h>
+
+#include <armarx/navigation/human/HumanSystemModel.h>
+#include <armarx/navigation/human/types.h>
+
namespace armarx::navigation::human
{
class HumanFilter
{
+
public:
- HumanFilter();
+ struct Parameters
+ {
+ //TODO which values are appropriate?
+ double control_pos_cov = 0.01;
+ double control_rot_cov = 0.01;
+ double obs_pos_cov = 0.01;
+ double obs_rot_cov = 0.01;
+ double initial_state_pos_cov = 0.01;
+ double initial_state_rot_cov = 0.01;
+ double alpha = 0.5;
+
+ float velocityAlpha = 0.7;
+ };
+
+ HumanFilter(const core::Pose2D& pose0, const DateTime& detectionTime);
+
+ void propagation(const DateTime& detectionTime);
+ void update(const core::Pose2D& pose, const DateTime& detectionTime);
+
+ const Human& get() const;
+
+ private:
+ using SystemModelT = kalman_filter::SystemModelSE2<double>;
+
+ SystemModelT::StateT toUkfState(const core::Pose2D& pose);
+ core::Pose2D fromUkfState(const SystemModelT::StateT& pose);
+ SystemModelT::ControlT toUkfControl(const Eigen::Vector2f& vel);
+ SystemModelT::ObsT toUkfObs(const core::Pose2D& pose);
+
+ private:
+ Parameters params;
+ core::Pose2D oldPose;
+ Human human;
+ std::unique_ptr<UnscentedKalmanFilter<SystemModelT>> ukf;
};
} // namespace armarx::navigation::human
diff --git a/source/armarx/navigation/human/HumanTracker.cpp b/source/armarx/navigation/human/HumanTracker.cpp
index 6db5b4b3..aecbfeda 100644
--- a/source/armarx/navigation/human/HumanTracker.cpp
+++ b/source/armarx/navigation/human/HumanTracker.cpp
@@ -10,13 +10,6 @@
namespace armarx::navigation::human
{
- //TODO which values are appropriate?
- constexpr T pos_noise_std = 0.01;
- constexpr T rot_noise_std = 0.01;
- constexpr T obs_noise_std = 0.01;
- constexpr T initial_pos_state_cov = 0.01;
- constexpr T initial_rot_state_cov = 0.01;
-
HumanTracker::DetectedHuman
convertHumanPoseToPosition(const DateTime& time, const armem::human::HumanPose& humanPose)
{
@@ -49,7 +42,7 @@ namespace armarx::navigation::human
for (auto it = trackedHumans.begin(); it != trackedHumans.end();)
{
auto& human = *it;
- if ((measurements.detectionTime - human.human.detectionTime) >=
+ if ((measurements.detectionTime - human.humanFilter.get().detectionTime) >=
parameters.maxTrackingAge)
{
it = trackedHumans.erase(it);
@@ -57,7 +50,7 @@ namespace armarx::navigation::human
else
{
human.associated = false;
- human.human.pose = human.human.estimateAt(measurements.detectionTime);
+ human.humanFilter.propagation(measurements.detectionTime);
it++;
}
}
@@ -76,47 +69,11 @@ namespace armarx::navigation::human
{
if (!detectedHuman.associated)
{
- //initialize new human for detected human
- human::Human human{.pose = detectedHuman.pose,
- .linearVelocity = Eigen::Vector2f::Zero(),
- .detectionTime = detectedHuman.detectionTime};
-
- //initialize new kalman filter for new detected human
-
- UnscentedKalmanFilter<SystemModelT>::PropCovT Q =
- UnscentedKalmanFilter<SystemModelT>::PropCovT::Identity();
- //rotation noise at (0,0)
- Q.block<1, 1>(0, 0) *= rot_noise_std * rot_noise_std;
- //position noise at (1,1) and (2,2)
- Q.block<2, 2>(1, 1) *= pos_noise_std * pos_noise_std;
-
- //observation noise at (0,0), (1,1) and (2,2)
- UnscentedKalmanFilter<SystemModelT>::ObsCovT R =
- UnscentedKalmanFilter<SystemModelT>::ObsCovT::Identity() * obs_noise_std *
- obs_noise_std;
-
- UnscentedKalmanFilter<SystemModelT>::StateCovT P0 =
- UnscentedKalmanFilter<SystemModelT>::StateCovT::Identity();
- P0.block<1, 1>(0, 0) *= initial_rot_state_cov * initial_rot_state_cov;
- P0.block<2, 2>(1, 1) *= initial_pos_state_cov * initial_pos_state_cov;
-
- UnscentedKalmanFilter<SystemModelT>::AlphaT alpha =
- UnscentedKalmanFilter<SystemModelT>::AlphaT::Ones() * 1e-3;
-
- //initial position and orientation according to detected human
- SystemModelT::StateT state0;
- //initialize with detected human pose position
- state0.position = human.pose.translation().cast<T>();
- //initialize with SO2 matrix according to detected human pose rotation
- state0.orientation = manif::SO2<T>{Eigen::Rotation2Df(human.pose.linear()).angle()};
-
- UnscentedKalmanFilter<SystemModelT> ukf{Q, R, alpha, state0, P0};
-
//add new tracked human to list of tracked humans
- trackedHumans.push_back(TrackedHuman{.human = human,
- .ukf = ukf,
- .trackingId = detectedHuman.trackingId,
- .associated = true});
+ trackedHumans.push_back(TrackedHuman{
+ .humanFilter = HumanFilter{detectedHuman.pose, detectedHuman.detectionTime},
+ .trackingId = detectedHuman.trackingId,
+ .associated = true});
}
}
}
@@ -149,7 +106,8 @@ namespace armarx::navigation::human
posDistances.push_back(
{&oldHuman,
&newHuman,
- (newHuman.pose.translation() - oldHuman.human.pose.translation()).norm()});
+ (newHuman.pose.translation() - oldHuman.humanFilter.get().pose.translation())
+ .norm()});
}
}
@@ -211,50 +169,7 @@ namespace armarx::navigation::human
trackedHuman->associated = true;
detectedHuman->associated = true;
- //estimate velocity via exponential smoothing
-
- float dt =
- (detectedHuman->detectionTime - trackedHuman->human.detectionTime).toSecondsDouble();
- Eigen::Vector2f ds =
- (detectedHuman->pose.translation() - trackedHuman->human.pose.translation());
- Eigen::Vector2f linVelocity = ds / dt;
-
- Eigen::Vector2f velocity =
- parameters.velocityAlpha * linVelocity +
- (1 - parameters.velocityAlpha) * trackedHuman->human.linearVelocity;
-
- float angle_det = Eigen::Rotation2Df(detectedHuman->pose.linear()).angle();
- float angle_track = Eigen::Rotation2Df(trackedHuman->human.pose.linear()).angle();
- //TODO Check angular velocity! Calculation at turning point may be wrong (jump from +pi to -pi)
- float angular_velocity = (angle_det - angle_track) / dt;
-
-
- //estimate pose via ukf
-
- //initialize with estimated velocity (control variables) from tracked human
- UnscentedKalmanFilter<SystemModelT>::ControlT control;
- control.angular_velocity.coeffs() << static_cast<T>(angular_velocity);
- control.euclidean_velocity << velocity.cast<T>();
-
- //propagate control input for time diff
- trackedHuman->ukf.propagation(control, dt);
-
- //initialize observation with detected human data
- UnscentedKalmanFilter<SystemModelT>::ObsT observation;
- observation.segment(0, 1) =
- Eigen::Matrix<T, 1, 1>{Eigen::Rotation2Df(detectedHuman->pose.linear()).angle()};
- observation.segment(1, 2) = detectedHuman->pose.translation().cast<T>();
-
- //update with new observation
- trackedHuman->ukf.update(observation);
-
- //use current state as new pose of tracked human
- UnscentedKalmanFilter<SystemModelT>::StateT state = trackedHuman->ukf.getCurrentState();
- core::Pose2D filteredPose = core::Pose2D::Identity();
- filteredPose.translation() = state.position.cast<float>();
- filteredPose.linear() = Eigen::Rotation2Df(state.orientation.angle()).toRotationMatrix();
-
- trackedHuman->human = {filteredPose, velocity, detectedHuman->detectionTime};
+ trackedHuman->humanFilter.update(detectedHuman->pose, detectedHuman->detectionTime);
trackedHuman->trackingId = detectedHuman->trackingId;
}
@@ -263,7 +178,7 @@ namespace armarx::navigation::human
{
return trackedHumans |
ranges::views::transform([](const TrackedHuman& h) -> human::Human
- { return h.human; }) |
+ { return h.humanFilter.get(); }) |
ranges::to_vector;
}
diff --git a/source/armarx/navigation/human/HumanTracker.h b/source/armarx/navigation/human/HumanTracker.h
index 099aca7b..3c4cc28f 100644
--- a/source/armarx/navigation/human/HumanTracker.h
+++ b/source/armarx/navigation/human/HumanTracker.h
@@ -29,6 +29,7 @@
#include <VisionX/libraries/armem_human/types.h>
#include <armarx/navigation/core/basic_types.h>
+#include <armarx/navigation/human/HumanFilter.h>
#include <armarx/navigation/human/HumanSystemModel.h>
#include <armarx/navigation/human/types.h>
@@ -59,8 +60,7 @@ namespace armarx::navigation::human
struct TrackedHuman
{
- human::Human human;
- UnscentedKalmanFilter<SystemModelT> ukf;
+ HumanFilter humanFilter;
std::optional<std::string> trackingId = std::nullopt;
bool associated;
};
--
GitLab
From 718cdbcdbb369eab03e1029ef366bb92faadb03c Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Wed, 21 Sep 2022 16:04:08 +0200
Subject: [PATCH 34/44] Extract rotation from human pose keypoints
---
source/armarx/navigation/human/HumanTracker.cpp | 14 ++++++++++++--
1 file changed, 12 insertions(+), 2 deletions(-)
diff --git a/source/armarx/navigation/human/HumanTracker.cpp b/source/armarx/navigation/human/HumanTracker.cpp
index aecbfeda..e82ecf9e 100644
--- a/source/armarx/navigation/human/HumanTracker.cpp
+++ b/source/armarx/navigation/human/HumanTracker.cpp
@@ -30,8 +30,18 @@ namespace armarx::navigation::human
core::Pose2D pose = core::Pose2D::Identity();
pose.translation() = conv::to2D(centerPos);
- //TODO: angle
- pose.linear() = Eigen::Rotation2Df(0).toRotationMatrix();
+ double yaw = 0;
+ if (humanPose.keypoints.find("HEAD") != humanPose.keypoints.end())
+ {
+ yaw = humanPose //from all human pose keypoints
+ .keypoints
+ .find("HEAD") //find the keypoint representing the head
+ ->second
+ .orientationGlobal //get its global orientation
+ ->toEigen()
+ .eulerAngles(2, 1, 0)[0]; //and extract the yaw (rotation around z axis)
+ }
+ pose.linear() = Eigen::Rotation2Df(yaw).toRotationMatrix();
return {pose, humanPose.humanTrackingId, time, false};
}
--
GitLab
From bf0b081fd6d00356f8e48a36a59af52ad8dde01e Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Wed, 21 Sep 2022 17:17:09 +0200
Subject: [PATCH 35/44] Add comments to HumanFilter.cpp
---
.../armarx/navigation/human/HumanFilter.cpp | 28 ++++++++++++++++++-
1 file changed, 27 insertions(+), 1 deletion(-)
diff --git a/source/armarx/navigation/human/HumanFilter.cpp b/source/armarx/navigation/human/HumanFilter.cpp
index 3c25d4ae..e45d942a 100644
--- a/source/armarx/navigation/human/HumanFilter.cpp
+++ b/source/armarx/navigation/human/HumanFilter.cpp
@@ -3,6 +3,12 @@
namespace armarx::navigation::human
{
+ /**
+ * @brief HumanFilter::HumanFilter creates a new filter that filters 2D poses (position and
+ * rotation in a two dimensional plane)
+ * @param pose0 the first known pose of the human
+ * @param detectionTime the point of detection
+ */
HumanFilter::HumanFilter(const core::Pose2D& pose0, const DateTime& detectionTime)
{
//initialize new human for detected human
@@ -12,7 +18,6 @@ namespace armarx::navigation::human
//initialize new kalman filter for new detected human
-
UnscentedKalmanFilter<SystemModelT>::PropCovT Q =
UnscentedKalmanFilter<SystemModelT>::PropCovT::Identity();
Q.block<2, 2>(0, 0) *= params.control_pos_cov * params.control_pos_cov;
@@ -37,6 +42,12 @@ namespace armarx::navigation::human
ukf = std::make_unique<UnscentedKalmanFilter<SystemModelT>>(Q, R, alpha, state0, P0);
}
+ /**
+ * @brief HumanFilter::propagation propagate the system model to the given point in time. This
+ * means that the human pose is updated according to the filters prediction for the given point
+ * in time
+ * @param detectionTime the point in time for which the pose should be predicted
+ */
void
HumanFilter::propagation(const armarx::core::time::DateTime& detectionTime)
{
@@ -49,11 +60,18 @@ namespace armarx::navigation::human
human.pose = fromUkfState(ukf->getCurrentState());
}
+ /**
+ * @brief HumanFilter::update update the filter a new detected pose of the tracked human and
+ * the detection time
+ * @param pose the new detected pose of the human
+ * @param detectionTime the detection time
+ */
void
HumanFilter::update(const core::Pose2D& pose, const DateTime& detectionTime)
{
double dt = (detectionTime - human.detectionTime).toSecondsDouble();
+ //update ukf with new observation
SystemModelT::ObsT observation = toUkfObs(pose);
ukf->update(observation);
@@ -62,14 +80,22 @@ namespace armarx::navigation::human
// calculate velocity
Eigen::Vector2f ds = newPose.translation() - oldPose.translation();
Eigen::Vector2f linVelocity = ds / dt;
+ // apply exponential smoothing to velocity
+ //TODO try other approaches?
Eigen::Vector2f newVelocity =
params.velocityAlpha * linVelocity + (1 - params.velocityAlpha) * human.linearVelocity;
+ //update stored information about the human
human.detectionTime = detectionTime;
human.pose = newPose;
human.linearVelocity = newVelocity;
}
+ /**
+ * @brief HumanFilter::get returns the human whose pose is filtered containing the most recent
+ * state
+ * @return the human
+ */
const Human&
HumanFilter::get() const
{
--
GitLab
From a4705cb22611fa2aefc1c27ea5b2f7d1d64ea6bb Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Wed, 21 Sep 2022 19:44:16 +0200
Subject: [PATCH 36/44] Add comments to HumanTracker.cpp and to header files
---
source/armarx/navigation/human/HumanFilter.h | 5 +
.../armarx/navigation/human/HumanTracker.cpp | 181 ++++++++++++------
source/armarx/navigation/human/HumanTracker.h | 18 +-
3 files changed, 141 insertions(+), 63 deletions(-)
diff --git a/source/armarx/navigation/human/HumanFilter.h b/source/armarx/navigation/human/HumanFilter.h
index 14be9eb1..749750d4 100644
--- a/source/armarx/navigation/human/HumanFilter.h
+++ b/source/armarx/navigation/human/HumanFilter.h
@@ -30,6 +30,11 @@
namespace armarx::navigation::human
{
+ /**
+ * @brief The HumanFilter class can be used to track and filter the state of a single human. It
+ * hides implementation detail on how the filtering is done. New information about the human can
+ * be fed by using the update method. The human itself can be obtained using the get method.
+ */
class HumanFilter
{
diff --git a/source/armarx/navigation/human/HumanTracker.cpp b/source/armarx/navigation/human/HumanTracker.cpp
index e82ecf9e..dd6ecfc4 100644
--- a/source/armarx/navigation/human/HumanTracker.cpp
+++ b/source/armarx/navigation/human/HumanTracker.cpp
@@ -9,54 +9,28 @@
namespace armarx::navigation::human
{
-
- HumanTracker::DetectedHuman
- convertHumanPoseToPosition(const DateTime& time, const armem::human::HumanPose& humanPose)
- {
- const std::map<std::string, armem::human::PoseKeypoint>& keypoints = humanPose.keypoints;
- ARMARX_CHECK_NOT_EMPTY(keypoints);
-
- Eigen::Vector3f centerPos;
- int size = 0;
- for (const auto& [_, v] : keypoints)
- {
- if (v.positionGlobal.has_value())
- {
- centerPos += v.positionGlobal.value().toEigen();
- size++;
- }
- }
- centerPos /= size;
-
- core::Pose2D pose = core::Pose2D::Identity();
- pose.translation() = conv::to2D(centerPos);
- double yaw = 0;
- if (humanPose.keypoints.find("HEAD") != humanPose.keypoints.end())
- {
- yaw = humanPose //from all human pose keypoints
- .keypoints
- .find("HEAD") //find the keypoint representing the head
- ->second
- .orientationGlobal //get its global orientation
- ->toEigen()
- .eulerAngles(2, 1, 0)[0]; //and extract the yaw (rotation around z axis)
- }
- pose.linear() = Eigen::Rotation2Df(yaw).toRotationMatrix();
-
- return {pose, humanPose.humanTrackingId, time, false};
- }
-
+ /**
+ * @brief HumanTracker::update Updates the tracked humans with the measurements. When a
+ * measurement is close enough to an existing tracked human, they are associated, otherwise a
+ * new tracked human is created. Tracked humans that were not associated with a new measurement
+ * for a specified amount of time are removed. New associated measurements for a tracked human
+ * are always filtered to provide a less noisy state.
+ * @param measurements the new measurements of the environment
+ */
void
HumanTracker::update(const Measurements& measurements)
{
+ // iterate over all existing tracked humans
for (auto it = trackedHumans.begin(); it != trackedHumans.end();)
{
auto& human = *it;
+ // when the tracked human recieved no new measurement for too long, remove it
if ((measurements.detectionTime - human.humanFilter.get().detectionTime) >=
parameters.maxTrackingAge)
{
it = trackedHumans.erase(it);
}
+ // otherwise the tracked human is prepared for association at the current point in time
else
{
human.associated = false;
@@ -65,19 +39,22 @@ namespace armarx::navigation::human
}
}
+ // calculate the poses according to the new received measurements
std::vector<DetectedHuman> newPoses =
measurements.humanPoses |
ranges::views::transform(
- [measurements](const armem::human::HumanPose& humanPose) -> DetectedHuman
- { return convertHumanPoseToPosition(measurements.detectionTime, humanPose); }) |
+ [measurements, this](const armem::human::HumanPose& humanPose) -> DetectedHuman {
+ return convertHumanPoseToDetectedHuman(measurements.detectionTime, humanPose);
+ }) |
ranges::to_vector;
+ // associate the new poses from the measurement with the tracked humans
associateHumans(newPoses);
- // add all not associated humans as new tracked humans
+ // add all not associated poses as new tracked humans
for (const auto& detectedHuman : newPoses)
{
- if (!detectedHuman.associated)
+ if (not detectedHuman.associated)
{
//add new tracked human to list of tracked humans
trackedHumans.push_back(TrackedHuman{
@@ -88,6 +65,81 @@ namespace armarx::navigation::human
}
}
+ /**
+ * @brief HumanTracker::getTrackedHumans Returns all humans that are currently tracked.
+ * @return the tracked humans
+ */
+ std::vector<human::Human>
+ HumanTracker::getTrackedHumans() const
+ {
+ return trackedHumans |
+ ranges::views::transform([](const TrackedHuman& h) -> human::Human
+ { return h.humanFilter.get(); }) |
+ ranges::to_vector;
+ }
+
+ /**
+ * @brief HumanTracker::reset Resets this instance to the same state as if it just would have
+ * been created.
+ */
+ void
+ HumanTracker::reset()
+ {
+ trackedHumans.clear();
+ }
+
+
+ /**
+ * @brief convertHumanPoseToDetectedHuman Calculates all information necessary for a
+ * DetectedHuman from the given HumanPose and returns a new detected human.
+ * @param time The point in time where the detection was made.
+ * @param humanPose The HumanPose that should be converted to a DetectedHuman.
+ * @return A new DetectedHuman according to the HumanPose
+ */
+ HumanTracker::DetectedHuman
+ convertHumanPoseToDetectedHuman(const DateTime& time, const armem::human::HumanPose& humanPose)
+ {
+ const std::map<std::string, armem::human::PoseKeypoint>& keypoints = humanPose.keypoints;
+ ARMARX_CHECK_NOT_EMPTY(keypoints);
+
+ // calculate the arithmetic mean of all keypoint positions
+ Eigen::Vector3f centerPos;
+ int size = 0;
+ for (const auto& [_, v] : keypoints)
+ {
+ if (v.positionGlobal.has_value())
+ {
+ centerPos += v.positionGlobal.value().toEigen();
+ size++;
+ }
+ }
+ centerPos /= size;
+
+ // calculate the yaw of the head keypoint if it exists
+ double yaw = 0;
+ if (humanPose.keypoints.count("HEAD") > 0)
+ {
+ yaw = humanPose //from all human pose keypoints
+ .keypoints
+ .at("HEAD") //find the keypoint representing the head
+ .orientationGlobal //get its global orientation
+ ->toEigen()
+ .eulerAngles(2, 1, 0)[0]; //and extract the yaw (rotation around z axis)
+ }
+
+ // create the new pose with the calculated position and yaw
+ core::Pose2D pose = core::Pose2D::Identity();
+ pose.translation() = conv::to2D(centerPos);
+ pose.linear() = Eigen::Rotation2Df(yaw).toRotationMatrix();
+
+ return {pose, humanPose.humanTrackingId, time, false};
+ }
+
+
+ /**
+ * @brief The PosDistance struct contains a distance between an old, tracked human and a new,
+ * detected human aswell as references to them.
+ */
struct PosDistance
{
HumanTracker::TrackedHuman* oldHuman;
@@ -95,6 +147,14 @@ namespace armarx::navigation::human
float distance;
};
+ /**
+ * @brief getSortedDistances Returns all distances sorted by their numeric value between
+ * possible combinations (T, D) where T is an old, tracked human and D is a new, detected human
+ * and T as well as D were not already associated
+ * @param oldHumans the old, tracked humans
+ * @param newHumans the new, detected humans
+ * @return the sorted distances, where the smallest distance is the first entry in the vector
+ */
std::vector<PosDistance>
getSortedDistances(std::vector<HumanTracker::TrackedHuman>& oldHumans,
std::vector<HumanTracker::DetectedHuman>& newHumans)
@@ -113,6 +173,8 @@ namespace armarx::navigation::human
{
continue;
}
+ // calculate distance between every possible combination of tracked and detected
+ // humans where none of them was associated
posDistances.push_back(
{&oldHuman,
&newHuman,
@@ -121,6 +183,7 @@ namespace armarx::navigation::human
}
}
+ // sort the distances ascending by their numeric value
std::sort(posDistances.begin(),
posDistances.end(),
[](const PosDistance& a, const PosDistance& b) -> bool
@@ -129,10 +192,16 @@ namespace armarx::navigation::human
return posDistances;
}
+ /**
+ * @brief HumanTracker::associateHumans Associates those tracked and detected humans that
+ * belong together.
+ * @param detectedHumans The detected humans against which the saved list of tracked humans is
+ * matched.
+ */
void
HumanTracker::associateHumans(std::vector<DetectedHuman>& detectedHumans)
{
- // associate humans by their tracking id
+ // first, associate humans by their tracking id
for (auto& oldHuman : trackedHumans)
{
if (oldHuman.associated || !oldHuman.trackingId)
@@ -145,6 +214,8 @@ namespace armarx::navigation::human
{
continue;
}
+ // check for every possible combination of old and new humans (that were not already
+ // associated and have a tracking id) if their tracking id is the same
if (oldHuman.trackingId.value() == newHuman.trackingId.value())
{
associate(&oldHuman, &newHuman);
@@ -152,8 +223,7 @@ namespace armarx::navigation::human
}
}
-
- // associate leftover humans by their distances
+ // second, associate leftover humans by their distances
const auto sortedDistances = getSortedDistances(trackedHumans, detectedHumans);
for (auto& posDistance : sortedDistances)
@@ -166,10 +236,17 @@ namespace armarx::navigation::human
{
continue;
}
+ // associate the pair with the currently smallest distance between non-associated humans
associate(posDistance.oldHuman, posDistance.newHuman);
}
}
+ /**
+ * @brief HumanTracker::associate Associates the given tracked and detected human. Therefore it
+ * updates all necessary variables of the TrackedHuman
+ * @param trackedHuman the tracked human
+ * @param detectedHuman the detected human
+ */
void
HumanTracker::associate(TrackedHuman* trackedHuman, DetectedHuman* detectedHuman)
{
@@ -183,20 +260,4 @@ namespace armarx::navigation::human
trackedHuman->trackingId = detectedHuman->trackingId;
}
- std::vector<human::Human>
- HumanTracker::getTrackedHumans() const
- {
- return trackedHumans |
- ranges::views::transform([](const TrackedHuman& h) -> human::Human
- { return h.humanFilter.get(); }) |
- ranges::to_vector;
- }
-
-
- void
- HumanTracker::reset()
- {
- trackedHumans.clear();
- }
-
} // namespace armarx::navigation::human
diff --git a/source/armarx/navigation/human/HumanTracker.h b/source/armarx/navigation/human/HumanTracker.h
index 3c4cc28f..311817b4 100644
--- a/source/armarx/navigation/human/HumanTracker.h
+++ b/source/armarx/navigation/human/HumanTracker.h
@@ -39,6 +39,12 @@ namespace armarx::navigation::human
using Vector = Eigen::Matrix<T, 2, 1>;
using SystemModelT = kalman_filter::SystemModelSO2xR2<T>;
+ /**
+ * @brief The HumanTracker class can be used to track and filter multiple humans. It hides
+ * implementation detail on how new detected humans are associated to the old, already tracked
+ * humans. New detected humans can be fed by using the update method. The tracked humans can
+ * be obtained using the getTrackedHumans method.
+ */
class HumanTracker
{
public:
@@ -67,11 +73,14 @@ namespace armarx::navigation::human
struct Parameters
{
- // the duration after which tracked humans will be erased if no new measurement for this human is found
+ // the duration after which tracked humans will be erased if no new measurement for
+ // this human is found
Duration maxTrackingAge = Duration::MilliSeconds(500);
- // the maximum distance in millimeters of two human measurements to be associated with each other
+ // the maximum distance in millimeters of two human measurements where they are still
+ // associated with each other
float maxAssociationDistance = 600;
- // alpha value from interval [0,1] to determine how much the new (and respectively the old) velocity should be weighted
+ // alpha value from interval [0,1] to determine how much the current (and respectively
+ // the old) velocity should be weighted when calculating the new velocity
float velocityAlpha = 0.7;
};
@@ -84,6 +93,9 @@ namespace armarx::navigation::human
private:
void associateHumans(std::vector<DetectedHuman>& detectedHumans);
void associate(TrackedHuman* tracked, DetectedHuman* detected);
+ HumanTracker::DetectedHuman
+ convertHumanPoseToDetectedHuman(const DateTime& time,
+ const armem::human::HumanPose& humanPose);
private:
std::vector<TrackedHuman> trackedHumans;
--
GitLab
From ae6a9eb530c3d1212fa08b96554937eef77e2ae1 Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Wed, 21 Sep 2022 19:54:53 +0200
Subject: [PATCH 37/44] Move method descriptions from cpp to h files
---
.../armarx/navigation/human/HumanFilter.cpp | 23 --------
source/armarx/navigation/human/HumanFilter.h | 24 +++++++-
.../armarx/navigation/human/HumanTracker.cpp | 56 ++-----------------
source/armarx/navigation/human/HumanTracker.h | 38 ++++++++++++-
4 files changed, 62 insertions(+), 79 deletions(-)
diff --git a/source/armarx/navigation/human/HumanFilter.cpp b/source/armarx/navigation/human/HumanFilter.cpp
index e45d942a..570203b6 100644
--- a/source/armarx/navigation/human/HumanFilter.cpp
+++ b/source/armarx/navigation/human/HumanFilter.cpp
@@ -3,12 +3,6 @@
namespace armarx::navigation::human
{
- /**
- * @brief HumanFilter::HumanFilter creates a new filter that filters 2D poses (position and
- * rotation in a two dimensional plane)
- * @param pose0 the first known pose of the human
- * @param detectionTime the point of detection
- */
HumanFilter::HumanFilter(const core::Pose2D& pose0, const DateTime& detectionTime)
{
//initialize new human for detected human
@@ -42,12 +36,6 @@ namespace armarx::navigation::human
ukf = std::make_unique<UnscentedKalmanFilter<SystemModelT>>(Q, R, alpha, state0, P0);
}
- /**
- * @brief HumanFilter::propagation propagate the system model to the given point in time. This
- * means that the human pose is updated according to the filters prediction for the given point
- * in time
- * @param detectionTime the point in time for which the pose should be predicted
- */
void
HumanFilter::propagation(const armarx::core::time::DateTime& detectionTime)
{
@@ -60,12 +48,6 @@ namespace armarx::navigation::human
human.pose = fromUkfState(ukf->getCurrentState());
}
- /**
- * @brief HumanFilter::update update the filter a new detected pose of the tracked human and
- * the detection time
- * @param pose the new detected pose of the human
- * @param detectionTime the detection time
- */
void
HumanFilter::update(const core::Pose2D& pose, const DateTime& detectionTime)
{
@@ -91,11 +73,6 @@ namespace armarx::navigation::human
human.linearVelocity = newVelocity;
}
- /**
- * @brief HumanFilter::get returns the human whose pose is filtered containing the most recent
- * state
- * @return the human
- */
const Human&
HumanFilter::get() const
{
diff --git a/source/armarx/navigation/human/HumanFilter.h b/source/armarx/navigation/human/HumanFilter.h
index 749750d4..998b491b 100644
--- a/source/armarx/navigation/human/HumanFilter.h
+++ b/source/armarx/navigation/human/HumanFilter.h
@@ -53,11 +53,33 @@ namespace armarx::navigation::human
float velocityAlpha = 0.7;
};
+ /**
+ * @brief HumanFilter::HumanFilter creates a new filter that filters 2D poses (position and
+ * rotation in a two dimensional plane)
+ * @param pose0 the first known pose of the human
+ * @param detectionTime the point of detection
+ */
HumanFilter(const core::Pose2D& pose0, const DateTime& detectionTime);
+ /**
+ * @brief HumanFilter::propagation propagate the system model to the given point in time. This
+ * means that the human pose is updated according to the filters prediction for the given point
+ * in time
+ * @param detectionTime the point in time for which the pose should be predicted
+ */
void propagation(const DateTime& detectionTime);
+ /**
+ * @brief HumanFilter::update update the filter a new detected pose of the tracked human and
+ * the detection time
+ * @param pose the new detected pose of the human
+ * @param detectionTime the detection time
+ */
void update(const core::Pose2D& pose, const DateTime& detectionTime);
-
+ /**
+ * @brief HumanFilter::get returns the human whose pose is filtered containing the most recent
+ * state
+ * @return the human
+ */
const Human& get() const;
private:
diff --git a/source/armarx/navigation/human/HumanTracker.cpp b/source/armarx/navigation/human/HumanTracker.cpp
index dd6ecfc4..c1baf749 100644
--- a/source/armarx/navigation/human/HumanTracker.cpp
+++ b/source/armarx/navigation/human/HumanTracker.cpp
@@ -9,14 +9,6 @@
namespace armarx::navigation::human
{
- /**
- * @brief HumanTracker::update Updates the tracked humans with the measurements. When a
- * measurement is close enough to an existing tracked human, they are associated, otherwise a
- * new tracked human is created. Tracked humans that were not associated with a new measurement
- * for a specified amount of time are removed. New associated measurements for a tracked human
- * are always filtered to provide a less noisy state.
- * @param measurements the new measurements of the environment
- */
void
HumanTracker::update(const Measurements& measurements)
{
@@ -65,10 +57,6 @@ namespace armarx::navigation::human
}
}
- /**
- * @brief HumanTracker::getTrackedHumans Returns all humans that are currently tracked.
- * @return the tracked humans
- */
std::vector<human::Human>
HumanTracker::getTrackedHumans() const
{
@@ -78,10 +66,6 @@ namespace armarx::navigation::human
ranges::to_vector;
}
- /**
- * @brief HumanTracker::reset Resets this instance to the same state as if it just would have
- * been created.
- */
void
HumanTracker::reset()
{
@@ -89,13 +73,6 @@ namespace armarx::navigation::human
}
- /**
- * @brief convertHumanPoseToDetectedHuman Calculates all information necessary for a
- * DetectedHuman from the given HumanPose and returns a new detected human.
- * @param time The point in time where the detection was made.
- * @param humanPose The HumanPose that should be converted to a DetectedHuman.
- * @return A new DetectedHuman according to the HumanPose
- */
HumanTracker::DetectedHuman
convertHumanPoseToDetectedHuman(const DateTime& time, const armem::human::HumanPose& humanPose)
{
@@ -135,11 +112,6 @@ namespace armarx::navigation::human
return {pose, humanPose.humanTrackingId, time, false};
}
-
- /**
- * @brief The PosDistance struct contains a distance between an old, tracked human and a new,
- * detected human aswell as references to them.
- */
struct PosDistance
{
HumanTracker::TrackedHuman* oldHuman;
@@ -147,14 +119,6 @@ namespace armarx::navigation::human
float distance;
};
- /**
- * @brief getSortedDistances Returns all distances sorted by their numeric value between
- * possible combinations (T, D) where T is an old, tracked human and D is a new, detected human
- * and T as well as D were not already associated
- * @param oldHumans the old, tracked humans
- * @param newHumans the new, detected humans
- * @return the sorted distances, where the smallest distance is the first entry in the vector
- */
std::vector<PosDistance>
getSortedDistances(std::vector<HumanTracker::TrackedHuman>& oldHumans,
std::vector<HumanTracker::DetectedHuman>& newHumans)
@@ -192,25 +156,19 @@ namespace armarx::navigation::human
return posDistances;
}
- /**
- * @brief HumanTracker::associateHumans Associates those tracked and detected humans that
- * belong together.
- * @param detectedHumans The detected humans against which the saved list of tracked humans is
- * matched.
- */
void
HumanTracker::associateHumans(std::vector<DetectedHuman>& detectedHumans)
{
// first, associate humans by their tracking id
for (auto& oldHuman : trackedHumans)
{
- if (oldHuman.associated || !oldHuman.trackingId)
+ if (oldHuman.associated || not oldHuman.trackingId)
{
continue;
}
for (auto& newHuman : detectedHumans)
{
- if (newHuman.associated || !newHuman.trackingId)
+ if (newHuman.associated || not newHuman.trackingId)
{
continue;
}
@@ -241,17 +199,11 @@ namespace armarx::navigation::human
}
}
- /**
- * @brief HumanTracker::associate Associates the given tracked and detected human. Therefore it
- * updates all necessary variables of the TrackedHuman
- * @param trackedHuman the tracked human
- * @param detectedHuman the detected human
- */
void
HumanTracker::associate(TrackedHuman* trackedHuman, DetectedHuman* detectedHuman)
{
- ARMARX_CHECK(!trackedHuman->associated);
- ARMARX_CHECK(!detectedHuman->associated);
+ ARMARX_CHECK(not trackedHuman->associated);
+ ARMARX_CHECK(not detectedHuman->associated);
trackedHuman->associated = true;
detectedHuman->associated = true;
diff --git a/source/armarx/navigation/human/HumanTracker.h b/source/armarx/navigation/human/HumanTracker.h
index 311817b4..580e6840 100644
--- a/source/armarx/navigation/human/HumanTracker.h
+++ b/source/armarx/navigation/human/HumanTracker.h
@@ -83,16 +83,48 @@ namespace armarx::navigation::human
// the old) velocity should be weighted when calculating the new velocity
float velocityAlpha = 0.7;
};
-
+ /**
+ * @brief HumanTracker::update Updates the tracked humans with the measurements. When a
+ * measurement is close enough to an existing tracked human, they are associated, otherwise a
+ * new tracked human is created. Tracked humans that were not associated with a new measurement
+ * for a specified amount of time are removed. New associated measurements for a tracked human
+ * are always filtered to provide a less noisy state.
+ * @param measurements the new measurements of the environment
+ */
void update(const Measurements& measurements);
-
+ /**
+ * @brief HumanTracker::getTrackedHumans Returns all humans that are currently tracked.
+ * @return the tracked humans
+ */
std::vector<human::Human> getTrackedHumans() const;
-
+ /**
+ * @brief HumanTracker::reset Resets this instance to the same state as if it just would have
+ * been created.
+ */
void reset();
private:
+ /**
+ * @brief HumanTracker::associateHumans Associates those tracked and detected humans that
+ * belong together.
+ * @param detectedHumans The detected humans against which the saved list of tracked humans is
+ * matched.
+ */
void associateHumans(std::vector<DetectedHuman>& detectedHumans);
+ /**
+ * @brief HumanTracker::associate Associates the given tracked and detected human. Therefore it
+ * updates all necessary variables of the TrackedHuman
+ * @param trackedHuman the tracked human
+ * @param detectedHuman the detected human
+ */
void associate(TrackedHuman* tracked, DetectedHuman* detected);
+ /**
+ * @brief convertHumanPoseToDetectedHuman Calculates all information necessary for a
+ * DetectedHuman from the given HumanPose and returns a new detected human.
+ * @param time The point in time where the detection was made.
+ * @param humanPose The HumanPose that should be converted to a DetectedHuman.
+ * @return A new DetectedHuman according to the HumanPose
+ */
HumanTracker::DetectedHuman
convertHumanPoseToDetectedHuman(const DateTime& time,
const armem::human::HumanPose& humanPose);
--
GitLab
From 44fbd12ca112e94dc0592971afcfa0eaf64b33e2 Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Wed, 21 Sep 2022 21:09:59 +0200
Subject: [PATCH 38/44] Change calculation of orientation
---
.../armarx/navigation/human/HumanTracker.cpp | 96 +++++++++++--------
source/armarx/navigation/human/HumanTracker.h | 10 --
2 files changed, 56 insertions(+), 50 deletions(-)
diff --git a/source/armarx/navigation/human/HumanTracker.cpp b/source/armarx/navigation/human/HumanTracker.cpp
index c1baf749..f9149a09 100644
--- a/source/armarx/navigation/human/HumanTracker.cpp
+++ b/source/armarx/navigation/human/HumanTracker.cpp
@@ -9,6 +9,61 @@
namespace armarx::navigation::human
{
+ HumanTracker::DetectedHuman
+ convertHumanPoseToDetectedHuman(const DateTime& time, const armem::human::HumanPose& humanPose)
+ {
+ const std::map<std::string, armem::human::PoseKeypoint>& keypoints = humanPose.keypoints;
+ ARMARX_CHECK_NOT_EMPTY(keypoints);
+
+ // calculate the arithmetic mean of all keypoint positions
+ Eigen::Vector3f centerPos;
+ int size = 0;
+ for (const auto& [_, v] : keypoints)
+ {
+ if (v.positionGlobal.has_value())
+ {
+ centerPos += v.positionGlobal.value().toEigen();
+ size++;
+ }
+ }
+ centerPos /= size;
+
+ // calculate the yaw of the head keypoint if it exists
+ double yaw = 0;
+ if (humanPose.keypoints.count("HEAD") > 0)
+ {
+ Eigen::Quaternionf qhead =
+ humanPose.keypoints.at("HEAD").orientationGlobal->toEigenQuaternion();
+ //TODO not quite sure if the quaternion operates this way as it is not further defined
+ // on https://learn.microsoft.com/de-de/azure/kinect-dk/body-joints
+ Eigen::Vector3f vec(0, 1, 0);
+ Eigen::Vector3f rot3 = qhead._transformVector(vec);
+ Eigen::Vector2f rot2(rot3.y(), rot3.z());
+ if (rot2.norm() != 0)
+ {
+ rot2.normalize();
+ // calculate angle between e1 and rot2
+ yaw = atan2(rot2.y(), rot2.x() * rot2.y());
+ }
+ //old version using euler angles:
+ //yaw = humanPose //from all human pose keypoints
+ // .keypoints
+ // .at("HEAD") //find the keypoint representing the head
+ // .orientationGlobal //get its global orientation
+ // ->toEigen()
+ // .eulerAngles(2, 1, 0)[2]; //and extract the yaw (rotation around x axis
+ // should be z axis in global coordinates)
+ }
+
+ // create the new pose with the calculated position and yaw
+ core::Pose2D pose = core::Pose2D::Identity();
+ pose.translation() = conv::to2D(centerPos);
+ pose.linear() = Eigen::Rotation2Df(yaw).toRotationMatrix();
+
+ return {pose, humanPose.humanTrackingId, time, false};
+ }
+
+
void
HumanTracker::update(const Measurements& measurements)
{
@@ -35,7 +90,7 @@ namespace armarx::navigation::human
std::vector<DetectedHuman> newPoses =
measurements.humanPoses |
ranges::views::transform(
- [measurements, this](const armem::human::HumanPose& humanPose) -> DetectedHuman {
+ [measurements](const armem::human::HumanPose& humanPose) -> DetectedHuman {
return convertHumanPoseToDetectedHuman(measurements.detectionTime, humanPose);
}) |
ranges::to_vector;
@@ -73,45 +128,6 @@ namespace armarx::navigation::human
}
- HumanTracker::DetectedHuman
- convertHumanPoseToDetectedHuman(const DateTime& time, const armem::human::HumanPose& humanPose)
- {
- const std::map<std::string, armem::human::PoseKeypoint>& keypoints = humanPose.keypoints;
- ARMARX_CHECK_NOT_EMPTY(keypoints);
-
- // calculate the arithmetic mean of all keypoint positions
- Eigen::Vector3f centerPos;
- int size = 0;
- for (const auto& [_, v] : keypoints)
- {
- if (v.positionGlobal.has_value())
- {
- centerPos += v.positionGlobal.value().toEigen();
- size++;
- }
- }
- centerPos /= size;
-
- // calculate the yaw of the head keypoint if it exists
- double yaw = 0;
- if (humanPose.keypoints.count("HEAD") > 0)
- {
- yaw = humanPose //from all human pose keypoints
- .keypoints
- .at("HEAD") //find the keypoint representing the head
- .orientationGlobal //get its global orientation
- ->toEigen()
- .eulerAngles(2, 1, 0)[0]; //and extract the yaw (rotation around z axis)
- }
-
- // create the new pose with the calculated position and yaw
- core::Pose2D pose = core::Pose2D::Identity();
- pose.translation() = conv::to2D(centerPos);
- pose.linear() = Eigen::Rotation2Df(yaw).toRotationMatrix();
-
- return {pose, humanPose.humanTrackingId, time, false};
- }
-
struct PosDistance
{
HumanTracker::TrackedHuman* oldHuman;
diff --git a/source/armarx/navigation/human/HumanTracker.h b/source/armarx/navigation/human/HumanTracker.h
index 580e6840..ffd0bf2b 100644
--- a/source/armarx/navigation/human/HumanTracker.h
+++ b/source/armarx/navigation/human/HumanTracker.h
@@ -118,16 +118,6 @@ namespace armarx::navigation::human
* @param detectedHuman the detected human
*/
void associate(TrackedHuman* tracked, DetectedHuman* detected);
- /**
- * @brief convertHumanPoseToDetectedHuman Calculates all information necessary for a
- * DetectedHuman from the given HumanPose and returns a new detected human.
- * @param time The point in time where the detection was made.
- * @param humanPose The HumanPose that should be converted to a DetectedHuman.
- * @return A new DetectedHuman according to the HumanPose
- */
- HumanTracker::DetectedHuman
- convertHumanPoseToDetectedHuman(const DateTime& time,
- const armem::human::HumanPose& humanPose);
private:
std::vector<TrackedHuman> trackedHumans;
--
GitLab
From bfa269f6b2b6ea27c2f40c148a99982bc6e668cd Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Thu, 22 Sep 2022 11:37:20 +0200
Subject: [PATCH 39/44] Add oldHuman to be able to call propagation multiple
times between two update calls
---
source/armarx/navigation/human/HumanFilter.cpp | 8 +++++---
source/armarx/navigation/human/HumanFilter.h | 12 ++++++++++--
2 files changed, 15 insertions(+), 5 deletions(-)
diff --git a/source/armarx/navigation/human/HumanFilter.cpp b/source/armarx/navigation/human/HumanFilter.cpp
index 570203b6..ba786d13 100644
--- a/source/armarx/navigation/human/HumanFilter.cpp
+++ b/source/armarx/navigation/human/HumanFilter.cpp
@@ -40,18 +40,18 @@ namespace armarx::navigation::human
HumanFilter::propagation(const armarx::core::time::DateTime& detectionTime)
{
double dt = (detectionTime - human.detectionTime).toSecondsDouble();
- oldPose = human.pose;
SystemModelT::ControlT control = toUkfControl(human.linearVelocity);
ukf->propagation(control, dt);
human.pose = fromUkfState(ukf->getCurrentState());
+ human.detectionTime = detectionTime;
}
void
HumanFilter::update(const core::Pose2D& pose, const DateTime& detectionTime)
{
- double dt = (detectionTime - human.detectionTime).toSecondsDouble();
+ double dt = (detectionTime - oldHuman.detectionTime).toSecondsDouble();
//update ukf with new observation
SystemModelT::ObsT observation = toUkfObs(pose);
@@ -60,7 +60,7 @@ namespace armarx::navigation::human
core::Pose2D newPose = fromUkfState(ukf->getCurrentState());
// calculate velocity
- Eigen::Vector2f ds = newPose.translation() - oldPose.translation();
+ Eigen::Vector2f ds = newPose.translation() - oldHuman.pose.translation();
Eigen::Vector2f linVelocity = ds / dt;
// apply exponential smoothing to velocity
//TODO try other approaches?
@@ -71,6 +71,8 @@ namespace armarx::navigation::human
human.detectionTime = detectionTime;
human.pose = newPose;
human.linearVelocity = newVelocity;
+
+ oldHuman = human;
}
const Human&
diff --git a/source/armarx/navigation/human/HumanFilter.h b/source/armarx/navigation/human/HumanFilter.h
index 998b491b..ceb13aa1 100644
--- a/source/armarx/navigation/human/HumanFilter.h
+++ b/source/armarx/navigation/human/HumanFilter.h
@@ -64,7 +64,7 @@ namespace armarx::navigation::human
/**
* @brief HumanFilter::propagation propagate the system model to the given point in time. This
* means that the human pose is updated according to the filters prediction for the given point
- * in time
+ * in time. Should be called at most once between every two calls of HumanFilter::update.
* @param detectionTime the point in time for which the pose should be predicted
*/
void propagation(const DateTime& detectionTime);
@@ -92,7 +92,15 @@ namespace armarx::navigation::human
private:
Parameters params;
- core::Pose2D oldPose;
+ /**
+ * @brief oldHuman stores information about the human at the point in time of the last
+ * HumanFilter::update call
+ */
+ Human oldHuman;
+ /**
+ * @brief human stores information about the human at the point in time of the last
+ * HumanFilter::propagation call
+ */
Human human;
std::unique_ptr<UnscentedKalmanFilter<SystemModelT>> ukf;
};
--
GitLab
From 50d0594d9deb5b5fea69fe8b340c1f408f73f5d9 Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Thu, 22 Sep 2022 12:10:47 +0200
Subject: [PATCH 40/44] Fix calculation of humans rotation
---
.../armarx/navigation/human/HumanTracker.cpp | 20 +++++++++----------
1 file changed, 9 insertions(+), 11 deletions(-)
diff --git a/source/armarx/navigation/human/HumanTracker.cpp b/source/armarx/navigation/human/HumanTracker.cpp
index f9149a09..0d5d85fe 100644
--- a/source/armarx/navigation/human/HumanTracker.cpp
+++ b/source/armarx/navigation/human/HumanTracker.cpp
@@ -32,18 +32,16 @@ namespace armarx::navigation::human
double yaw = 0;
if (humanPose.keypoints.count("HEAD") > 0)
{
- Eigen::Quaternionf qhead =
- humanPose.keypoints.at("HEAD").orientationGlobal->toEigenQuaternion();
- //TODO not quite sure if the quaternion operates this way as it is not further defined
- // on https://learn.microsoft.com/de-de/azure/kinect-dk/body-joints
- Eigen::Vector3f vec(0, 1, 0);
+ const armem::human::PoseKeypoint& headKeypoint = humanPose.keypoints.at("HEAD");
+ ARMARX_CHECK(headKeypoint.orientationGlobal.has_value());
+ Eigen::Quaternionf qhead = headKeypoint.orientationGlobal->toEigenQuaternion();
+ Eigen::Vector3f vec(1, 0, 0);
Eigen::Vector3f rot3 = qhead._transformVector(vec);
- Eigen::Vector2f rot2(rot3.y(), rot3.z());
+ Eigen::Vector2f rot2(rot3.x(), rot3.y());
if (rot2.norm() != 0)
{
- rot2.normalize();
- // calculate angle between e1 and rot2
- yaw = atan2(rot2.y(), rot2.x() * rot2.y());
+ // calculate angle of rot2
+ yaw = atan2(rot2.y(), rot2.x());
}
//old version using euler angles:
//yaw = humanPose //from all human pose keypoints
@@ -51,8 +49,8 @@ namespace armarx::navigation::human
// .at("HEAD") //find the keypoint representing the head
// .orientationGlobal //get its global orientation
// ->toEigen()
- // .eulerAngles(2, 1, 0)[2]; //and extract the yaw (rotation around x axis
- // should be z axis in global coordinates)
+ // .eulerAngles(2, 1, 0)[0]; //and extract the yaw (rotation around z axis in
+ // global coordinates)
}
// create the new pose with the calculated position and yaw
--
GitLab
From cdcf9d01a5fceabe228870226a879d58b711dfb8 Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Thu, 22 Sep 2022 12:41:54 +0200
Subject: [PATCH 41/44] Make convertHumanPoseToDetectedHuman a class method
---
.../armarx/navigation/human/HumanTracker.cpp | 110 +++++++++---------
source/armarx/navigation/human/HumanTracker.h | 14 ++-
2 files changed, 69 insertions(+), 55 deletions(-)
diff --git a/source/armarx/navigation/human/HumanTracker.cpp b/source/armarx/navigation/human/HumanTracker.cpp
index 0d5d85fe..4cc4e75b 100644
--- a/source/armarx/navigation/human/HumanTracker.cpp
+++ b/source/armarx/navigation/human/HumanTracker.cpp
@@ -9,59 +9,6 @@
namespace armarx::navigation::human
{
- HumanTracker::DetectedHuman
- convertHumanPoseToDetectedHuman(const DateTime& time, const armem::human::HumanPose& humanPose)
- {
- const std::map<std::string, armem::human::PoseKeypoint>& keypoints = humanPose.keypoints;
- ARMARX_CHECK_NOT_EMPTY(keypoints);
-
- // calculate the arithmetic mean of all keypoint positions
- Eigen::Vector3f centerPos;
- int size = 0;
- for (const auto& [_, v] : keypoints)
- {
- if (v.positionGlobal.has_value())
- {
- centerPos += v.positionGlobal.value().toEigen();
- size++;
- }
- }
- centerPos /= size;
-
- // calculate the yaw of the head keypoint if it exists
- double yaw = 0;
- if (humanPose.keypoints.count("HEAD") > 0)
- {
- const armem::human::PoseKeypoint& headKeypoint = humanPose.keypoints.at("HEAD");
- ARMARX_CHECK(headKeypoint.orientationGlobal.has_value());
- Eigen::Quaternionf qhead = headKeypoint.orientationGlobal->toEigenQuaternion();
- Eigen::Vector3f vec(1, 0, 0);
- Eigen::Vector3f rot3 = qhead._transformVector(vec);
- Eigen::Vector2f rot2(rot3.x(), rot3.y());
- if (rot2.norm() != 0)
- {
- // calculate angle of rot2
- yaw = atan2(rot2.y(), rot2.x());
- }
- //old version using euler angles:
- //yaw = humanPose //from all human pose keypoints
- // .keypoints
- // .at("HEAD") //find the keypoint representing the head
- // .orientationGlobal //get its global orientation
- // ->toEigen()
- // .eulerAngles(2, 1, 0)[0]; //and extract the yaw (rotation around z axis in
- // global coordinates)
- }
-
- // create the new pose with the calculated position and yaw
- core::Pose2D pose = core::Pose2D::Identity();
- pose.translation() = conv::to2D(centerPos);
- pose.linear() = Eigen::Rotation2Df(yaw).toRotationMatrix();
-
- return {pose, humanPose.humanTrackingId, time, false};
- }
-
-
void
HumanTracker::update(const Measurements& measurements)
{
@@ -88,7 +35,7 @@ namespace armarx::navigation::human
std::vector<DetectedHuman> newPoses =
measurements.humanPoses |
ranges::views::transform(
- [measurements](const armem::human::HumanPose& humanPose) -> DetectedHuman {
+ [measurements, this](const armem::human::HumanPose& humanPose) -> DetectedHuman {
return convertHumanPoseToDetectedHuman(measurements.detectionTime, humanPose);
}) |
ranges::to_vector;
@@ -170,6 +117,61 @@ namespace armarx::navigation::human
return posDistances;
}
+
+ HumanTracker::DetectedHuman
+ HumanTracker::convertHumanPoseToDetectedHuman(const DateTime& time,
+ const armem::human::HumanPose& humanPose)
+ {
+ const std::map<std::string, armem::human::PoseKeypoint>& keypoints = humanPose.keypoints;
+ ARMARX_CHECK_NOT_EMPTY(keypoints);
+
+ // calculate the arithmetic mean of all keypoint positions
+ Eigen::Vector3f centerPos;
+ int size = 0;
+ for (const auto& [_, v] : keypoints)
+ {
+ if (v.positionGlobal.has_value())
+ {
+ centerPos += v.positionGlobal.value().toEigen();
+ size++;
+ }
+ }
+ centerPos /= size;
+
+ // calculate the yaw of the specified keypoint representing the orientation if it exists
+ double yaw = 0;
+ if (humanPose.keypoints.count(parameters.rotationKeypoint) > 0)
+ {
+ const armem::human::PoseKeypoint& refKeypoint =
+ humanPose.keypoints.at(parameters.rotationKeypoint);
+ ARMARX_CHECK(refKeypoint.orientationGlobal.has_value());
+ Eigen::Quaternionf qhead = refKeypoint.orientationGlobal->toEigenQuaternion();
+ Eigen::Vector3f vec(1, 0, 0);
+ Eigen::Vector3f rot3 = qhead._transformVector(vec);
+ Eigen::Vector2f rot2(rot3.x(), rot3.y());
+ if (rot2.norm() != 0)
+ {
+ // calculate angle of rot2
+ yaw = atan2(rot2.y(), rot2.x());
+ }
+ //old version using euler angles:
+ //yaw = humanPose //from all human pose keypoints
+ // .keypoints
+ // .at("HEAD") //find the keypoint representing the head
+ // .orientationGlobal //get its global orientation
+ // ->toEigen()
+ // .eulerAngles(2, 1, 0)[0]; //and extract the yaw (rotation around z axis in
+ // global coordinates)
+ }
+
+ // create the new pose with the calculated position and yaw
+ core::Pose2D pose = core::Pose2D::Identity();
+ pose.translation() = conv::to2D(centerPos);
+ pose.linear() = Eigen::Rotation2Df(yaw).toRotationMatrix();
+
+ return {pose, humanPose.humanTrackingId, time, false};
+ }
+
void
HumanTracker::associateHumans(std::vector<DetectedHuman>& detectedHumans)
{
diff --git a/source/armarx/navigation/human/HumanTracker.h b/source/armarx/navigation/human/HumanTracker.h
index ffd0bf2b..f2e3cd8e 100644
--- a/source/armarx/navigation/human/HumanTracker.h
+++ b/source/armarx/navigation/human/HumanTracker.h
@@ -35,7 +35,7 @@
namespace armarx::navigation::human
{
- using T = double; //TODO double or float?
+ using T = double;
using Vector = Eigen::Matrix<T, 2, 1>;
using SystemModelT = kalman_filter::SystemModelSO2xR2<T>;
@@ -73,6 +73,8 @@ namespace armarx::navigation::human
struct Parameters
{
+ // the keypoint which should be used for calculating the rotation of the humans
+ const std::string rotationKeypoint = "HEAD";
// the duration after which tracked humans will be erased if no new measurement for
// this human is found
Duration maxTrackingAge = Duration::MilliSeconds(500);
@@ -104,6 +106,15 @@ namespace armarx::navigation::human
void reset();
private:
+ /**
+ * @brief convertHumanPoseToDetectedHuman Sets every parameter of a detected human according
+ * to the human pose and returns the new created detected human.
+ * @param time the time of detection
+ * @param humanPose the human pose representing the human
+ * @return the new created detected human
+ */
+ DetectedHuman convertHumanPoseToDetectedHuman(const DateTime& time,
+ const armem::human::HumanPose& humanPose);
/**
* @brief HumanTracker::associateHumans Associates those tracked and detected humans that
* belong together.
@@ -119,6 +130,7 @@ namespace armarx::navigation::human
*/
void associate(TrackedHuman* tracked, DetectedHuman* detected);
+
private:
std::vector<TrackedHuman> trackedHumans;
Parameters parameters;
--
GitLab
From a073a12196730a0c3d03c6816d5dd2b67734cf87 Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Thu, 22 Sep 2022 12:48:24 +0200
Subject: [PATCH 42/44] Make getSortedDistances a class method
---
.../armarx/navigation/human/HumanTracker.cpp | 84 +++++++++----------
source/armarx/navigation/human/HumanTracker.h | 19 +++++
2 files changed, 57 insertions(+), 46 deletions(-)
diff --git a/source/armarx/navigation/human/HumanTracker.cpp b/source/armarx/navigation/human/HumanTracker.cpp
index 4cc4e75b..2332377e 100644
--- a/source/armarx/navigation/human/HumanTracker.cpp
+++ b/source/armarx/navigation/human/HumanTracker.cpp
@@ -73,51 +73,6 @@ namespace armarx::navigation::human
}
- struct PosDistance
- {
- HumanTracker::TrackedHuman* oldHuman;
- HumanTracker::DetectedHuman* newHuman;
- float distance;
- };
-
- std::vector<PosDistance>
- getSortedDistances(std::vector<HumanTracker::TrackedHuman>& oldHumans,
- std::vector<HumanTracker::DetectedHuman>& newHumans)
- {
- std::vector<PosDistance> posDistances;
-
- for (auto& oldHuman : oldHumans)
- {
- if (oldHuman.associated)
- {
- continue;
- }
- for (auto& newHuman : newHumans)
- {
- if (newHuman.associated)
- {
- continue;
- }
- // calculate distance between every possible combination of tracked and detected
- // humans where none of them was associated
- posDistances.push_back(
- {&oldHuman,
- &newHuman,
- (newHuman.pose.translation() - oldHuman.humanFilter.get().pose.translation())
- .norm()});
- }
- }
-
- // sort the distances ascending by their numeric value
- std::sort(posDistances.begin(),
- posDistances.end(),
- [](const PosDistance& a, const PosDistance& b) -> bool
- { return a.distance < b.distance; });
-
- return posDistances;
- }
-
-
HumanTracker::DetectedHuman
HumanTracker::convertHumanPoseToDetectedHuman(const DateTime& time,
const armem::human::HumanPose& humanPose)
@@ -157,7 +112,7 @@ namespace armarx::navigation::human
//old version using euler angles:
//yaw = humanPose //from all human pose keypoints
// .keypoints
- // .at("HEAD") //find the keypoint representing the head
+ // .at(parameters.rotationKeypoint) //find the keypoint representing the head
// .orientationGlobal //get its global orientation
// ->toEigen()
// .eulerAngles(2, 1, 0)[0]; //and extract the yaw (rotation around z axis in
@@ -172,6 +127,43 @@ namespace armarx::navigation::human
return {pose, humanPose.humanTrackingId, time, false};
}
+ std::vector<HumanTracker::PosDistance>
+ HumanTracker::getSortedDistances(std::vector<HumanTracker::TrackedHuman>& oldHumans,
+ std::vector<HumanTracker::DetectedHuman>& newHumans)
+ {
+ std::vector<PosDistance> posDistances;
+
+ for (auto& oldHuman : oldHumans)
+ {
+ if (oldHuman.associated)
+ {
+ continue;
+ }
+ for (auto& newHuman : newHumans)
+ {
+ if (newHuman.associated)
+ {
+ continue;
+ }
+ // calculate distance between every possible combination of tracked and detected
+ // humans where none of them was associated
+ posDistances.push_back(
+ {&oldHuman,
+ &newHuman,
+ (newHuman.pose.translation() - oldHuman.humanFilter.get().pose.translation())
+ .norm()});
+ }
+ }
+
+ // sort the distances ascending by their numeric value
+ std::sort(posDistances.begin(),
+ posDistances.end(),
+ [](const PosDistance& a, const PosDistance& b) -> bool
+ { return a.distance < b.distance; });
+
+ return posDistances;
+ }
+
void
HumanTracker::associateHumans(std::vector<DetectedHuman>& detectedHumans)
{
diff --git a/source/armarx/navigation/human/HumanTracker.h b/source/armarx/navigation/human/HumanTracker.h
index f2e3cd8e..1a83fb65 100644
--- a/source/armarx/navigation/human/HumanTracker.h
+++ b/source/armarx/navigation/human/HumanTracker.h
@@ -71,6 +71,13 @@ namespace armarx::navigation::human
bool associated;
};
+ struct PosDistance
+ {
+ HumanTracker::TrackedHuman* oldHuman;
+ HumanTracker::DetectedHuman* newHuman;
+ float distance;
+ };
+
struct Parameters
{
// the keypoint which should be used for calculating the rotation of the humans
@@ -115,6 +122,18 @@ namespace armarx::navigation::human
*/
DetectedHuman convertHumanPoseToDetectedHuman(const DateTime& time,
const armem::human::HumanPose& humanPose);
+ /**
+ * @brief getSortedDistances Returns a sorted vector of the distances between every possible
+ * combination (T, D) where T is an old, tracked human and D is a new, detected human and
+ * both of them are not already associated. The smallest distance will be the first entry in
+ * the vector
+ * @param oldHumans the old, tracked humans
+ * @param newHumans the new, detected humans
+ * @return the sorted vector of distances with references to the according humans
+ */
+ std::vector<PosDistance>
+ getSortedDistances(std::vector<HumanTracker::TrackedHuman>& oldHumans,
+ std::vector<HumanTracker::DetectedHuman>& newHumans);
/**
* @brief HumanTracker::associateHumans Associates those tracked and detected humans that
* belong together.
--
GitLab
From f4e5ea12cfe6976f0e78d88b5b24c9ae3bc18a5d Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Thu, 22 Sep 2022 17:33:22 +0200
Subject: [PATCH 43/44] Add file for kalman filter tests
---
source/armarx/navigation/human/CMakeLists.txt | 14 +++++++++++++
.../human/test/kalman_filter_test.cpp | 20 +++++++++++++++++++
2 files changed, 34 insertions(+)
create mode 100644 source/armarx/navigation/human/test/kalman_filter_test.cpp
diff --git a/source/armarx/navigation/human/CMakeLists.txt b/source/armarx/navigation/human/CMakeLists.txt
index 14deaae1..7ecd7127 100644
--- a/source/armarx/navigation/human/CMakeLists.txt
+++ b/source/armarx/navigation/human/CMakeLists.txt
@@ -84,3 +84,17 @@ armarx_add_test(se3_kalman_test
ukfm
sciplot::sciplot
)
+
+
+armarx_add_test(human_test
+ TEST_FILES
+ test/kalman_filter_test.cpp
+ DEPENDENCIES
+ PUBLIC
+ ArmarXCore
+ armarx_navigation::core
+ armarx_navigation::teb_human
+
+ PRIVATE
+ range-v3::range-v3
+)
diff --git a/source/armarx/navigation/human/test/kalman_filter_test.cpp b/source/armarx/navigation/human/test/kalman_filter_test.cpp
new file mode 100644
index 00000000..885374fe
--- /dev/null
+++ b/source/armarx/navigation/human/test/kalman_filter_test.cpp
@@ -0,0 +1,20 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Corvin Navarro Ecker ( corvin dot ecker at student dot kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
--
GitLab
From 9b8d0be53ba934a8c7928ee3d0116488ad532e4c Mon Sep 17 00:00:00 2001
From: Corvin-N <corvin@navarro.de>
Date: Thu, 22 Sep 2022 19:31:14 +0200
Subject: [PATCH 44/44] Write test case for kalman filter
---
source/armarx/navigation/human/CMakeLists.txt | 2 +-
.../human/test/kalman_filter_test.cpp | 92 +++++++++++++++++++
2 files changed, 93 insertions(+), 1 deletion(-)
diff --git a/source/armarx/navigation/human/CMakeLists.txt b/source/armarx/navigation/human/CMakeLists.txt
index 7ecd7127..4cf568f3 100644
--- a/source/armarx/navigation/human/CMakeLists.txt
+++ b/source/armarx/navigation/human/CMakeLists.txt
@@ -86,7 +86,7 @@ armarx_add_test(se3_kalman_test
)
-armarx_add_test(human_test
+armarx_add_test(kalman_filter_test
TEST_FILES
test/kalman_filter_test.cpp
DEPENDENCIES
diff --git a/source/armarx/navigation/human/test/kalman_filter_test.cpp b/source/armarx/navigation/human/test/kalman_filter_test.cpp
index 885374fe..04cf7c69 100644
--- a/source/armarx/navigation/human/test/kalman_filter_test.cpp
+++ b/source/armarx/navigation/human/test/kalman_filter_test.cpp
@@ -18,3 +18,95 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
+
+#include <ArmarXCore/core/time/DateTime.h>
+
+#include <armarx/navigation/core/basic_types.h>
+#include <armarx/navigation/human/HumanFilter.h>
+#include <armarx/navigation/human/types.h>
+
+// test includes
+#define BOOST_TEST_MODULE Navigation::ArmarXLibraries::human
+#define ARMARX_BOOST_TEST
+
+#include <armarx/navigation/Test.h>
+
+using armarx::navigation::core::Pose2D;
+using Eigen::Vector2f;
+
+namespace armarx::navigation::human
+{
+ Pose2D
+ generatePose(double x, double y, double yaw)
+ {
+ Pose2D pose = Pose2D::Identity();
+ pose.translation() = Eigen::Vector2f(x, y);
+ pose.linear() = Eigen::Rotation2Df(yaw).toRotationMatrix();
+
+ return pose;
+ }
+
+ DateTime
+ generateTime(double time)
+ {
+ return DateTime(time);
+ }
+
+ double
+ extractRotation(const Pose2D& pose)
+ {
+ return Eigen::Rotation2Df(pose.linear()).angle();
+ }
+
+
+ bool
+ doublesEqual(const double d1, const double d2, const double relErr)
+ {
+ if (d1 == 0)
+ {
+ return d2 == 0;
+ }
+ return std::abs(d1 - d2) / d1 <= relErr;
+ }
+
+ bool
+ posesEqual(const Pose2D& p1, const Pose2D& p2, const double relErr)
+ {
+ return doublesEqual(p1.translation().x(), p2.translation().x(), relErr) &&
+ doublesEqual(p1.translation().y(), p2.translation().y(), relErr) &&
+ doublesEqual(extractRotation(p1), extractRotation(p2), relErr);
+ }
+
+ bool
+ vectorsEqual(const Vector2f& v1, const Vector2f v2, const double relErr)
+ {
+ return doublesEqual(v1.x(), v2.x(), relErr) && doublesEqual(v1.y(), v2.y(), relErr);
+ }
+
+ bool
+ timesEqual(const DateTime& t1, const DateTime& t2, const double relErr)
+ {
+ return doublesEqual(t1.toMilliSecondsSinceEpoch(), t2.toMilliSecondsSinceEpoch(), relErr);
+ }
+
+ bool
+ humansEqual(const Human& h1, const Human& h2, const double relErr)
+ {
+ return posesEqual(h1.pose, h2.pose, relErr) &&
+ vectorsEqual(h1.linearVelocity, h2.linearVelocity, relErr) &&
+ timesEqual(h1.detectionTime, h2.detectionTime, relErr);
+ }
+
+
+ BOOST_AUTO_TEST_CASE(testInitialization)
+ {
+ HumanFilter filter(generatePose(3, 2, 1), generateTime(4));
+
+ Human human{.pose = generatePose(3, 2, 1),
+ .linearVelocity = Vector2f::Zero(),
+ .detectionTime = generateTime(4)};
+
+ BOOST_TEST(humansEqual(filter.get(), human, 0.001),
+ "filter should not have changed humans initial pose properties");
+ }
+} // namespace armarx::navigation::human
--
GitLab