Pose with covariance display by Thodoris1999 · Pull Request #76 · gazebosim/gz-rviz

Thodoris1999 · 2022-04-18T17:02:49Z

🎉 New feature

PoseWithCovariance display, largely inspired by the original implementation in RViz

More info in this post https://community.gazebosim.org/t/gsoc-2022-potential-project-ideas/1339/4

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
codecheck passed (See contributing)
All tests passed (See test coverage)
While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

osrf-triage · 2022-04-18T17:05:03Z

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/gsoc-2022-potential-project-ideas/1339/4

ahcorde

There is some commits from this other PR #75 can you clean the history ?

Thodoris1999 · 2022-04-20T16:29:00Z

Can you help me with how to remove those changes from history? I haven't done this before and don't want to accidentally mess anything up.

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Thodoris1999 · 2022-04-21T14:15:23Z

@ahcorde I dropped the "Add fortress support" commit with rebase

ahcorde

Thank you, for this contribution! Some notes:

Use 100 characters per line
- Run linters colcon test you might find a lot of linters errors
Use the same style in the variable names. Camelcase and _camelCase in arguments
Use ign-math instead of Eigen
Use PIMPL
Implement methods in the cpp

ahcorde · 2022-04-21T17:32:35Z

ign_rviz_plugins/include/ignition/rviz/plugins/CovarianceVisual.hpp

+#include <ignition/rendering.hh>
+#include <ignition/math.hh>


alphabetize

ahcorde · 2022-04-21T19:11:36Z

ign_rviz_plugins/include/ignition/rviz/plugins/CovarianceVisual.hpp

+/**
+ * @brief Visualizes the covariance of a pose (orientation+position) using 2D and 3D ellipses
+ * 
+ * One 3D ellipsoid indicates position covariance and 3 2D ellipsoids indicate the uncertainty of orientation along rotation at each axis.


you should use lines of 100 characters

ahcorde · 2022-04-21T19:12:28Z

ign_rviz_plugins/include/ignition/rviz/plugins/PoseWithCovarianceDisplay.hpp

+   */
+  void updateVisual()
+  {
+    for (int i = 0; i < 3; ++i) {


why 3 here? Use a constant

ahcorde · 2022-04-21T19:12:36Z

ign_rviz_plugins/include/ignition/rviz/plugins/PoseWithCovarianceDisplay.hpp

+  float shaftLength = 1.0;
+  float shaftRadius = 0.05;
+  float headLength = 0.25;
+  float headRadius = 0.1;


Suggested change

float shaftLength = 1.0;

float shaftRadius = 0.05;

float headLength = 0.25;

float headRadius = 0.1;

float shaftLength = 1.0f;

float shaftRadius = 0.05f;

float headLength = 0.25f;

float headRadius = 0.1f;

ahcorde · 2022-04-21T19:12:45Z

ign_rviz_plugins/include/ignition/rviz/plugins/PoseWithCovarianceDisplay.hpp

+  float length = 1.0;
+  float radius = 0.1;


Suggested change

float length = 1.0;

float radius = 0.1;

float length = 1.0f;

float radius = 0.1f;

ahcorde · 2022-04-21T19:16:21Z

ign_rviz_plugins/include/ignition/rviz/plugins/PoseWithCovarianceDisplay.hpp

+  void update() override;
+
+private:
+  ignition::rendering::RenderEngine * engine;


Use PIMPL. Use IGN_UTILS_IMPL_PTR from #include <ignition/utils/ImplPtr.hh>

ahcorde · 2022-04-21T19:16:34Z

ign_rviz_plugins/res/Plugins.qrc

    <file alias="PoseDisplay.qml">qml/PoseDisplay.qml</file>
  </qresource>
-
+  


Suggested change

ahcorde · 2022-04-21T19:16:44Z

ign_rviz_plugins/res/qml/PoseWithCovarianceDisplay.qml

@@ -0,0 +1,713 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation


Suggested change

* Copyright (C) 2020 Open Source Robotics Foundation

* Copyright (C) 2022 Open Source Robotics Foundation

ahcorde · 2022-04-21T19:19:21Z

ign_rviz_plugins/src/rviz/plugins/CovarianceVisual.cpp

+double deg2rad(double degrees)
+{
+  return degrees * 3.14159265358979 / 180.0;
+}


remove this and use IGN_RTOD and IGN_DTOR from ign-math. Angle class defines them

ahcorde · 2022-04-21T19:20:24Z

ign_rviz_plugins/src/rviz/plugins/CovarianceVisual.cpp

+}
+
+  // Local function to force the axis to be right handed for 3D. Taken from ecl_statistics
+void makeRightHanded(Eigen::Matrix3d & eigenvectors, Eigen::Vector3d & eigenvalues)


can you do this math with ign-math ? I would perfer not to add Eigen as a dependency

If there is something not in the API we might consider to add it there

Thodoris1999 · 2022-04-22T06:09:24Z

Thank you for the review! I will get to the changes soon.

As for the math, I used Eigen to be on a safe side with performance. I use diagonalization, which is very optimized in Eigen with a LAPACK implementation that takes advantage of the symmetric covariance https://eigen.tuxfamily.org/dox-devel/classEigen_1_1SelfAdjointEigenSolver.html#a110f7f5ff19fcabe6a10c6d48d5c419c. MassMatrix uses a diagonalization implementation https://github.com/ignitionrobotics/ign-math/blob/c08c659229777e32d684841aea8fdcc1bdc57c4f/include/ignition/math/MassMatrix3.hh#L646 for calculating the principal axes with ign-math but uses two separate functions for eigenvalues and eigenvectors. Maybe those two implementation could be merged into one and extracted to an outside function that takes a Matrix3 and returns the right-handed diagonalization.

Thodoris1999 · 2022-04-22T14:14:45Z

@ahcorde Sorry to bother, but I am having some issues using PIMPL with utils::MakeImpl<Implementation>() in the last commit I pushed, apparently somewhere there is an unwanted copy construction. Do these compiler errors maybe ring a bell to you?

--- stderr: ign_rviz_plugins
In file included from /home/thodoris/src/ignition/install/include/ignition/utils1/ignition/utils/ImplPtr.hh:24,
                 from /home/thodoris/src/ignition/install/include/ignition/common4/ignition/common/Pbr.hh:22,
                 from /home/thodoris/src/ignition/install/include/ignition/common4/ignition/common/Material.hh:27,
                 from /home/thodoris/src/ignition/install/include/ignition/rendering5/ignition/rendering/Scene.hh:24,
                 from /home/thodoris/src/ignition/install/include/ignition/rendering5/ignition/rendering/base/BaseArrowVisual.hh:21,
                 from /home/thodoris/src/ignition/install/include/ignition/rendering5/ignition/rendering.hh:23,
                 from /home/thodoris/src/ignition/src/ign-rviz/ign_rviz_plugins/include/ignition/rviz/plugins/PoseWithCovarianceDisplay.hpp:18,
                 from /home/thodoris/src/ignition/src/ign-rviz/ign_rviz_plugins/src/rviz/plugins/PoseWithCovarianceDisplay.cpp:15:
/home/thodoris/src/ignition/install/include/ignition/utils1/ignition/utils/detail/DefaultOps.hh: In instantiation of ‘T* ignition::utils::detail::DefaultCopyConstruct(const T&) [with T = ignition::rviz::plugins::PoseWithCovarianceDisplay::Implementation]’:
/home/thodoris/src/ignition/install/include/ignition/utils1/ignition/utils/detail/ImplPtr.hh:135:21:   required from ‘ignition::utils::ImplPtr<T> ignition::utils::MakeImpl(Args&& ...) [with T = ignition::rviz::plugins::PoseWithCovarianceDisplay::Implementation; Args = {}]’
/home/thodoris/src/ignition/src/ign-rviz/ign_rviz_plugins/src/rviz/plugins/PoseWithCovarianceDisplay.cpp:68:61:   required from here
/home/thodoris/src/ignition/install/include/ignition/utils1/ignition/utils/detail/DefaultOps.hh:56:16: error: use of deleted function ‘ignition::rviz::plugins::PoseWithCovarianceDisplay::Implementation::Implementation(const ignition::rviz::plugins::PoseWithCovarianceDisplay::Implementation&)’
   56 |         return new T(_source);
      |                ^~~~~~~~~~~~~~
/home/thodoris/src/ignition/src/ign-rviz/ign_rviz_plugins/src/rviz/plugins/PoseWithCovarianceDisplay.cpp:50:34: note: ‘ignition::rviz::plugins::PoseWithCovarianceDisplay::Implementation::Implementation(const ignition::rviz::plugins::PoseWithCovarianceDisplay::Implementation&)’ is implicitly deleted because the default definition would be ill-formed:
   50 | class PoseWithCovarianceDisplay::Implementation
      |                                  ^~~~~~~~~~~~~~
/home/thodoris/src/ignition/src/ign-rviz/ign_rviz_plugins/src/rviz/plugins/PoseWithCovarianceDisplay.cpp:50:34: error: use of deleted function ‘std::mutex::mutex(const std::mutex&)’
In file included from /usr/include/c++/9/condition_variable:39,
                 from /usr/include/c++/9/shared_mutex:37,
                 from /usr/include/c++/9/memory_resource:41,
                 from /usr/include/c++/9/regex:66,
                 from /home/thodoris/src/ignition/install/include/ignition/math6/ignition/math/Helpers.hh:27,
                 from /home/thodoris/src/ignition/install/include/ignition/math6/ignition/math/AxisAlignedBox.hh:23,
                 from /home/thodoris/src/ignition/install/include/ignition/rendering5/ignition/rendering/Visual.hh:22,
                 from /home/thodoris/src/ignition/install/include/ignition/rendering5/ignition/rendering/CompositeVisual.hh:21,
                 from /home/thodoris/src/ignition/install/include/ignition/rendering5/ignition/rendering/ArrowVisual.hh:21,
                 from /home/thodoris/src/ignition/install/include/ignition/rendering5/ignition/rendering/base/BaseArrowVisual.hh:20,
                 from /home/thodoris/src/ignition/install/include/ignition/rendering5/ignition/rendering.hh:23,
                 from /home/thodoris/src/ignition/src/ign-rviz/ign_rviz_plugins/include/ignition/rviz/plugins/PoseWithCovarianceDisplay.hpp:18,
                 from /home/thodoris/src/ignition/src/ign-rviz/ign_rviz_plugins/src/rviz/plugins/PoseWithCovarianceDisplay.cpp:15:
/usr/include/c++/9/bits/std_mutex.h:94:5: note: declared here
   94 |     mutex(const mutex&) = delete;
      |     ^~~~~
In file included from /home/thodoris/src/ignition/install/include/ignition/utils1/ignition/utils/ImplPtr.hh:24,
                 from /home/thodoris/src/ignition/install/include/ignition/common4/ignition/common/Pbr.hh:22,
                 from /home/thodoris/src/ignition/install/include/ignition/common4/ignition/common/Material.hh:27,
                 from /home/thodoris/src/ignition/install/include/ignition/rendering5/ignition/rendering/Scene.hh:24,
                 from /home/thodoris/src/ignition/install/include/ignition/rendering5/ignition/rendering/base/BaseArrowVisual.hh:21,
                 from /home/thodoris/src/ignition/install/include/ignition/rendering5/ignition/rendering.hh:23,
                 from /home/thodoris/src/ignition/src/ign-rviz/ign_rviz_plugins/include/ignition/rviz/plugins/PoseWithCovarianceDisplay.hpp:18,
                 from /home/thodoris/src/ignition/src/ign-rviz/ign_rviz_plugins/src/rviz/plugins/PoseWithCovarianceDisplay.cpp:15:
/home/thodoris/src/ignition/install/include/ignition/utils1/ignition/utils/detail/DefaultOps.hh: In instantiation of ‘void ignition::utils::detail::DefaultCopyAssign(T&, const T&) [with T = ignition::rviz::plugins::PoseWithCovarianceDisplay::Implementation]’:
/home/thodoris/src/ignition/install/include/ignition/utils1/ignition/utils/detail/ImplPtr.hh:135:21:   required from ‘ignition::utils::ImplPtr<T> ignition::utils::MakeImpl(Args&& ...) [with T = ignition::rviz::plugins::PoseWithCovarianceDisplay::Implementation; Args = {}]’
/home/thodoris/src/ignition/src/ign-rviz/ign_rviz_plugins/src/rviz/plugins/PoseWithCovarianceDisplay.cpp:68:61:   required from here
/home/thodoris/src/ignition/install/include/ignition/utils1/ignition/utils/detail/DefaultOps.hh:64:15: error: use of deleted function ‘ignition::rviz::plugins::PoseWithCovarianceDisplay::Implementation& ignition::rviz::plugins::PoseWithCovarianceDisplay::Implementation::operator=(const ignition::rviz::plugins::PoseWithCovarianceDisplay::Implementation&)’
   64 |         _dest = _source;
      |         ~~~~~~^~~~~~~~~
/home/thodoris/src/ignition/src/ign-rviz/ign_rviz_plugins/src/rviz/plugins/PoseWithCovarianceDisplay.cpp:50:34: note: ‘ignition::rviz::plugins::PoseWithCovarianceDisplay::Implementation& ignition::rviz::plugins::PoseWithCovarianceDisplay::Implementation::operator=(const ignition::rviz::plugins::PoseWithCovarianceDisplay::Implementation&)’ is implicitly deleted because the default definition would be ill-formed:
   50 | class PoseWithCovarianceDisplay::Implementation
      |                                  ^~~~~~~~~~~~~~
/home/thodoris/src/ignition/src/ign-rviz/ign_rviz_plugins/src/rviz/plugins/PoseWithCovarianceDisplay.cpp:50:34: error: use of deleted function ‘std::mutex& std::mutex::operator=(const std::mutex&)’
In file included from /usr/include/c++/9/condition_variable:39,
                 from /usr/include/c++/9/shared_mutex:37,
                 from /usr/include/c++/9/memory_resource:41,
                 from /usr/include/c++/9/regex:66,
                 from /home/thodoris/src/ignition/install/include/ignition/math6/ignition/math/Helpers.hh:27,
                 from /home/thodoris/src/ignition/install/include/ignition/math6/ignition/math/AxisAlignedBox.hh:23,
                 from /home/thodoris/src/ignition/install/include/ignition/rendering5/ignition/rendering/Visual.hh:22,
                 from /home/thodoris/src/ignition/install/include/ignition/rendering5/ignition/rendering/CompositeVisual.hh:21,
                 from /home/thodoris/src/ignition/install/include/ignition/rendering5/ignition/rendering/ArrowVisual.hh:21,
                 from /home/thodoris/src/ignition/install/include/ignition/rendering5/ignition/rendering/base/BaseArrowVisual.hh:20,
                 from /home/thodoris/src/ignition/install/include/ignition/rendering5/ignition/rendering.hh:23,
                 from /home/thodoris/src/ignition/src/ign-rviz/ign_rviz_plugins/include/ignition/rviz/plugins/PoseWithCovarianceDisplay.hpp:18,
                 from /home/thodoris/src/ignition/src/ign-rviz/ign_rviz_plugins/src/rviz/plugins/PoseWithCovarianceDisplay.cpp:15:
/usr/include/c++/9/bits/std_mutex.h:95:12: note: declared here
   95 |     mutex& operator=(const mutex&) = delete;
      |            ^~~~~~~~
make[2]: *** [CMakeFiles/PoseWithCovarianceDisplay.dir/build.make:97: CMakeFiles/PoseWithCovarianceDisplay.dir/src/rviz/plugins/PoseWithCovarianceDisplay.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:178: CMakeFiles/PoseWithCovarianceDisplay.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< ign_rviz_plugins [11.3s, exited with code 2]

ahcorde

Merge with main and review the conflicts

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Signed-off-by: ahcorde <ahcorde@gmail.com> Co-authored-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Thodoris1999 · 2022-04-25T18:03:31Z

@ahcorde Did the merge

By the way, the error I sent above was due to std::mutex not being copy-assignable. We can wrap it with std::shared_ptr and that fixes it, but I am not sure if it's the cleanest solution. Shouldn't the PoseWithCovariance::Implementation not be copy-assigned in the first place?

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

…doris1999/ign-rviz into pose_with_covariance_display Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Thodoris1999 · 2022-05-09T16:35:39Z

Hi, I came back after catching up to school work.
I ended up using a shared pointer for the mutex.

I tried to address the linter warnings:

cpplint erroneously considers ROS distribution includes (messages, TF etc) as C system dependencies and complains that they should be included before C++ system includes. I guess these warnings were ignored since they exist for the entire source code.
cpplint and uncrustify seem to conflict in the following piece of code:

if (user_data_.position_frame == Frame::Local &&
    fixed_orientation_visual_->HasChild(position_root_visual_)) {
    this->root_visual_->AddChild(fixed_orientation_visual_->RemoveChild(position_root_visual_));
} else if (user_data_.position_frame == Frame::Fixed &&
    root_visual_->HasChild(position_root_visual_)) {
    fixed_orientation_visual_->AddChild(this->root_visual_->RemoveChild(position_root_visual_));
}
if (user_data_.orientation_frame == Frame::Local &&
    fixed_orientation_visual_->HasChild(orientation_root_visual_)) {
    this->root_visual_->AddChild(fixed_orientation_visual_->RemoveChild(orientation_root_visual_));
} else if (user_data_.orientation_frame == Frame::Fixed &&
    root_visual_->HasChild(orientation_root_visual_)) {
    fixed_orientation_visual_->AddChild(this->root_visual_->RemoveChild(orientation_root_visual_));
}

uncrustify wants the else if's opening brackets to be placed on the next line, while cpplint wants "else statements have one bracket on the same line they should have both". Is there a way to fix this?

The rest of the errors where fixed.

Finally, there seems to be a DCO error:

Summary

Commit sha: [b7f3ef7](https://github.com/gazebosim/gz-rviz/pull/76/commits/b7f3ef7a1d71d4d8883709946d5e8f1e80da9e6b), Author: Alejandro Hernández Cordero, Committer: Theodoros Tyrovouzis; Expected "Alejandro Hernández Cordero [ahcorde@gmail.com](mailto:ahcorde@gmail.com)", but got "ahcorde [ahcorde@gmail.com](mailto:ahcorde@gmail.com)".

…e_display Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Thodoris1999 force-pushed the pose_with_covariance_display branch from fe14391 to d03e221 Compare April 18, 2022 17:19

ahcorde requested changes Apr 20, 2022

View reviewed changes

Thodoris1999 added 9 commits April 21, 2022 17:11

WIP: Mirror PoseDisplay to PoseWithCovarianceDisplay

ceffa2a

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Add covariance controls

29656ad

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

WIP: Add covariance visual and bind to QML

58e8d50

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Move covariance visual scene modifications to render event

31331e5

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Fix bugs and compute covariance visual properties properly

fc224c2

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Support covariance in 2D mode

80b8ba6

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Move some CovarianceVisual function implementations to .cpp

101ba59

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Name TODO comments

4b5c5e1

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Fixed rotation of Z axis ellipse visual

e7b5a07

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Thodoris1999 force-pushed the pose_with_covariance_display branch from d03e221 to e7b5a07 Compare April 21, 2022 14:12

Thodoris1999 requested a review from ahcorde April 21, 2022 14:15

ahcorde requested changes Apr 21, 2022

View reviewed changes

ahcorde requested changes Apr 25, 2022

View reviewed changes

Thodoris1999 and others added 3 commits April 25, 2022 20:46

WIP: addressing code review changes

cba8e74

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Fixed CI on main (gazebosim#81)

b7f3ef7

Signed-off-by: ahcorde <ahcorde@gmail.com> Co-authored-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Minimal scene GUI configuration file (gazebosim#79)

e829ee7

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Thodoris1999 force-pushed the pose_with_covariance_display branch from 68eddd2 to e829ee7 Compare April 25, 2022 17:55

Merge branch 'main' into pose_with_covariance_display

a3caacb

Thodoris1999 added 3 commits May 9, 2022 17:41

Turn private mutex into a shared pointer

48b3cd0

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Fix linter warnings

405d0c5

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Merge branch 'pose_with_covariance_display' of https://github.com/Tho…

65e4d6a

…doris1999/ign-rviz into pose_with_covariance_display Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Thodoris1999 force-pushed the pose_with_covariance_display branch from 79f97eb to 65e4d6a Compare May 9, 2022 16:14

Implement covariance visual functions in cpp

92a963f

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Thodoris1999 requested a review from ahcorde May 9, 2022 16:35

Thodoris1999 added 2 commits May 9, 2022 20:43

Merge remote-tracking branch 'upstream/main' into pose_with_covarianc…

e6b260e

…e_display Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

Add functions to CovarianceVisual class

5c6f9d6

Signed-off-by: Theodoros Tyrovouzis <teotyrov@gmail.com>

		<file alias="PoseDisplay.qml">qml/PoseDisplay.qml</file>
		</qresource>

		@@ -0,0 +1,713 @@
		/*
		* Copyright (C) 2020 Open Source Robotics Foundation

	* Copyright (C) 2020 Open Source Robotics Foundation
	* Copyright (C) 2022 Open Source Robotics Foundation

		#include <ignition/rendering.hh>
		#include <ignition/math.hh>

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