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Diffstat (limited to 'src/poser_charlesrefine.c')
-rw-r--r-- | src/poser_charlesrefine.c | 342 |
1 files changed, 342 insertions, 0 deletions
diff --git a/src/poser_charlesrefine.c b/src/poser_charlesrefine.c new file mode 100644 index 0000000..388ba77 --- /dev/null +++ b/src/poser_charlesrefine.c @@ -0,0 +1,342 @@ +// Driver works, but you _must_ start it near the origin looking in +Z. + +#include <poser.h> +#include <survive.h> +#include <survive_reproject.h> + +#include "epnp/epnp.h" +#include "linmath.h" +#include <math.h> +#include <stdint.h> +#include <stdio.h> +#include <string.h> + +#define MAX_PT_PER_SWEEP 32 + +typedef struct { + int sweepaxis; + int sweeplh; + FLT normal_at_errors[MAX_PT_PER_SWEEP][3]; // Value is actually normalized, not just normal to sweep plane. + FLT quantity_errors[MAX_PT_PER_SWEEP]; + FLT angles_at_pts[MAX_PT_PER_SWEEP]; + SurvivePose object_pose_at_hit[MAX_PT_PER_SWEEP]; + uint8_t sensor_ids[MAX_PT_PER_SWEEP]; + int ptsweep; +} CharlesPoserData; + +int PoserCharlesRefine(SurviveObject *so, PoserData *pd) { + CharlesPoserData *dd = so->PoserData; + if (!dd) + so->PoserData = dd = calloc(sizeof(CharlesPoserData), 1); + + SurviveSensorActivations *scene = &so->activations; + switch (pd->pt) { + case POSERDATA_IMU: { + // Really should use this... + PoserDataIMU *imuData = (PoserDataIMU *)pd; + + // TODO: Actually do Madgwick's algorithm + LinmathQuat applymotion; + const SurvivePose *object_pose = &so->OutPose; + imuData->gyro[0] *= -0.0005; + imuData->gyro[1] *= -0.0005; + imuData->gyro[2] *= 0.0005; + quatfromeuler(applymotion, imuData->gyro); + // printf( "%f %f %f\n", imuData->gyro [0], imuData->gyro [1], imuData->gyro [2] ); + SurvivePose object_pose_out; + quatrotateabout(object_pose_out.Rot, object_pose->Rot, applymotion); + copy3d(object_pose_out.Pos, object_pose->Pos); + PoserData_poser_pose_func(pd, so, &object_pose_out); + + return 0; + } + case POSERDATA_LIGHT: { + int i; + PoserDataLight *ld = (PoserDataLight *)pd; + int lhid = ld->lh; + int senid = ld->sensor_id; + BaseStationData *bsd = &so->ctx->bsd[ld->lh]; + if (!bsd->PositionSet) + break; + SurvivePose *lhp = &bsd->Pose; + FLT angle = ld->angle; + int sensor_id = ld->sensor_id; + int axis = dd->sweepaxis; + const SurvivePose *object_pose = &so->OutPose; + dd->sweeplh = lhid; + + // FOR NOW, drop LH1. + // if( lhid == 1 ) break; + + // const FLT * sensor_normal = &so->sensor_normals[senid*3]; + // FLT sensor_normal_worldspace[3]; + // ApplyPoseToPoint(sensor_normal_worldspace, object_pose, sensor_inpos); + + const FLT *sensor_inpos = &so->sensor_locations[senid * 3]; + FLT sensor_position_worldspace[3]; + // XXX Once I saw this get pretty wild (When in playback) + // I had to invert the values of sensor_inpos. Not sure why. + ApplyPoseToPoint(sensor_position_worldspace, object_pose, sensor_inpos); + + // printf( "%f %f %f == > %f %f %f\n", sensor_inpos[0], sensor_inpos[1], sensor_inpos[2], + // sensor_position_worldspace[0], sensor_position_worldspace[1], sensor_position_worldspace[2] ); + // = sensor position, relative to lighthouse center. + FLT sensorpos_rel_lh[3]; + sub3d(sensorpos_rel_lh, sensor_position_worldspace, lhp->Pos); + + // Next, define a normal in global space of the plane created by the sweep hit. + // Careful that this must be normalized. + FLT sweep_normal[3]; + + // If 1, the "y" axis. //XXX Check me. + if (axis) // XXX Just FYI this should include account for skew + { + sweep_normal[0] = 0; + sweep_normal[1] = cos(angle); + sweep_normal[2] = sin(angle); + // printf( "+" ); + } else { + sweep_normal[0] = cos(angle); + sweep_normal[1] = 0; + sweep_normal[2] = -sin(angle); + // printf( "-" ); + } + + // Need to apply the lighthouse's transformation to the sweep's normal. + quatrotatevector(sweep_normal, lhp->Rot, sweep_normal); + + // Compute point-line distance between sensorpos_rel_lh and the plane defined by sweep_normal. + // Do this by projecting sensorpos_rel_lh (w) onto sweep_normal (v). + // You can do this by |v dot w| / |v| ... But we know |v| is 1. So... + FLT dist = dot3d(sensorpos_rel_lh, sweep_normal); + + if ((i = dd->ptsweep) < MAX_PT_PER_SWEEP) { + memcpy(dd->normal_at_errors[i], sweep_normal, sizeof(FLT) * 3); + dd->quantity_errors[i] = dist; + dd->angles_at_pts[i] = angle; + dd->sensor_ids[i] = sensor_id; + memcpy(&dd->object_pose_at_hit[i], object_pose, sizeof(SurvivePose)); + dd->ptsweep++; + } + + return 0; + } + + case POSERDATA_SYNC: { + PoserDataLight *l = (PoserDataLight *)pd; + int lhid = l->lh; + + // you can get sweepaxis and sweeplh. + if (dd->ptsweep) { + int i; + int lhid = dd->sweeplh; + int axis = dd->sweepaxis; + int pts = dd->ptsweep; + const SurvivePose *object_pose = + &so->OutPose; // XXX TODO Should pull pose from approximate time when LHs were scanning it. + + BaseStationData *bsd = &so->ctx->bsd[lhid]; + SurvivePose *lh_pose = &bsd->Pose; + + int validpoints = 0; + int ptvalid[MAX_PT_PER_SWEEP]; + FLT avgerr = 0.0; + FLT vec_correct[3] = {0., 0., 0.}; + FLT avgang = 0.0; + +// Tunable parameters: +#define MIN_HIT_QUALITY 0.5 // Determines which hits to cull. +#define HIT_QUALITY_BASELINE \ + 0.0001 // Determines which hits to cull. Actually SQRT(baseline) if 0.0001, it is really 1cm + +#define CORRECT_LATERAL_POSITION_COEFFICIENT 0.8 // Explodes if you exceed 1.0 +#define CORRECT_TELESCOPTION_COEFFICIENT 8.0 // Converges even as high as 10.0 and doesn't explode. +#define CORRECT_ROTATION_COEFFICIENT \ + 1.0 // This starts to fall apart above 5.0, but for good reason. It is amplified by the number of points seen. +#define ROTATIONAL_CORRECTION_MAXFORCE 0.10 + + // Step 1: Determine standard of deviation, and average in order to + // drop points that are likely in error. + { + // Calculate average + FLT avgerr_orig = 0.0; + FLT stddevsq = 0.0; + for (i = 0; i < pts; i++) + avgerr_orig += dd->quantity_errors[i]; + avgerr_orig /= pts; + + // Calculate standard of deviation. + for (i = 0; i < pts; i++) { + FLT diff = dd->quantity_errors[i] - avgerr_orig; + stddevsq += diff * diff; + } + stddevsq /= pts; + + for (i = 0; i < pts; i++) { + FLT err = dd->quantity_errors[i]; + FLT diff = err - avgerr_orig; + diff *= diff; + int isptvalid = (diff * MIN_HIT_QUALITY <= stddevsq + HIT_QUALITY_BASELINE) ? 1 : 0; + ptvalid[i] = isptvalid; + if (isptvalid) { + avgang += dd->angles_at_pts[i]; + avgerr += err; + validpoints++; + } + } + avgang /= validpoints; + avgerr /= validpoints; + } + + // Step 2: Determine average lateral error. + // We can actually always perform this operation. Even with only one point. + { + FLT avg_err[3] = {0, 0, 0}; // Positional error. + for (i = 0; i < pts; i++) { + if (!ptvalid[i]) + continue; + FLT *nrm = dd->normal_at_errors[i]; + FLT err = dd->quantity_errors[i]; + avg_err[0] = avg_err[0] + nrm[0] * err; + avg_err[1] = avg_err[1] + nrm[1] * err; + avg_err[2] = avg_err[2] + nrm[2] * err; + } + + // NOTE: The "avg_err" is not geometrically centered. This is actually + // probably okay, since if you have sevearl data points to one side, you + // can probably trust that more. + scale3d(avg_err, avg_err, 1. / validpoints); + + // We have "Average error" now. A vector in worldspace. + // This can correct for lateral error, but not distance from camera. + + // XXX TODO: Should we check to see if we only have one or + // two points to make sure the error on this isn't unusually high? + // If calculated error is unexpectedly high, then we should probably + // Not apply the transform. + scale3d(avg_err, avg_err, -CORRECT_LATERAL_POSITION_COEFFICIENT); + add3d(vec_correct, vec_correct, avg_err); + } + + // Step 3: Control telecoption from lighthouse. + // we need to find out what the weighting is to determine "zoom" + if (validpoints > 1) // Can't correct "zoom" with only one point. + { + FLT zoom = 0.0; + FLT rmsang = 0.0; + for (i = 0; i < pts; i++) { + if (!ptvalid[i]) + continue; + FLT delang = dd->angles_at_pts[i] - avgang; + FLT delerr = dd->quantity_errors[i] - avgerr; + if (axis) + delang *= -1; // Flip sign on alternate axis because it's measured backwards. + zoom += delerr * delang; + rmsang += delang * delang; + } + + // Control into or outof lighthouse. + // XXX Check to see if we need to sqrt( the rmsang), need to check convergance behavior close to + // lighthouse. + // This is a questionable step. + zoom /= sqrt(rmsang); + + zoom *= CORRECT_TELESCOPTION_COEFFICIENT; + + FLT veccamalong[3]; + sub3d(veccamalong, lh_pose->Pos, object_pose->Pos); + normalize3d(veccamalong, veccamalong); + scale3d(veccamalong, veccamalong, zoom); + add3d(vec_correct, veccamalong, vec_correct); + } + + SurvivePose object_pose_out; + add3d(object_pose_out.Pos, vec_correct, object_pose->Pos); + + quatcopy(object_pose_out.Rot, object_pose->Rot); + + // Stage 4: "Tug" on the rotation of the object, from all of the sensor's pov. + // If we were able to determine likliehood of a hit in the sweep instead of afterward + // we would actually be able to perform this on a per-hit basis. + if (1) { + LinmathQuat correction; + quatcopy(correction, LinmathQuat_Identity); + for (i = 0; i < pts; i++) { + if (!ptvalid[i]) + continue; + FLT dist = dd->quantity_errors[i] - avgerr; + FLT angle = dd->angles_at_pts[i]; + int sensor_id = dd->sensor_ids[i]; + FLT *normal = dd->normal_at_errors[i]; + const SurvivePose *object_pose_at_hit = &dd->object_pose_at_hit[i]; + const FLT *sensor_inpos = &so->sensor_locations[sensor_id * 3]; + + LinmathQuat world_to_object_space; + quatgetreciprocal(world_to_object_space, object_pose_at_hit->Rot); + FLT correction_in_object_space[3]; // The amount across the surface of the object the rotation + // should happen. + + quatrotatevector(correction_in_object_space, world_to_object_space, normal); + dist *= CORRECT_ROTATION_COEFFICIENT; + if (dist > ROTATIONAL_CORRECTION_MAXFORCE) + dist = ROTATIONAL_CORRECTION_MAXFORCE; + if (dist < -ROTATIONAL_CORRECTION_MAXFORCE) + dist = -ROTATIONAL_CORRECTION_MAXFORCE; + + // Now, we have a "tug" vector in object-local space. Need to apply the torque. + FLT vector_from_center_of_object[3]; + normalize3d(vector_from_center_of_object, sensor_inpos); + // scale3d(vector_from_center_of_object, sensor_inpos, 10.0 ); + // vector_from_center_of_object[2]*=-1; + // vector_from_center_of_object[1]*=-1; + // vector_from_center_of_object[0]*=-1; + // vector_from_center_of_object + scale3d(vector_from_center_of_object, vector_from_center_of_object, 1); + + FLT new_vector_in_object_space[3]; + // printf( "%f %f %f %f\n", object_pose_at_hit->Rot[0], object_pose_at_hit->Rot[1], + // object_pose_at_hit->Rot[2], object_pose_at_hit->Rot[3] ); + // printf( "%f %f %f // %f %f %f // %f\n", vector_from_center_of_object[0], + // vector_from_center_of_object[1], vector_from_center_of_object[2], correction_in_object_space[0], + // correction_in_object_space[1], correction_in_object_space[2], dist ); + scale3d(correction_in_object_space, correction_in_object_space, -dist); + add3d(new_vector_in_object_space, vector_from_center_of_object, correction_in_object_space); + + normalize3d(new_vector_in_object_space, new_vector_in_object_space); + + LinmathQuat corrective_quaternion; + quatfrom2vectors(corrective_quaternion, vector_from_center_of_object, new_vector_in_object_space); + quatrotateabout(correction, correction, corrective_quaternion); + // printf( "%f -> %f %f %f => %f %f %f [%f %f %f %f]\n", dist, vector_from_center_of_object[0], + // vector_from_center_of_object[1], vector_from_center_of_object[2], + // correction_in_object_space[0], correction_in_object_space[1], correction_in_object_space[2], + // corrective_quaternion[0],corrective_quaternion[1],corrective_quaternion[1],corrective_quaternion[3]); + } + // printf( "Applying: %f %f %f %f\n", correction[0], correction[1], correction[2], correction[3] ); + // Apply our corrective quaternion to the output. + quatrotateabout(object_pose_out.Rot, object_pose_out.Rot, correction); + quatnormalize(object_pose_out.Rot, object_pose_out.Rot); + } + + // Janky need to do this somewhere else... This initializes the pose estimator. + if (so->PoseConfidence < .01) { + memcpy(&object_pose_out, &LinmathPose_Identity, sizeof(LinmathPose_Identity)); + so->PoseConfidence = 1.0; + } + + PoserData_poser_pose_func(pd, so, &object_pose_out); + dd->ptsweep = 0; + } + + dd->sweepaxis = l->acode & 1; + // printf( "SYNC %d %p\n", l->acode, dd ); + break; + } + case POSERDATA_FULL_SCENE: { + // return opencv_solver_fullscene(so, (PoserDataFullScene *)(pd)); + } + } + return -1; +} + +REGISTER_LINKTIME(PoserCharlesRefine); |