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livePose log (#32868)

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* add livepose

* Formatting

* Add to sevices

* Update locationd to publish livePose

* Remove fields and increase decimation

* Fix field indices

* Remove the line

* Add livePose to pubmaster

* Fix llk decimation

* Update ref commit

* XYZ measurements instead of lists

* Update locationd

* Update ref commit

* Lower the qlog size in test_onroad

* Update lower and upper boundary

---------

Co-authored-by: Kacper Rączy <gfw.kra@gmail.com>
sr-patch
Harald Schäfer 1 year ago committed by GitHub
parent 4b794773b0
commit 996bced674
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GPG Key ID: B5690EEEBB952194
7 changed files with 117 additions and 22 deletions
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  1. 33
      cereal/log.capnp
  2. 3
      cereal/services.py
  3. 90
      selfdrive/locationd/locationd.cc
  4. 7
      selfdrive/locationd/locationd.h
  5. 2
      selfdrive/test/process_replay/process_replay.py
  6. 2
      selfdrive/test/process_replay/ref_commit
  7. 2
      selfdrive/test/test_onroad.py

33
cereal/log.capnp
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@ -1252,6 +1252,38 @@ struct LiveLocationKalman {
}
}
struct LivePose {
# More info on reference frames:
# https://github.com/commaai/openpilot/tree/master/common/transformations
orientationNED @0 :XYZMeasurement;
velocityDevice @1 :XYZMeasurement;
accelerationDevice @2 :XYZMeasurement;
angularVelocityDevice @3 :XYZMeasurement;
inputsOK @4 :Bool = false;
posenetOK @5 :Bool = false;
sensorsOK @6 :Bool = false;
filterState @7 :FilterState;
struct XYZMeasurement {
x @0 :Float32;
y @1 :Float32;
z @2 :Float32;
xStd @3 :Float32;
yStd @4 :Float32;
zStd @5 :Float32;
valid @6 :Bool;
}
struct FilterState {
value @0 : List(Float64);
std @1 : List(Float64);
valid @2 : Bool;
}
}
struct ProcLog {
cpuTimes @0 :List(CPUTimes);
mem @1 :Mem;
@ -2293,6 +2325,7 @@ struct Event {
carParams @69: Car.CarParams;
driverMonitoringState @71: DriverMonitoringState;
liveLocationKalman @72 :LiveLocationKalman;
livePose @129 :LivePose;
modelV2 @75 :ModelDataV2;
drivingModelData @128 :DrivingModelData;
driverStateV2 @92 :DriverStateV2;

3
cereal/services.py
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@ -47,7 +47,8 @@ _services: dict[str, tuple] = {
"gnssMeasurements": (True, 10., 10),
"clocks": (True, 0.1, 1),
"ubloxRaw": (True, 20.),
"liveLocationKalman": (True, 20., 5),
"livePose": (True, 20., 4),
"liveLocationKalman": (True, 20.),
"liveParameters": (True, 20., 5),
"cameraOdometry": (True, 20., 5),
"thumbnail": (True, 0.2, 1),

90
selfdrive/locationd/locationd.cc
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@ -41,14 +41,25 @@ const int GPS_ORIENTATION_ERROR_RESET_CNT = 3;
const bool DEBUG = getenv("DEBUG") != nullptr && std::string(getenv("DEBUG")) != "0";
static VectorXd floatlist2vector(const capnp::List<float, capnp::Kind::PRIMITIVE>::Reader& floatlist) {
VectorXd res(floatlist.size());
template <typename ListType, typename Vector>
static Vector floatlist2vector(const ListType& floatlist) {
Vector res(floatlist.size());
for (int i = 0; i < floatlist.size(); i++) {
res[i] = floatlist[i];
}
return res;
}
template <typename ListType>
static VectorXd float64list2vector(const ListType& floatlist) {
return floatlist2vector<ListType, VectorXd>(floatlist);
}
template <typename ListType>
static VectorXf float32list2vector(const ListType& floatlist) {
return floatlist2vector<ListType, VectorXf>(floatlist);
}
static Vector4d quat2vector(const Quaterniond& quat) {
return Vector4d(quat.w(), quat.x(), quat.y(), quat.z());
}
@ -63,6 +74,11 @@ static void init_measurement(cereal::LiveLocationKalman::Measurement::Builder me
meas.setValid(valid);
}
static void init_xyz_measurement(cereal::LivePose::XYZMeasurement::Builder meas, const VectorXf& val, const VectorXf& std, bool valid) {
meas.setX(val[0]); meas.setY(val[1]); meas.setZ(val[2]);
meas.setXStd(std[0]); meas.setYStd(std[1]); meas.setZStd(std[2]);
meas.setValid(valid);
}
static MatrixXdr rotate_cov(const MatrixXdr& rot_matrix, const MatrixXdr& cov_in) {
// To rotate a covariance matrix, the cov matrix needs to multiplied left and right by the transform matrix
@ -91,6 +107,30 @@ Localizer::Localizer(LocalizerGnssSource gnss_source) {
this->configure_gnss_source(gnss_source);
}
void Localizer::build_live_pose(cereal::LivePose::Builder& livePose, cereal::LiveLocationKalman::Reader& liveLocation) {
// Just copy the values from liveLocation to livePose for now
VectorXf orientation_ned = float32list2vector(liveLocation.getOrientationNED().getValue()), orientation_ned_std = float32list2vector(liveLocation.getOrientationNED().getStd());
init_xyz_measurement(livePose.initOrientationNED(), orientation_ned, orientation_ned_std, this->gps_mode);
VectorXf velocity_device = float32list2vector(liveLocation.getVelocityDevice().getValue()), velocity_device_std = float32list2vector(liveLocation.getVelocityDevice().getStd());
init_xyz_measurement(livePose.initVelocityDevice(), velocity_device, velocity_device_std, true);
VectorXf acceleration_device = float32list2vector(liveLocation.getAccelerationDevice().getValue()), acceleration_device_std = float32list2vector(liveLocation.getAccelerationDevice().getStd());
init_xyz_measurement(livePose.initAccelerationDevice(), acceleration_device, acceleration_device_std, true);
VectorXf ang_velocity_device = float32list2vector(liveLocation.getAngularVelocityDevice().getValue()), ang_velocity_device_std = float32list2vector(liveLocation.getAngularVelocityDevice().getStd());
init_xyz_measurement(livePose.initAngularVelocityDevice(), ang_velocity_device, ang_velocity_device_std, true);
if (DEBUG) {
VectorXd filter_state = float64list2vector(liveLocation.getFilterState().getValue()), filter_state_std = float64list2vector(liveLocation.getFilterState().getStd());
cereal::LivePose::FilterState::Builder filter_state_builder = livePose.initFilterState();
filter_state_builder.setValue(kj::arrayPtr(filter_state.data(), filter_state.size()));
filter_state_builder.setStd(kj::arrayPtr(filter_state_std.data(), filter_state_std.size()));
filter_state_builder.setValid(true);
}
livePose.setInputsOK(liveLocation.getInputsOK());
livePose.setPosenetOK(liveLocation.getPosenetOK());
livePose.setSensorsOK(liveLocation.getSensorsOK());
}
void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
VectorXd predicted_state = this->kf->get_x();
MatrixXdr predicted_cov = this->kf->get_P();
@ -279,7 +319,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
// TODO: reduce false positives and re-enable this check
// check if device fell, estimate 10 for g
// 40m/s**2 is a good filter for falling detection, no false positives in 20k minutes of driving
// this->device_fell |= (floatlist2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0;
// this->device_fell |= (float64list2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0;
auto meas = Vector3d(-v[2], -v[1], -v[0]);
if (meas.norm() < ACCEL_SANITY_CHECK) {
@ -311,7 +351,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
bool gps_unreasonable = (Vector2d(log.getHorizontalAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY);
bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0));
bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK));
bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
bool gps_vel_insane = (float64list2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
if (!log.getHasFix() || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
//this->gps_valid = false;
@ -450,8 +490,8 @@ void Localizer::handle_car_state(double current_time, const cereal::CarState::Re
}
void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log) {
VectorXd rot_device = this->device_from_calib * floatlist2vector(log.getRot());
VectorXd trans_device = this->device_from_calib * floatlist2vector(log.getTrans());
VectorXd rot_device = this->device_from_calib * float64list2vector(log.getRot());
VectorXd trans_device = this->device_from_calib * float64list2vector(log.getTrans());
if (!this->is_timestamp_valid(current_time)) {
this->observation_timings_invalid = true;
@ -463,8 +503,8 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry
return;
}
VectorXd rot_calib_std = floatlist2vector(log.getRotStd());
VectorXd trans_calib_std = floatlist2vector(log.getTransStd());
VectorXd rot_calib_std = float64list2vector(log.getRotStd());
VectorXd trans_calib_std = float64list2vector(log.getTransStd());
if ((rot_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK) || (trans_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK)) {
this->observation_values_invalid["cameraOdometry"] += 1.0;
@ -499,7 +539,7 @@ void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibra
}
if (log.getRpyCalib().size() > 0) {
auto live_calib = floatlist2vector(log.getRpyCalib());
auto live_calib = float64list2vector(log.getRpyCalib());
if ((live_calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (live_calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)) {
this->observation_values_invalid["liveCalibration"] += 1.0;
return;
@ -611,8 +651,8 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
this->update_reset_tracker();
}
kj::ArrayPtr<capnp::byte> Localizer::get_message_bytes(MessageBuilder& msg_builder, bool inputsOK,
bool sensorsOK, bool gpsOK, bool msgValid) {
void Localizer::build_location_message(
MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid) {
cereal::Event::Builder evt = msg_builder.initEvent();
evt.setValid(msgValid);
cereal::LiveLocationKalman::Builder liveLoc = evt.initLiveLocationKalman();
@ -620,7 +660,19 @@ kj::ArrayPtr<capnp::byte> Localizer::get_message_bytes(MessageBuilder& msg_build
liveLoc.setSensorsOK(sensorsOK);
liveLoc.setGpsOK(gpsOK);
liveLoc.setInputsOK(inputsOK);
return msg_builder.toBytes();
}
void Localizer::build_pose_message(
MessageBuilder& msg_builder, MessageBuilder& location_msg_builder, bool inputsOK, bool sensorsOK, bool msgValid) {
cereal::Event::Builder evt = msg_builder.initEvent();
evt.setValid(msgValid);
cereal::LivePose::Builder livePose = evt.initLivePose();
cereal::LiveLocationKalman::Reader location_msg = location_msg_builder.getRoot<cereal::Event>().getLiveLocationKalman().asReader();
this->build_live_pose(livePose, location_msg);
livePose.setSensorsOK(sensorsOK);
livePose.setInputsOK(inputsOK);
}
bool Localizer::is_gps_ok() {
@ -692,7 +744,7 @@ int Localizer::locationd_thread() {
"carState", "accelerometer", "gyroscope"};
SubMaster sm(service_list, {}, nullptr, {gps_location_socket});
PubMaster pm({"liveLocationKalman"});
PubMaster pm({"liveLocationKalman", "livePose"});
uint64_t cnt = 0;
bool filterInitialized = false;
@ -726,9 +778,15 @@ int Localizer::locationd_thread() {
this->ttff = std::max(1e-3, (sm[trigger_msg].getLogMonoTime() * 1e-9) - this->first_valid_log_time);
}
MessageBuilder msg_builder;
kj::ArrayPtr<capnp::byte> bytes = this->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized);
pm.send("liveLocationKalman", bytes.begin(), bytes.size());
MessageBuilder location_msg_builder, pose_msg_builder;
this->build_location_message(location_msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized);
this->build_pose_message(pose_msg_builder, location_msg_builder, inputsOK, sensorsOK, filterInitialized);
kj::ArrayPtr<capnp::byte> location_bytes = location_msg_builder.toBytes();
pm.send("liveLocationKalman", location_bytes.begin(), location_bytes.size());
kj::ArrayPtr<capnp::byte> pose_bytes = pose_msg_builder.toBytes();
pm.send("livePose", pose_bytes.begin(), pose_bytes.size());
if (cnt % 1200 == 0 && gpsOK) { // once a minute
VectorXd posGeo = this->get_position_geodetic();

7
selfdrive/locationd/locationd.h
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@ -45,9 +45,12 @@ public:
bool are_inputs_ok();
void observation_timings_invalid_reset();
kj::ArrayPtr<capnp::byte> get_message_bytes(MessageBuilder& msg_builder,
bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid);
void build_location_message(
MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid);
void build_pose_message(
MessageBuilder& msg_builder, MessageBuilder& location_msg_builder, bool inputsOK, bool sensorsOK, bool msgValid);
void build_live_location(cereal::LiveLocationKalman::Builder& fix);
void build_live_pose(cereal::LivePose::Builder& livePose, cereal::LiveLocationKalman::Reader& liveLocation);
Eigen::VectorXd get_position_geodetic();
Eigen::VectorXd get_state();

2
selfdrive/test/process_replay/process_replay.py
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@ -532,7 +532,7 @@ CONFIGS = [
"cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal",
"liveCalibration", "carState", "gpsLocation"
],
subs=["liveLocationKalman"],
subs=["liveLocationKalman", "livePose"],
ignore=["logMonoTime"],
config_callback=locationd_config_pubsub_callback,
tolerance=NUMPY_TOLERANCE,

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
0adff03d45c99dcfb330c48b2aa9d2093ce674a2
3942de8e75caa7a99828e65c3396abd94d6b3da7

2
selfdrive/test/test_onroad.py
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@ -206,7 +206,7 @@ class TestOnroad:
if f.name == "qcamera.ts":
assert 2.15 < sz < 2.35
elif f.name == "qlog":
assert 0.6 < sz < 1.0
assert 0.4 < sz < 0.6
elif f.name == "rlog":
assert 5 < sz < 50
elif f.name.endswith('.hevc'):

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