Added code which calculates the error for each calibration type; also made sure to always save the calibration

1 files changed, 145 insertions, 0 deletions

diff --git a/src/survive_reproject.c b/src/survive_reproject.c
new file mode 100644
index 0000000..8ba4c77
--- /dev/null
+++ b/src/survive_reproject.c
@@ -0,0 +1,145 @@
+#include "survive_reproject.h"
+#include <../redist/linmath.h>
+#include <math.h>
+#include <string.h>
+
+static void survive_calibration_options_config_normalize(
+	survive_calibration_options_config *option) {
+	if (!option->enable[0])
+		option->invert[0] = false;
+	if (!option->enable[1])
+		option->invert[1] = false;
+	if (!option->enable[0] && !option->enable[1])
+		option->swap = false;
+}
+
+void survive_calibration_options_config_apply(
+	const survive_calibration_options_config *option, const FLT *input,
+	FLT *output) {
+	FLT tmp[2]; // In case they try to do in place
+	for (int i = 0; i < 2; i++) {
+		tmp[i] = option->enable[i] * (option->invert[i] ? -1 : 1) *
+				 input[i ^ option->swap];
+	}
+	for (int i = 0; i < 2; i++) {
+		output[i] = tmp[i];
+	}
+}
+
+survive_calibration_config
+survive_calibration_config_create_from_idx(size_t v) {
+	survive_calibration_config config;
+	memset(&config, 0, sizeof(config));
+
+	bool *_this = (bool *)&config;
+
+	for (size_t i = 0; i < sizeof(config); i++) {
+		_this[i] = (bool)(v & 1);
+		v = v >> 1;
+	}
+
+	survive_calibration_options_config_normalize(&config.phase);
+	survive_calibration_options_config_normalize(&config.tilt);
+	survive_calibration_options_config_normalize(&config.curve);
+	survive_calibration_options_config_normalize(&config.gibMag);
+
+	config.gibPhase.enable[0] = config.gibMag.enable[0];
+	config.gibPhase.enable[1] = config.gibMag.enable[1];
+
+	survive_calibration_options_config_normalize(&config.gibPhase);
+
+	if (!config.gibPhase.enable[0] && !config.gibPhase.enable[1])
+		config.gibUseSin = false;
+
+	return config;
+}
+
+size_t
+survive_calibration_config_index(const survive_calibration_config *config) {
+	bool *_this = (bool *)config;
+	size_t v = 0;
+	for (size_t i = 0; i < sizeof(*config); i++) {
+		v = (v | _this[sizeof(*config) - i - 1]);
+		v = v << 1;
+	}
+	v = v >> 1;
+	return v;
+}
+
+static FLT gibf(bool useSin, FLT v) {
+	if (useSin)
+		return sin(v);
+	return cos(v);
+}
+
+void survive_reproject_from_pose_with_config(
+	const SurviveContext *ctx, const survive_calibration_config *config,
+	int lighthouse, const SurvivePose *pose, const FLT *pt, FLT *out) {
+	FLT invq[4];
+	quatgetreciprocal(invq, pose->Rot);
+
+	FLT tvec[3];
+	quatrotatevector(tvec, invq, pose->Pos);
+
+	FLT t_pt[3];
+	quatrotatevector(t_pt, invq, pt);
+	for (int i = 0; i < 3; i++)
+		t_pt[i] = t_pt[i] - tvec[i];
+
+	// If +Z is up, this is right
+	FLT x = t_pt[0] / t_pt[2];
+	FLT y = t_pt[1] / t_pt[2];
+
+	double ang_x = atan(x);
+	double ang_y = atan(y);
+
+	const BaseStationData *bsd = &ctx->bsd[lighthouse];
+	double phase[2];
+	survive_calibration_options_config_apply(&config->phase, bsd->fcalphase,
+											 phase);
+	double tilt[2];
+	survive_calibration_options_config_apply(&config->tilt, bsd->fcaltilt,
+											 tilt);
+	double curve[2];
+	survive_calibration_options_config_apply(&config->curve, bsd->fcalcurve,
+											 curve);
+	double gibPhase[2];
+	survive_calibration_options_config_apply(&config->gibPhase, bsd->fcalgibpha,
+											 gibPhase);
+	double gibMag[2];
+	survive_calibration_options_config_apply(&config->gibMag, bsd->fcalgibmag,
+											 gibMag);
+
+	out[0] = ang_x + phase[0] + tan(tilt[0]) * y + curve[0] * y * y +
+			 gibf(config->gibUseSin, gibPhase[0] + ang_x) * gibMag[0];
+	out[1] = ang_y + phase[1] + tan(tilt[1]) * x + curve[1] * x * x +
+			 gibf(config->gibUseSin, gibPhase[1] + ang_y) * gibMag[1];
+}
+
+void survive_reproject_from_pose(const SurviveContext *ctx, int lighthouse,
+								 const SurvivePose *pose, FLT *pt, FLT *out) {
+	survive_reproject_from_pose_with_config(
+		ctx, survive_calibration_default_config(), lighthouse, pose, pt, out);
+}
+
+void survive_reproject(const SurviveContext *ctx, int lighthouse, FLT *point3d,
+					   FLT *out) {
+	survive_reproject_from_pose(ctx, lighthouse, &ctx->bsd[lighthouse].Pose,
+								point3d, out);
+}
+
+const survive_calibration_config *survive_calibration_default_config() {
+	static survive_calibration_config *def = 0;
+	if (def == 0) {
+		def = malloc(sizeof(survive_calibration_config));
+		memset(def, 0, sizeof(survive_calibration_config));
+		*def = survive_calibration_config_create_from_idx(0);
+	}
+	return def;
+}
+
+size_t survive_calibration_config_max_idx() {
+	survive_calibration_config cfg;
+	memset(&cfg, 0x1, sizeof(survive_calibration_config));
+	return survive_calibration_config_index(&cfg);
+}