diff options
| -rw-r--r-- | Makefile | 6 | ||||
| -rw-r--r-- | calibrate.c | 2 | ||||
| -rw-r--r-- | include/libsurvive/poser.h | 1 | ||||
| -rwxr-xr-x | src/survive_cal.c | 56 | ||||
| -rw-r--r-- | src/survive_cal.h | 3 | ||||
| -rw-r--r-- | src/survive_data.c | 10 | ||||
| -rw-r--r-- | src/survive_process.c | 3 |
7 files changed, 78 insertions, 3 deletions
@@ -32,6 +32,12 @@ LIBSURVIVE_CORE:=$(LIBSURVIVE_CORE) LIBSURVIVE_O:=$(POSERS) $(REDISTS) $(LIBSURVIVE_CORE) LIBSURVIVE_C:=$(LIBSURVIVE_O:.o=.c) + +#If you want to use HIDAPI on Linux. +#CFLAGS:=$(CFLAGS) -DHIDAPI +#REDISTS:=$(REDISTS) redist/hid-linux.o +#LDFLAGS:=$(LDFLAGS) -ludev + #Useful Preprocessor Directives: # -DUSE_DOUBLE = use double instead of float for most operations. # -DNOZLIB = use puff.c diff --git a/calibrate.c b/calibrate.c index 726a8cc..f27131a 100644 --- a/calibrate.c +++ b/calibrate.c @@ -56,7 +56,7 @@ void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int // if( timeinsweep < 0 ) return; survive_default_light_process( so, sensor_id, acode, timeinsweep, timecode, length ); if( sensor_id < 0 ) return; - if( acode == -1 ) return; + if( acode < 0 ) return; //return; int jumpoffset = sensor_id; if( strcmp( so->codename, "WM0" ) == 0 ) jumpoffset += 32; diff --git a/include/libsurvive/poser.h b/include/libsurvive/poser.h index 98c926e..cf11e0c 100644 --- a/include/libsurvive/poser.h +++ b/include/libsurvive/poser.h @@ -45,6 +45,7 @@ typedef struct //If "lengths[...]" < 0, means not a valid piece of sweep information. FLT lengths[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; FLT angles [SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; //2 Axes (Angles in LH space) + FLT synctimes[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES]; PoserDataIMU lastimu; } PoserDataFullScene; diff --git a/src/survive_cal.c b/src/survive_cal.c index 9dc3af2..04931cc 100755 --- a/src/survive_cal.c +++ b/src/survive_cal.c @@ -196,6 +196,21 @@ void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int if( i == NUM_LIGHTHOUSES ) cd->stage = 2; //If all lighthouses have their OOTX set, move on. } break; + case 3: //Look for light sync lengths. + { + if( acode >= -2 ) break; + else if( acode < -4 ) break; + int lh = (-acode) - 3; + + if( strcmp( so->codename, "WM0" ) == 0 ) + sensor_id += 32; + if( strcmp( so->codename, "WM1" ) == 0 ) + sensor_id += 64; + + cd->all_sync_times[sensor_id][lh][cd->all_sync_counts[sensor_id][lh]++] = length; + break; + } + } } @@ -333,6 +348,8 @@ static void reset_calibration( struct SurviveCalData * cd ) cd->found_common = 0; cd->times_found_common = 0; cd->stage = 2; + + memset( cd->all_sync_counts, 0, sizeof( cd->all_sync_counts ) ); } static void handle_calibration( struct SurviveCalData *cd ) @@ -358,9 +375,45 @@ static void handle_calibration( struct SurviveCalData *cd ) #else mkdir( "calinfo", 0755 ); #endif + int sen, axis, lh; + FLT temp_syncs[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES]; + + //Just to get it out of the way early, we'll calculate the sync-pulse-lengths here. + FILE * sync_time_info = fopen( "calinfo/synctime.csv", "w" ); + + for( sen = 0; sen < MAX_SENSORS_TO_CAL; sen++ ) + for( lh = 0; lh < NUM_LIGHTHOUSES; lh++ ) + { + int count = cd->all_sync_counts[sen][lh]; + int i; + double totaltime; + + totaltime = 0; + + if( count < 20 ) continue; + for( i = 0; i < count; i++ ) + { + totaltime += cd->all_sync_times[sen][lh][i]; + } + FLT avg = totaltime/count; + + double stddev = 0.0; + for( i = 0; i < count; i++ ) + { + stddev += (cd->all_sync_times[sen][lh][i] - avg)*(cd->all_sync_times[sen][lh][i] - avg); + } + stddev /= count; + + fprintf( sync_time_info, "%d %d %f %d %f\n", sen, lh, totaltime/count, count, stddev ); + } + + fclose( sync_time_info ); + + + + FILE * hists = fopen( "calinfo/histograms.csv", "w" ); FILE * ptinfo = fopen( "calinfo/ptinfo.csv", "w" ); - int sen, axis, lh; for( sen = 0; sen < MAX_SENSORS_TO_CAL; sen++ ) for( lh = 0; lh < NUM_LIGHTHOUSES; lh++ ) for( axis = 0; axis < 2; axis++ ) @@ -526,6 +579,7 @@ static void handle_calibration( struct SurviveCalData *cd ) fsd.lengths[i][j][1] = cd->avglens[dataindex+1]; fsd.angles[i][j][0] = cd->avgsweeps[dataindex+0]; fsd.angles[i][j][1] = cd->avgsweeps[dataindex+1]; + fsd.synctimes[i][j] = temp_syncs[i][j]; } int r = cd->ConfigPoserFn( cd->poseobjects[obj], (PoserData*)&fsd ); diff --git a/src/survive_cal.h b/src/survive_cal.h index 701dc60..c64b8f9 100644 --- a/src/survive_cal.h +++ b/src/survive_cal.h @@ -56,6 +56,9 @@ struct SurviveCalData int8_t found_common; int8_t times_found_common; + FLT all_sync_times[MAX_SENSORS_TO_CAL][NUM_LIGHTHOUSES][DRPTS]; + int16_t all_sync_counts[MAX_SENSORS_TO_CAL][NUM_LIGHTHOUSES]; + //For camfind (4+) //Index is calculated with: int dataindex = sen*(2*NUM_LIGHTHOUSES)+lh*2+axis; FLT avgsweeps[MAX_CAL_PT_DAT]; diff --git a/src/survive_data.c b/src/survive_data.c index ffeacff..8c5c646 100644 --- a/src/survive_data.c +++ b/src/survive_data.c @@ -69,7 +69,7 @@ void handle_lightcap( SurviveObject * so, LightcapElement * le ) { int is_new_pulse = delta > so->pulselength_min_sync /*1500*/ + last_sync_length; - //printf("m sync %d %d %d %d\n", le->sensor_id, so->last_sync_time[ssn], le->timestamp, delta); + so->did_handle_ootx = 0; @@ -114,6 +114,14 @@ void handle_lightcap( SurviveObject * so, LightcapElement * le ) } } } + + //Extra tidbit for storing length-of-sync-pulses. + { + int32_t main_divisor = so->timebase_hz / 384000; //125 @ 48 MHz. + int base_station = is_new_pulse; + printf( "%s %d %d %d\n", so->codename, le->sensor_id, so->sync_set_number, le->length ); + ctx->lightproc( so, le->sensor_id, -3 - so->sync_set_number, 0, le->timestamp, le->length ); + } } diff --git a/src/survive_process.c b/src/survive_process.c index 8dc849a..9295638 100644 --- a/src/survive_process.c +++ b/src/survive_process.c @@ -16,6 +16,9 @@ void survive_default_light_process( SurviveObject * so, int sensor_id, int acode survive_cal_light( so, sensor_id, acode, timeinsweep, timecode, length ); } + //We don't use sync times, yet. + if( acode < -1 ) return; + if( base_station > NUM_LIGHTHOUSES ) return; //No loner need sync information past this point. |