Test external vision

2026-06-27 10:20:35 +08:00 · 2019-12-18 11:42:12 +01:00
parent 84dcb32bd8
commit 1b0e137b8a
10 changed files with 388 additions and 10 deletions
@@ -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()));
+}