#!/usr/bin/env python3 import numpy as np import sympy as sp import cereal.messaging as messaging import common.transformations.coordinates as coord from common.transformations.orientation import ecef_euler_from_ned, \ euler_from_quat, \ ned_euler_from_ecef, \ quat_from_euler, \ rot_from_quat, rot_from_euler from rednose.helpers import KalmanError from selfdrive.locationd.models.live_kf import LiveKalman, States, ObservationKind from selfdrive.locationd.models.constants import GENERATED_DIR from selfdrive.swaglog import cloudlog #from datetime import datetime #from laika.gps_time import GPSTime from sympy.utilities.lambdify import lambdify from rednose.helpers.sympy_helpers import euler_rotate OUTPUT_DECIMATION = 2 VISION_DECIMATION = 2 SENSOR_DECIMATION = 10 def to_float(arr): return [float(arr[0]), float(arr[1]), float(arr[2])] def get_H(): # this returns a function to eval the jacobian # of the observation function of the local vel roll = sp.Symbol('roll') pitch = sp.Symbol('pitch') yaw = sp.Symbol('yaw') vx = sp.Symbol('vx') vy = sp.Symbol('vy') vz = sp.Symbol('vz') h = euler_rotate(roll, pitch, yaw).T*(sp.Matrix([vx, vy, vz])) H = h.jacobian(sp.Matrix([roll, pitch, yaw, vx, vy, vz])) H_f = lambdify([roll, pitch, yaw, vx, vy, vz], H) return H_f class Localizer(): def __init__(self, disabled_logs=None, dog=None): if disabled_logs is None: disabled_logs = [] self.kf = LiveKalman(GENERATED_DIR) self.reset_kalman() self.max_age = .2 # seconds self.disabled_logs = disabled_logs self.calib = np.zeros(3) self.device_from_calib = np.eye(3) self.calib_from_device = np.eye(3) self.calibrated = 0 self.H = get_H() self.posenet_invalid_count = 0 self.posenet_speed = 0 self.car_speed = 0 self.converter = coord.LocalCoord.from_ecef(self.kf.x[States.ECEF_POS]) self.unix_timestamp_millis = 0 self.last_gps_fix = 0 @staticmethod def msg_from_state(converter, calib_from_device, H, predicted_state, predicted_cov): predicted_std = np.sqrt(np.diagonal(predicted_cov)) fix_ecef = predicted_state[States.ECEF_POS] fix_ecef_std = predicted_std[States.ECEF_POS_ERR] vel_ecef = predicted_state[States.ECEF_VELOCITY] vel_ecef_std = predicted_std[States.ECEF_VELOCITY_ERR] fix_pos_geo = coord.ecef2geodetic(fix_ecef) #fix_pos_geo_std = np.abs(coord.ecef2geodetic(fix_ecef + fix_ecef_std) - fix_pos_geo) orientation_ecef = euler_from_quat(predicted_state[States.ECEF_ORIENTATION]) orientation_ecef_std = predicted_std[States.ECEF_ORIENTATION_ERR] acc_calib = calib_from_device.dot(predicted_state[States.ACCELERATION]) acc_calib_std = np.sqrt(np.diagonal(calib_from_device.dot( predicted_cov[States.ACCELERATION_ERR, States.ACCELERATION_ERR]).dot( calib_from_device.T))) ang_vel_calib = calib_from_device.dot(predicted_state[States.ANGULAR_VELOCITY]) ang_vel_calib_std = np.sqrt(np.diagonal(calib_from_device.dot( predicted_cov[States.ANGULAR_VELOCITY_ERR, States.ANGULAR_VELOCITY_ERR]).dot( calib_from_device.T))) device_from_ecef = rot_from_quat(predicted_state[States.ECEF_ORIENTATION]).T vel_device = device_from_ecef.dot(vel_ecef) device_from_ecef_eul = euler_from_quat(predicted_state[States.ECEF_ORIENTATION]).T idxs = list(range(States.ECEF_ORIENTATION_ERR.start, States.ECEF_ORIENTATION_ERR.stop)) + list(range(States.ECEF_VELOCITY_ERR.start, States.ECEF_VELOCITY_ERR.stop)) condensed_cov = predicted_cov[idxs][:, idxs] HH = H(*list(np.concatenate([device_from_ecef_eul, vel_ecef]))) vel_device_cov = HH.dot(condensed_cov).dot(HH.T) vel_device_std = np.sqrt(np.diagonal(vel_device_cov)) vel_calib = calib_from_device.dot(vel_device) vel_calib_std = np.sqrt(np.diagonal(calib_from_device.dot( vel_device_cov).dot(calib_from_device.T))) orientation_ned = ned_euler_from_ecef(fix_ecef, orientation_ecef) #orientation_ned_std = ned_euler_from_ecef(fix_ecef, orientation_ecef + orientation_ecef_std) - orientation_ned ned_vel = converter.ecef2ned(fix_ecef + vel_ecef) - converter.ecef2ned(fix_ecef) #ned_vel_std = self.converter.ecef2ned(fix_ecef + vel_ecef + vel_ecef_std) - self.converter.ecef2ned(fix_ecef + vel_ecef) fix = messaging.log.LiveLocationKalman.new_message() fix.positionGeodetic.value = to_float(fix_pos_geo) #fix.positionGeodetic.std = to_float(fix_pos_geo_std) #fix.positionGeodetic.valid = True fix.positionECEF.value = to_float(fix_ecef) fix.positionECEF.std = to_float(fix_ecef_std) fix.positionECEF.valid = True fix.velocityECEF.value = to_float(vel_ecef) fix.velocityECEF.std = to_float(vel_ecef_std) fix.velocityECEF.valid = True fix.velocityNED.value = to_float(ned_vel) #fix.velocityNED.std = to_float(ned_vel_std) #fix.velocityNED.valid = True fix.velocityDevice.value = to_float(vel_device) fix.velocityDevice.std = to_float(vel_device_std) fix.velocityDevice.valid = True fix.accelerationDevice.value = to_float(predicted_state[States.ACCELERATION]) fix.accelerationDevice.std = to_float(predicted_std[States.ACCELERATION_ERR]) fix.accelerationDevice.valid = True fix.orientationECEF.value = to_float(orientation_ecef) fix.orientationECEF.std = to_float(orientation_ecef_std) fix.orientationECEF.valid = True fix.orientationNED.value = to_float(orientation_ned) #fix.orientationNED.std = to_float(orientation_ned_std) #fix.orientationNED.valid = True fix.angularVelocityDevice.value = to_float(predicted_state[States.ANGULAR_VELOCITY]) fix.angularVelocityDevice.std = to_float(predicted_std[States.ANGULAR_VELOCITY_ERR]) fix.angularVelocityDevice.valid = True fix.velocityCalibrated.value = to_float(vel_calib) fix.velocityCalibrated.std = to_float(vel_calib_std) fix.velocityCalibrated.valid = True fix.angularVelocityCalibrated.value = to_float(ang_vel_calib) fix.angularVelocityCalibrated.std = to_float(ang_vel_calib_std) fix.angularVelocityCalibrated.valid = True fix.accelerationCalibrated.value = to_float(acc_calib) fix.accelerationCalibrated.std = to_float(acc_calib_std) fix.accelerationCalibrated.valid = True return fix def liveLocationMsg(self, time): fix = self.msg_from_state(self.converter, self.calib_from_device, self.H, self.kf.x, self.kf.P) if abs(self.posenet_speed - self.car_speed) > max(0.4 * self.car_speed, 5.0): self.posenet_invalid_count += 1 else: self.posenet_invalid_count = 0 fix.posenetOK = self.posenet_invalid_count < 4 #fix.gpsWeek = self.time.week #fix.gpsTimeOfWeek = self.time.tow fix.unixTimestampMillis = self.unix_timestamp_millis if np.linalg.norm(fix.positionECEF.std) < 50 and self.calibrated: fix.status = 'valid' elif np.linalg.norm(fix.positionECEF.std) < 50: fix.status = 'uncalibrated' else: fix.status = 'uninitialized' return fix def update_kalman(self, time, kind, meas, R=None): try: self.kf.predict_and_observe(time, kind, meas, R=R) except KalmanError: cloudlog.error("Error in predict and observe, kalman reset") self.reset_kalman() #idx = bisect_right([x[0] for x in self.observation_buffer], time) #self.observation_buffer.insert(idx, (time, kind, meas)) #while len(self.observation_buffer) > 0 and self.observation_buffer[-1][0] - self.observation_buffer[0][0] > self.max_age: # else: # self.observation_buffer.pop(0) def handle_gps(self, current_time, log): # ignore the message if the fix is invalid if log.flags % 2 == 0: return self.last_gps_fix = current_time self.converter = coord.LocalCoord.from_geodetic([log.latitude, log.longitude, log.altitude]) ecef_pos = self.converter.ned2ecef([0, 0, 0]) ecef_vel = self.converter.ned2ecef_matrix.dot(np.array(log.vNED)) ecef_pos_R = np.diag([(3*log.verticalAccuracy)**2]*3) ecef_vel_R = np.diag([(log.speedAccuracy)**2]*3) #self.time = GPSTime.from_datetime(datetime.utcfromtimestamp(log.timestamp*1e-3)) self.unix_timestamp_millis = log.timestamp gps_est_error = np.sqrt((self.kf.x[0] - ecef_pos[0])**2 + (self.kf.x[1] - ecef_pos[1])**2 + (self.kf.x[2] - ecef_pos[2])**2) orientation_ecef = euler_from_quat(self.kf.x[States.ECEF_ORIENTATION]) orientation_ned = ned_euler_from_ecef(ecef_pos, orientation_ecef) orientation_ned_gps = np.array([0, 0, np.radians(log.bearing)]) orientation_error = np.mod(orientation_ned - orientation_ned_gps - np.pi, 2*np.pi) - np.pi if np.linalg.norm(ecef_vel) > 5 and np.linalg.norm(orientation_error) > 1: cloudlog.error("Locationd vs ubloxLocation orientation difference too large, kalman reset") initial_pose_ecef_quat = quat_from_euler(ecef_euler_from_ned(ecef_pos, orientation_ned_gps)) self.reset_kalman(init_orient=initial_pose_ecef_quat) self.update_kalman(current_time, ObservationKind.ECEF_ORIENTATION_FROM_GPS, initial_pose_ecef_quat) elif gps_est_error > 50: cloudlog.error("Locationd vs ubloxLocation position difference too large, kalman reset") self.reset_kalman() self.update_kalman(current_time, ObservationKind.ECEF_POS, ecef_pos, R=ecef_pos_R) self.update_kalman(current_time, ObservationKind.ECEF_VEL, ecef_vel, R=ecef_vel_R) def handle_car_state(self, current_time, log): self.speed_counter += 1 if self.speed_counter % SENSOR_DECIMATION == 0: self.update_kalman(current_time, ObservationKind.ODOMETRIC_SPEED, [log.vEgo]) self.car_speed = abs(log.vEgo) if log.vEgo == 0: self.update_kalman(current_time, ObservationKind.NO_ROT, [0, 0, 0]) def handle_cam_odo(self, current_time, log): self.cam_counter += 1 if self.cam_counter % VISION_DECIMATION == 0: rot_device = self.device_from_calib.dot(log.rot) rot_device_std = self.device_from_calib.dot(log.rotStd) self.update_kalman(current_time, ObservationKind.CAMERA_ODO_ROTATION, np.concatenate([rot_device, 10*rot_device_std])) trans_device = self.device_from_calib.dot(log.trans) trans_device_std = self.device_from_calib.dot(log.transStd) self.posenet_speed = np.linalg.norm(trans_device) self.update_kalman(current_time, ObservationKind.CAMERA_ODO_TRANSLATION, np.concatenate([trans_device, 10*trans_device_std])) def handle_sensors(self, current_time, log): # TODO does not yet account for double sensor readings in the log for sensor_reading in log: # Gyro Uncalibrated if sensor_reading.sensor == 5 and sensor_reading.type == 16: self.gyro_counter += 1 if self.gyro_counter % SENSOR_DECIMATION == 0: v = sensor_reading.gyroUncalibrated.v self.update_kalman(current_time, ObservationKind.PHONE_GYRO, [-v[2], -v[1], -v[0]]) # Accelerometer if sensor_reading.sensor == 1 and sensor_reading.type == 1: self.acc_counter += 1 if self.acc_counter % SENSOR_DECIMATION == 0: v = sensor_reading.acceleration.v self.update_kalman(current_time, ObservationKind.PHONE_ACCEL, [-v[2], -v[1], -v[0]]) def handle_live_calib(self, current_time, log): self.calib = log.rpyCalib self.device_from_calib = rot_from_euler(self.calib) self.calib_from_device = self.device_from_calib.T self.calibrated = log.calStatus == 1 def reset_kalman(self, current_time=None, init_orient=None): self.filter_time = current_time init_x = LiveKalman.initial_x # too nonlinear to init on completely wrong if init_orient is not None: init_x[3:7] = init_orient self.kf.init_state(init_x, covs=np.diag(LiveKalman.initial_P_diag), filter_time=current_time) self.observation_buffer = [] self.gyro_counter = 0 self.acc_counter = 0 self.speed_counter = 0 self.cam_counter = 0 def locationd_thread(sm, pm, disabled_logs=None): if disabled_logs is None: disabled_logs = [] if sm is None: socks = ['gpsLocationExternal', 'sensorEvents', 'cameraOdometry', 'liveCalibration', 'carState'] sm = messaging.SubMaster(socks, ignore_alive=['gpsLocationExternal']) if pm is None: pm = messaging.PubMaster(['liveLocationKalman']) localizer = Localizer(disabled_logs=disabled_logs) camera_odometry_cnt = 0 while True: sm.update() for sock, updated in sm.updated.items(): if updated: t = sm.logMonoTime[sock] * 1e-9 if sock == "sensorEvents": localizer.handle_sensors(t, sm[sock]) elif sock == "gpsLocationExternal": localizer.handle_gps(t, sm[sock]) elif sock == "carState": localizer.handle_car_state(t, sm[sock]) elif sock == "cameraOdometry": localizer.handle_cam_odo(t, sm[sock]) elif sock == "liveCalibration": localizer.handle_live_calib(t, sm[sock]) if sm.updated['cameraOdometry']: camera_odometry_cnt += 1 if camera_odometry_cnt % OUTPUT_DECIMATION == 0: t = sm.logMonoTime['cameraOdometry'] msg = messaging.new_message('liveLocationKalman') msg.logMonoTime = t msg.liveLocationKalman = localizer.liveLocationMsg(t * 1e-9) msg.liveLocationKalman.inputsOK = sm.all_alive_and_valid() gps_age = (t / 1e9) - localizer.last_gps_fix msg.liveLocationKalman.gpsOK = gps_age < 1.0 pm.send('liveLocationKalman', msg) def main(sm=None, pm=None): locationd_thread(sm, pm) if __name__ == "__main__": import os os.environ["OMP_NUM_THREADS"] = "1" main()