Test external vision

test/CMakeLists.txt

@@ -43,6 +43,7 @@ set(SRCS
 	test_AlphaFilter.cpp
 	test_EKF_fusionLogic.cpp
 	test_EKF_initialization.cpp
+	test_EKF_externalVision.cpp
    )
 add_executable(ECL_GTESTS ${SRCS})
 

test/sensor_simulator/CMakeLists.txt

@@ -42,6 +42,7 @@ set(SRCS
 	gps.cpp
 	flow.cpp
 	range_finder.cpp
+	vio.cpp
    )
 
 add_library(ecl_sensor_sim ${SRCS})

test/sensor_simulator/ekf_wrapper.cpp

@@ -44,6 +44,67 @@ bool EkfWrapper::isIntendingFlowFusion() const
 	return control_status.flags.opt_flow;
 }
 
+void EkfWrapper::enableExternalVisionPositionFusion()
+{
+	_ekf_params->fusion_mode |= MASK_USE_EVPOS;
+}
+
+void EkfWrapper::disableExternalVisionPositionFusion()
+{
+	_ekf_params->fusion_mode &= ~MASK_USE_EVPOS;
+}
+
+bool EkfWrapper::isIntendingExternalVisionPositionFusion() const
+{
+	filter_control_status_u control_status;
+	_ekf->get_control_mode(&control_status.value);
+	return control_status.flags.ev_pos;
+}
+
+void EkfWrapper::enableExternalVisionVelocityFusion()
+{
+	_ekf_params->fusion_mode |= MASK_USE_EVVEL;
+}
+
+void EkfWrapper::disableExternalVisionVelocityFusion()
+{
+	_ekf_params->fusion_mode &= ~MASK_USE_EVVEL;
+}
+
+bool EkfWrapper::isIntendingExternalVisionVelocityFusion() const
+{
+	filter_control_status_u control_status;
+	_ekf->get_control_mode(&control_status.value);
+	return control_status.flags.ev_vel;
+}
+
+void EkfWrapper::enableExternalVisionHeadingFusion()
+{
+	_ekf_params->fusion_mode |= MASK_USE_EVYAW;
+}
+
+void EkfWrapper::disableExternalVisionHeadingFusion()
+{
+	_ekf_params->fusion_mode &= ~MASK_USE_EVYAW;
+}
+
+bool EkfWrapper::isIntendingExternalVisionHeadingFusion() const
+{
+	filter_control_status_u control_status;
+	_ekf->get_control_mode(&control_status.value);
+	return control_status.flags.ev_yaw;
+}
+
+void EkfWrapper::enableExternalVisionAlignment()
+{
+	_ekf_params->fusion_mode |= MASK_ROTATE_EV;
+}
+
+void EkfWrapper::disableExternalVisionAlignment()
+{
+	_ekf_params->fusion_mode &= ~MASK_ROTATE_EV;
+}
+
 Vector3f EkfWrapper::getPosition() const
 {
 	float temp[3];
@@ -101,3 +162,10 @@ Vector3f EkfWrapper::getVelocityVariance() const
 {
 	return Vector3f(_ekf->velocity_covariances().diag());
 }
+
+Quatf EkfWrapper::getVisionAlignmentQuaternion() const
+{
+	float temp[4];
+	_ekf->get_ev2ekf_quaternion(temp);
+	return Quatf(temp);
+}

test/sensor_simulator/ekf_wrapper.h

@@ -48,17 +48,28 @@ public:
 	~EkfWrapper();
 
 	void enableGpsFusion();
-
 	void disableGpsFusion();
-
 	bool isIntendingGpsFusion() const;
 
 	void enableFlowFusion();
-
 	void disableFlowFusion();
-
 	bool isIntendingFlowFusion() const;
 
+	void enableExternalVisionPositionFusion();
+	void disableExternalVisionPositionFusion();
+	bool isIntendingExternalVisionPositionFusion() const;
+
+	void enableExternalVisionVelocityFusion();
+	void disableExternalVisionVelocityFusion();
+	bool isIntendingExternalVisionVelocityFusion() const;
+
+	void enableExternalVisionHeadingFusion();
+	void disableExternalVisionHeadingFusion();
+	bool isIntendingExternalVisionHeadingFusion() const;
+
+	void enableExternalVisionAlignment();
+	void disableExternalVisionAlignment();
+
 	Vector3f getPosition() const;
 	Vector3f getVelocity() const;
 	Vector3f getAccelBias() const;
@@ -70,6 +81,8 @@ public:
 	Vector3f getPositionVariance() const;
 	Vector3f getVelocityVariance() const;
 
+	Quatf getVisionAlignmentQuaternion() const;
+
 private:
 	std::shared_ptr<Ekf> _ekf;
 

test/sensor_simulator/sensor_simulator.cpp

@@ -8,7 +8,8 @@ _mag(ekf),
 _baro(ekf),
 _gps(ekf),
 _flow(ekf),
-_rng(ekf)
+_rng(ekf),
+_vio(ekf)
 {
 	setSensorDataToDefault();
 	setSensorRateToDefault();
@@ -28,6 +29,7 @@ void SensorSimulator::setSensorDataToDefault()
 	_gps.setRateHz(5);
 	_flow.setRateHz(50);
 	_rng.setRateHz(30);
+	_vio.setRateHz(30);
 }
 void SensorSimulator::setSensorRateToDefault()
 {
@@ -38,6 +40,7 @@ void SensorSimulator::setSensorRateToDefault()
 	_gps.setData(_gps.getDefaultGpsData());
 	_flow.setData(_flow.dataAtRest());
 	_rng.setData(0.2f, 100);
+	_vio.setData(_vio.dataAtRest());
 }
 void SensorSimulator::startBasicSensor()
 {
@@ -64,6 +67,7 @@ void SensorSimulator::runMicroseconds(uint32_t duration)
 		_gps.update(_time);
 		_flow.update(_time);
 		_rng.update(_time);
+		_vio.update(_time);
 
 		_ekf->update();
 	}

test/sensor_simulator/sensor_simulator.h

@@ -50,6 +50,7 @@
 #include "gps.h"
 #include "flow.h"
 #include "range_finder.h"
+#include "vio.h"
 #include "EKF/ekf.h"
 
 using namespace sensor_simulator::sensor;
@@ -82,6 +83,9 @@ public:
 	void startRangeFinder(){ _rng.start(); }
 	void stopRangeFinder(){ _rng.stop(); }
 
+	void startExternalVision(){ _vio.start(); }
+	void stopExternalVision(){ _vio.stop(); }
+
 	void setImuBias(Vector3f accel_bias, Vector3f gyro_bias);
 	void simulateOrientation(Quatf orientation);
 
@@ -91,5 +95,5 @@ public:
 	Gps _gps;
 	Flow _flow;
 	RangeFinder _rng;
-
+	Vio _vio;
 };

test/sensor_simulator/vio.cpp

@@ -0,0 +1,69 @@
+#include "vio.h"
+
+namespace sensor_simulator
+{
+namespace sensor
+{
+
+Vio::Vio(std::shared_ptr<Ekf> ekf):Sensor(ekf)
+{
+}
+
+Vio::~Vio()
+{
+}
+
+void Vio::send(uint32_t time)
+{
+	_ekf->setExtVisionData(time, &_vio_data);
+}
+
+void Vio::setData(const ext_vision_message& vio_data)
+{
+	_vio_data = vio_data;
+}
+
+void Vio::setVelocityVariance(const Vector3f& velVar)
+{
+	_vio_data.velVar = velVar;
+}
+
+void Vio::setPositionVariance(const Vector3f& posVar)
+{
+	_vio_data.posVar = posVar;
+}
+
+void Vio::setAngularVariance(float angVar)
+{
+	_vio_data.angVar = angVar;
+}
+
+void Vio::setVelocity(const Vector3f& vel)
+{
+	_vio_data.vel = vel;
+}
+
+void Vio::setPosition(const Vector3f& pos)
+{
+	_vio_data.pos = pos;
+}
+
+void Vio::setOrientation(const Quatf& quat)
+{
+	_vio_data.quat = quat;
+}
+
+ext_vision_message Vio::dataAtRest()
+{
+	ext_vision_message vio_data;
+	vio_data.pos = Vector3f{0.0f, 0.0f, 0.0f};;
+	vio_data.vel = Vector3f{0.0f, 0.0f, 0.0f};;
+	vio_data.quat = Quatf{1.0f, 0.0f, 0.0f, 0.0f};
+	vio_data.posVar = Vector3f{0.1f, 0.1f, 0.1f};
+	vio_data.velVar = Vector3f{0.1f, 0.1f, 0.1f};
+	vio_data.angVar = 0.05f;
+	return vio_data;
+}
+
+} // namespace sensor
+} // namespace sensor_simulator

test/sensor_simulator/vio.h

@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 ECL Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Feeds Ekf external vision data
+ * @author Kamil Ritz <ka.ritz@hotmail.com>
+ */
+#pragma once
+
+#include "sensor.h"
+
+namespace sensor_simulator
+{
+namespace sensor
+{
+
+class Vio: public Sensor
+{
+public:
+	Vio(std::shared_ptr<Ekf> ekf);
+	~Vio();
+
+	void setData(const ext_vision_message& vio_data);
+	void setVelocityVariance(const Vector3f& velVar);
+	void setPositionVariance(const Vector3f& posVar);
+	void setAngularVariance(float angVar);
+	void setVelocity(const Vector3f& vel);
+	void setPosition(const Vector3f& pos);
+	void setOrientation(const Quatf& quat);
+
+	ext_vision_message dataAtRest();
+
+private:
+	ext_vision_message _vio_data;
+
+	void send(uint32_t time) override;
+
+};
+
+} // namespace sensor
+} // namespace sensor_simulator

test/test_EKF_externalVision.cpp

@@ -0,0 +1,147 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 ECL Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Test the external vision functionality
+ * @author Kamil Ritz <ka.ritz@hotmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include "EKF/ekf.h"
+#include "sensor_simulator/sensor_simulator.h"
+#include "sensor_simulator/ekf_wrapper.h"
+
+
+class EkfExternalVisionTest : public ::testing::Test {
+ public:
+
+	EkfExternalVisionTest(): ::testing::Test(),
+	_ekf{std::make_shared<Ekf>()},
+	_sensor_simulator(_ekf),
+	_ekf_wrapper(_ekf) {};
+
+	std::shared_ptr<Ekf> _ekf;
+	SensorSimulator _sensor_simulator;
+	EkfWrapper _ekf_wrapper;
+
+	// Setup the Ekf with synthetic measurements
+	void SetUp() override
+	{
+		_ekf->init(0);
+		_sensor_simulator.runSeconds(2);
+	}
+
+	// Use this method to clean up any memory, network etc. after each test
+	void TearDown() override
+	{
+	}
+};
+
+TEST_F(EkfExternalVisionTest, checkVisionFusionLogic)
+{
+	_ekf_wrapper.enableExternalVisionPositionFusion();
+	_sensor_simulator.startExternalVision();
+	_sensor_simulator.runSeconds(2);
+
+	EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionPositionFusion());
+	EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion());
+	EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion());
+
+	EXPECT_TRUE(_ekf->local_position_is_valid());
+	EXPECT_FALSE(_ekf->global_position_is_valid());
+
+	_ekf_wrapper.enableExternalVisionVelocityFusion();
+	_sensor_simulator.runSeconds(2);
+
+	EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionPositionFusion());
+	EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion());
+	EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion());
+
+	EXPECT_TRUE(_ekf->local_position_is_valid());
+	EXPECT_FALSE(_ekf->global_position_is_valid());
+
+	_ekf_wrapper.enableExternalVisionHeadingFusion();
+	_sensor_simulator.runSeconds(2);
+
+	EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionPositionFusion());
+	EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionVelocityFusion());
+	EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionHeadingFusion());
+
+	EXPECT_TRUE(_ekf->local_position_is_valid());
+	EXPECT_FALSE(_ekf->global_position_is_valid());
+}
+
+TEST_F(EkfExternalVisionTest, visionVarianceCheck)
+{
+	const Vector3f velVar_init = _ekf_wrapper.getVelocityVariance();
+	EXPECT_NEAR(velVar_init(0), velVar_init(1), 0.0001);
+
+	_sensor_simulator._vio.setVelocityVariance(Vector3f{2.0f,0.01f,0.01f});
+	_ekf_wrapper.enableExternalVisionVelocityFusion();
+	_sensor_simulator.startExternalVision();
+	_sensor_simulator.runSeconds(4);
+
+	const Vector3f velVar_new = _ekf_wrapper.getVelocityVariance();
+	EXPECT_TRUE(velVar_new(0) > velVar_new(1));
+}
+
+TEST_F(EkfExternalVisionTest, visionAlignment)
+{
+	// GIVEN: Drone is pointing north, and we use mag (ROTATE_EV)
+	//        Heading of drone in EKF frame is 0°
+
+	// WHEN: Vision frame is rotate +90°. The reported heading is -90°
+	Quatf externalVisionFrameOffset(Eulerf(0.0f,0.0f,math::radians(90.0f)));
+	_sensor_simulator._vio.setOrientation(externalVisionFrameOffset.inversed());
+	_ekf_wrapper.enableExternalVisionAlignment();
+
+	// Simulate high uncertainty on vision x axis which is in this case
+	// the y EKF frame axis
+	_sensor_simulator._vio.setVelocityVariance(Vector3f{2.0f,0.01f,0.01f});
+	_ekf_wrapper.enableExternalVisionVelocityFusion();
+	_sensor_simulator.startExternalVision();
+
+	const Vector3f velVar_init = _ekf_wrapper.getVelocityVariance();
+	EXPECT_NEAR(velVar_init(0), velVar_init(1), 0.0001);
+
+	_sensor_simulator.runSeconds(4);
+
+	// THEN: velocity uncertainty in y should be bigger
+	const Vector3f velVar_new = _ekf_wrapper.getVelocityVariance();
+	EXPECT_TRUE(velVar_new(1) > velVar_new(0));
+
+	// THEN: the frame offset should be estimated correctly
+	Quatf estimatedExternalVisionFrameOffset = _ekf_wrapper.getVisionAlignmentQuaternion();
+	EXPECT_TRUE(matrix::isEqual(externalVisionFrameOffset.canonical(),
+				    estimatedExternalVisionFrameOffset.canonical()));
+}

test/test_EKF_fusionLogic.cpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * Feeds Ekf with Imu data
+ * Test the fusion start and stop logic
  * @author Kamil Ritz <ka.ritz@hotmail.com>
  */
 
@@ -58,7 +58,7 @@ class EkfFusionLogicTest : public ::testing::Test {
 	void SetUp() override
 	{
 		_ekf->init(0);
-		_sensor_simulator.runSeconds(5);
+		_sensor_simulator.runSeconds(2);
 	}
 
 	// Use this method to clean up any memory, network etc. after each test
@@ -74,7 +74,7 @@ TEST_F(EkfFusionLogicTest, doGpsFusion)
 	// WHEN: we enable GPS fusion and we send good quality gps data for 11s
 	_ekf_wrapper.enableGpsFusion();
 	_sensor_simulator.startGps();
-	_sensor_simulator.runSeconds(15);
+	_sensor_simulator.runSeconds(11);
 
 	// THEN: EKF should intend to fuse GPS
 	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
@@ -151,7 +151,7 @@ TEST_F(EkfFusionLogicTest, doFlowFusion)
 	// WHEN: sending flow data without having the flow fusion enabled
 	//       flow measurement fusion should not be intended.
 	_sensor_simulator.startFlow();
-	_sensor_simulator.runSeconds(3);
+	_sensor_simulator.runSeconds(4);
 
 	// THEN: EKF should intend to fuse flow measurements
 	EXPECT_FALSE(_ekf_wrapper.isIntendingFlowFusion());