Add charles' camfind (DOES NOT WORK!!!)

1 files changed, 259 insertions, 0 deletions

diff --git a/tools/planetest/camfind.c b/tools/planetest/camfind.c
new file mode 100644
index 0000000..c1fba0e
--- /dev/null
+++ b/tools/planetest/camfind.c
@@ -0,0 +1,259 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include "linmath.h"
+#include <string.h>
+
+#define PTS 32
+#define MAX_CHECKS 20000
+
+double hmd_points[PTS*3];
+double hmd_point_angles[PTS*2];
+int    hmd_point_counts[PTS*2];
+int LoadData( char Camera );
+
+//Values used for RunTest()
+float LighthousePos[3] = { 0, 0,0 };
+float LighthouseQuat[4] = { 1, 0, 0, 0 };
+
+//Actual values
+float xyzypr[6] = { 0, 0, 1, 0, 0, 0 };
+
+
+float RunOpti( int axis );
+float RunTest();
+
+int main()
+{
+	int i;
+
+	if( LoadData( 'L' ) ) return 5;
+
+	int opti = 0;
+	int cycle = 0;
+	int axis = 0;
+
+	float dx;
+
+	float bestxyzypr[6];
+	memcpy( bestxyzypr, xyzypr, sizeof( xyzypr ) );
+
+	float fullrange = 5;
+	for( cycle = 0; cycle < 10; cycle ++ )
+	{
+		for( axis = 0; axis < 3; axis++ )
+		{
+			float bestxyzyprrunning[6];
+			float beste = 1e20;
+			for( dx = -fullrange; dx < fullrange; dx += fullrange/100 )
+			{
+				memcpy( xyzypr, bestxyzypr, sizeof( xyzypr ) );
+				xyzypr[axis] += dx;
+				xyzypr[3] = 0;
+				xyzypr[4] = 0;
+				xyzypr[5] = 0;
+				float ft;
+				for( opti = 3; opti < 6; opti++ )
+				{
+					ft = RunOpti( opti );
+				}
+				if( ft < beste ) { beste = ft; memcpy( bestxyzyprrunning, xyzypr, sizeof( xyzypr ) ); }
+			}
+			printf( "%f %f %f %f %f %f = %f\n", xyzypr[0], xyzypr[1], xyzypr[2], xyzypr[3], xyzypr[4], xyzypr[5], beste );
+			memcpy( bestxyzypr, bestxyzyprrunning, sizeof( bestxyzypr ) );
+		}
+
+		fullrange *= 0.2;
+	}
+}
+
+
+float RunOpti( int axis )
+{
+	float xyzyprchange[6];
+	memcpy( xyzyprchange, xyzypr, sizeof( xyzypr ) );
+	int i;
+	float minv = 1e20;
+	float fv = -1.3;
+	float bv = 0;
+
+	//Coarse linear search
+	for( i = 0; i < 26; i++ )
+	{
+		xyzyprchange[axis] = fv;
+		quatfromeuler( LighthouseQuat, &xyzyprchange[3] );
+		memcpy( LighthousePos, &xyzyprchange[0], sizeof( LighthousePos ) );
+		float ft = RunTest();
+		if( ft < minv ) { minv = ft; bv = fv; }
+		fv += 0.1;
+	}
+
+	xyzyprchange[axis] = bv;
+
+	//Now, do a more precise binary search.
+	float jumpamount = 0.1;
+	for( i = 0; i < 30; i++ )
+	{
+		float orig = xyzyprchange[axis];
+
+		minv = 1e20;
+
+		fv = xyzyprchange[axis] = orig;
+		quatfromeuler( LighthouseQuat, &xyzyprchange[3] );
+		memcpy( LighthousePos, &xyzyprchange[0], sizeof( LighthousePos ) );
+		float ft = RunTest();
+		if( ft < minv ) { minv = ft; bv = fv; }
+
+		fv = xyzyprchange[axis] = orig + jumpamount;
+		quatfromeuler( LighthouseQuat, &xyzyprchange[3] );
+		memcpy( LighthousePos, &xyzyprchange[0], sizeof( LighthousePos ) );
+		ft = RunTest();
+		if( ft < minv ) { minv = ft; bv = fv; }
+
+		fv = xyzyprchange[axis] = orig - jumpamount;
+		quatfromeuler( LighthouseQuat, &xyzyprchange[3] );
+		memcpy( LighthousePos, &xyzyprchange[0], sizeof( LighthousePos ) );
+		ft = RunTest();
+		if( ft < minv ) { minv = ft; bv = fv; }
+
+		xyzyprchange[axis] = bv;
+
+		jumpamount *= 0.5;
+	}
+
+
+
+	xyzypr[axis] = bv;
+	return minv;
+}
+
+
+float RunTest()
+{
+	int k;
+	float totprob = 0.0;
+	for( k = 0; k < 64; k++ )
+	{
+		if( hmd_point_counts[k] == 0 ) continue;
+		int axis = k%2;
+		int pt = k/2;
+		float angle = (hmd_point_angles[k] - 200000) / 200000 * 3.1415926535;
+		if( axis == 0 ) angle = -angle;
+		float thiseuler[3] = { 0, 0, 0 };
+		thiseuler[axis] = angle;  
+		//axis = 0: x changes.  +y is rotated plane normal.
+		//axis = 1: y changes.  +x is rotated plane normal.
+		float planequat[4];
+		quatfromeuler( planequat, thiseuler );
+		quatrotateabout( planequat, planequat, LighthouseQuat );  //Order of rotations may be wrong.
+		float plane_normal[3] = { 0, 0, 0 };
+		plane_normal[!axis] = 1;
+		quatrotatevector( plane_normal, planequat, plane_normal );
+
+		//plane_normal is our normal / LighthousePos is our point.
+		float w0[] = { hmd_points[pt*3+0], hmd_points[pt*3+1], hmd_points[pt*3+2] };
+		//float w0[] = { 0, 0, 0 };
+		float d = plane_normal[0] * LighthousePos[0] + plane_normal[1] * LighthousePos[1] + plane_normal[2] * LighthousePos[2];
+		float D = plane_normal[0] * w0[0] + plane_normal[1] * w0[1] + plane_normal[2] * w0[2] - d;  //Point line distance assuming ||normal|| = 1.
+
+		totprob += D*D;
+
+		//printf( "  : %f %f %f %f  %f %f\n", plane_normal[0], plane_normal[1], plane_normal[2], 1.0, angle, hmd_point_angles[k] );
+	}
+	return totprob;
+}
+
+
+int LoadData( char Camera )
+{
+	int calpts[MAX_CHECKS*4]; //X (0) or Y (1), ID, offset
+	int calptscount;
+
+	FILE * f = fopen( "correct_hmd_points.csv", "r" );
+	int pt = 0;
+	if( !f ) { fprintf( stderr, "error: can't open hmd points.\n" ); return -5; }
+	while(!feof(f) && !ferror(f) && pt < PTS)
+	{
+		float fa, fb, fc;
+		int r = fscanf( f,"%g,%g,%g\n", &fa, &fb, &fc );
+		hmd_points[pt*3+0] = fa;
+		hmd_points[pt*3+1] = fb;
+		hmd_points[pt*3+2] = fc;
+		pt++;
+		if( r != 3 )
+		{
+			fprintf( stderr, "Not enough entries on line %d\n", pt );
+			return -8;
+		}
+	}
+	if( pt < PTS )
+	{
+		fprintf( stderr, "Not enough points.\n" );
+		return -9;
+	}
+	fclose( f );
+	printf( "Loaded %d points\n", pt );
+
+
+	int xck = 0;
+	f = fopen( "second_full_test.csv", "r" );
+	if( !f ) { fprintf( stderr, "Error: can't open two lighthouses test data.\n" ); return -11; }
+	while( !feof(f) && !ferror(f) )
+	{
+		char * lineptr;
+		size_t n;
+		lineptr = 0;
+		n = 0;
+		ssize_t r = getline( &lineptr, &n, f );
+		char lf[10];
+		char xory[10];
+		char dev[10];
+		int timestamp;
+		int sensorid;
+		int offset;
+		int code;
+		int rk = sscanf( lineptr, "%9s %9s %9s %d %d %d %d\n", lf, xory, dev, &timestamp, &sensorid, &code, &offset );
+		if( lf[0] == Camera && rk == 7 )
+		{
+			//calpts
+			if( xory[0] == 'X' )
+			{
+				calpts[xck*3+0] = 0;
+			}
+			else if( xory[0] == 'Y' )
+			{
+				calpts[xck*3+0] = 1;
+			}
+			else
+			{
+				printf( "Confusing line\n" );
+				continue;
+			}
+
+			calpts[xck*3+1] = sensorid;
+			calpts[xck*3+2] = offset;
+			xck++;
+		}
+		if( lineptr ) free( lineptr );
+	}
+	printf( "Cal points: %d\n", xck );
+	calptscount = xck;
+
+	int i;
+	for( i = 0; i < calptscount; i++ )
+	{
+		int isy = calpts[i*3+0];
+		int pt = calpts[i*3+1];
+		int ofs = calpts[i*3+2];
+		hmd_point_counts[pt*2+isy]++;
+		hmd_point_angles[pt*2+isy]+=ofs;
+	}
+	for( i = 0; i < 32; i++ )
+	{
+		if( hmd_point_counts[i*2+0] < 100 ) hmd_point_counts[i*2+0] = 0;
+		if( hmd_point_counts[i*2+1] < 100 ) hmd_point_counts[i*2+1] = 0;
+
+		hmd_point_angles[i*2+0]/=hmd_point_counts[i*2+0];
+		hmd_point_angles[i*2+1]/=hmd_point_counts[i*2+1];
+	}
+	return 0;
+}