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[WIP][Sprint 25/26/ PD-475] - Extended Kalman Filter for Landmarks Position #4

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[WIP][Sprint 25/26/ PD-475] - Extended Kalman Filter for Landmarks Position #4

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705487f
Integrate EKF-based ball tracking into Gyakuenki_CppNode
Lntrtgrs25 Dec 17, 2025
1e570c4
refactor : EKF ball position retrieval to use getPosition()
Lntrtgrs25 Dec 19, 2025
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5 changes: 5 additions & 0 deletions include/gyakuenki_cpp/node/gyakuenki_cpp_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@
#include "gyakuenki_interfaces/srv/update_camera_offset.hpp"
#include "ninshiki_interfaces/msg/detected_object.hpp"
#include "ninshiki_interfaces/msg/detected_objects.hpp"
#include "keisan/ekf/ekf_ball.hpp"

namespace gyakuenki_cpp
{
Expand Down Expand Up @@ -71,6 +72,10 @@ class GyakuenkiCppNode

rclcpp::Service<GetCameraOffset>::SharedPtr get_camera_offset_service;
rclcpp::Service<UpdateCameraOffset>::SharedPtr update_camera_offset_service;

keisan::ekf_ball ball_ekf_;
bool ball_initialized_ = false;
rclcpp::Time last_ball_time_;
};

} // namespace gyakuenki_cpp
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30 changes: 30 additions & 0 deletions src/gyakuenki_cpp/node/gyakuenki_cpp_node.cpp
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Expand Up @@ -54,6 +54,36 @@ GyakuenkiCppNode::GyakuenkiCppNode(
keisan::Matrix<4, 1> Pc;
ProjectedObject projected_ball =
this->ipm->map_object(*message, "base_footprint", Pc);

rclcpp::Time now = this->node->now();

if (!ball_initialized_) {
ball_ekf_.init(Pc[0][0], Pc[1][0]);
last_ball_time_ = now;
ball_initialized_ = true;
return;
}

double dt = (now - last_ball_time_).seconds();
last_ball_time_ = now;

if (dt <= 0.0) {
return;
}

ball_ekf_.predict(dt);

keisan::Matrix<2,1> z;
z[0][0] = Pc[0][0];
z[1][0] = Pc[1][0];

ball_ekf_.update(z);

auto pos = ball_ekf_.getPosition();

projected_ball.position.x = pos(0,0);
projected_ball.position.y = pos(1,0);

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@borednuna borednuna Dec 18, 2025

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Move these logic codes to separate cpp files. Cpp files inside node directory should only contain the node configuration itself (publisher-subscriber). Can refer to akushon, ninshiki_cpp, or other packages as well.

projected_ball_publisher->publish(projected_ball);
} catch (std::exception & e) {
RCLCPP_ERROR(this->node->get_logger(), e.what());
Expand Down
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