diff options
Diffstat (limited to 'src/poser_turveytori.c')
-rw-r--r-- | src/poser_turveytori.c | 132 |
1 files changed, 108 insertions, 24 deletions
diff --git a/src/poser_turveytori.c b/src/poser_turveytori.c index b4f685c..80e8d89 100644 --- a/src/poser_turveytori.c +++ b/src/poser_turveytori.c @@ -386,7 +386,7 @@ FLT getPointFitnessForPna(Point pointIn, PointsAndAngle *pna) return dist; } -int compareFlts(const void * b, const void * a) +int compareFlts(const void * a, const void * b) { FLT a2 = *(const FLT*)a; FLT b2 = *(const FLT*)b; @@ -399,7 +399,6 @@ FLT getPointFitness(Point pointIn, PointsAndAngle *pna, size_t pnaCount, int deu FLT resultSum = 0; FLT *fitnesses = alloca(sizeof(FLT) * pnaCount); - int i = 0, j = 0; FLT worstFitness = 0; @@ -409,12 +408,10 @@ FLT getPointFitness(Point pointIn, PointsAndAngle *pna, size_t pnaCount, int deu if (worstFitness < fitness) { - i = pna[i].ai; - j = pna[i].bi; worstFitness = fitness; } - fitnesses[i] = fitness; + fitnesses[i] = FLT_FABS(fitness); if (deubgPrint) { printf(" [%d, %d](%f)\n", pna[i].ai, pna[i].bi, fitness); @@ -1154,7 +1151,7 @@ void SolveForRotation(FLT rotOut[4], TrackedObject *obj, Point lh) } -static Point SolveForLighthouse(FLT posOut[3], FLT quatOut[4], TrackedObject *obj, SurviveObject *so, char doLogOutput, int lh, int setLhCalibration) +static Point SolveForLighthouse(FLT posOut[3], FLT quatOut[4], TrackedObject *obj, SurviveObject *so, char doLogOutput,const int lh,const int setLhCalibration) { ToriData *toriData = so->PoserData; @@ -1256,21 +1253,28 @@ static Point SolveForLighthouse(FLT posOut[3], FLT quatOut[4], TrackedObject *ob p1.z = toriData->lastLhPos[lh].z; } + // refinedEstimateGd is the estimate for the location of the lighthouse in the tracked + // object's local coordinate system. Point refinedEstimateGd = RefineEstimateUsingModifiedGradientDescent1(p1, pna, pnaCount, logFile); FLT pf1[3] = { refinedEstimateGd.x, refinedEstimateGd.y, refinedEstimateGd.z }; + // here we're checking the direction of the found point against the average direction of the + // normal direction of the sensors that saw the light pulse. + // This is because there are two possible points of convergence for the tori. One is the correct + // location of the lighthouse. The other is in almost exactly the opposite direction. + // The easiest way to determine that we've converged correctly is to see if the sensors' normal + // are pointing in the direction of the point we've converged on. + // if we have converged on the wrong point, we can try to converge one more time, using a starting estimate of + // the point we converged on rotated to be directly opposite of its current position. Such a point + // is guaranteed, in practice, to converge on the other location. + // Note: in practice, we pretty much always converge on the correct point in the first place, + // but this check just makes extra sure. FLT a1 = anglebetween3d(pf1, avgNormF); - if (a1 > M_PI / 2) { Point p2 = { .x = -refinedEstimateGd.x,.y = -refinedEstimateGd.y,.z = -refinedEstimateGd.z }; refinedEstimateGd = RefineEstimateUsingModifiedGradientDescent1(p2, pna, pnaCount, logFile); - - //FLT pf2[3] = { refinedEstimageGd2.x, refinedEstimageGd2.y, refinedEstimageGd2.z }; - - //FLT a2 = anglebetween3d(pf2, avgNormF); - } FLT fitGd = getPointFitness(refinedEstimateGd, pna, pnaCount, 0); @@ -1281,6 +1285,9 @@ static Point SolveForLighthouse(FLT posOut[3], FLT quatOut[4], TrackedObject *ob FLT rot[4]; // this is axis/ angle rotation, not a quaternion! + // if we've already guessed at the rotation of the lighthouse, + // then let's use that as a starting guess, because it's probably + // going to make convergence happen much faster. if (toriData->lastLhRotAxisAngle[lh][0] != 0) { rot[0] = toriData->lastLhRotAxisAngle[lh][0]; @@ -1289,7 +1296,12 @@ static Point SolveForLighthouse(FLT posOut[3], FLT quatOut[4], TrackedObject *ob rot[3] = toriData->lastLhRotAxisAngle[lh][3]; } - + // Given the relative position of the lighthouse + // to the tracked object, in the tracked object's coordinate + // system, find the rotation of the lighthouse, again in the + // tracked object's coordinate system. + // TODO: I believe this could be radically improved + // using an SVD. SolveForRotation(rot, obj, refinedEstimateGd); FLT objPos[3]; @@ -1308,9 +1320,9 @@ static Point SolveForLighthouse(FLT posOut[3], FLT quatOut[4], TrackedObject *ob quatfromaxisangle(rotQuat, rot, rot[3]); //{ - FLT tmpPos[3] = {refinedEstimateGd.x, refinedEstimateGd.y, refinedEstimateGd.z}; + //FLT tmpPos[3] = {refinedEstimateGd.x, refinedEstimateGd.y, refinedEstimateGd.z}; - quatrotatevector(tmpPos, rotQuat, tmpPos); + //quatrotatevector(tmpPos, rotQuat, tmpPos); //} //static int foo = 0; @@ -1337,18 +1349,44 @@ static Point SolveForLighthouse(FLT posOut[3], FLT quatOut[4], TrackedObject *ob so->ctx->bsd[lh].PositionSet = 1; } + FLT wcPos[3]; // position in wold coordinates + // Take the position of the tracked object from the lighthouse's + // frame of reference, and then rotate it in the reverse + // direction of the orientation of the lighthouse + // in the world reference freame. + // Then, change the offset based on the position of the lighthouse + // in the world reference frame. + // The result is the position of the tracked object + // in the world reference frame. quatrotatevector(wcPos, so->ctx->bsd[lh].Pose.Rot, objPos); - - FLT newOrientation[4]; - //quatrotateabout(newOrientation, rotQuat, so->ctx->bsd[lh].Pose.Rot); - quatrotateabout(newOrientation, so->ctx->bsd[lh].Pose.Rot, rotQuat); - wcPos[0] += so->ctx->bsd[lh].Pose.Pos[0]; wcPos[1] += so->ctx->bsd[lh].Pose.Pos[1]; wcPos[2] += so->ctx->bsd[lh].Pose.Pos[2]; + FLT newOrientation[4]; + //quatrotateabout(newOrientation, rotQuat, so->ctx->bsd[lh].Pose.Rot); // turns the wrong way + quatrotateabout(newOrientation, so->ctx->bsd[lh].Pose.Rot, rotQuat); // turns the wrong way + + FLT invRot[4]; + quatgetreciprocal(invRot, rotQuat); + //quatrotateabout(newOrientation, invRot, so->ctx->bsd[lh].Pose.Rot); // turns correctly, rotations not aligned + //quatrotateabout(newOrientation, so->ctx->bsd[lh].Pose.Rot, invRot); // turns correctly, rotations not aligned + + FLT invPoseRot[4]; + quatgetreciprocal(invPoseRot, so->ctx->bsd[lh].Pose.Rot); + + //quatrotateabout(newOrientation, rotQuat, invPoseRot); // turns the wrong way, rotations not aligned + //quatrotateabout(newOrientation, invPoseRot, rotQuat); // turns the wrong way, rotations not aligned + + //FLT invRot[4]; + //quatgetreciprocal(invRot, rotQuat); + //quatrotateabout(newOrientation, invRot, invPoseRot); // turns correctly, rotations aligned <-- This seems to be the best. + //quatrotateabout(newOrientation, invPoseRot, invRot); // turns correctly, rotations aligned, (x & y flipped?) + + quatnormalize(newOrientation, newOrientation); + so->OutPose.Pos[0] = wcPos[0]; so->OutPose.Pos[1] = wcPos[1]; so->OutPose.Pos[2] = wcPos[2]; @@ -1470,6 +1508,25 @@ static void QuickPose(SurviveObject *so, int lh) { FLT pos[3], quat[4]; + // TODO: This countdown stuff is a total hack! + // it basically ignores all the logic to find the most reliable data points + // and just grabs a sample and uses it. + + //static int countdown = 5; + + //if (countdown > 0 && so->ctx->objs[0] == so) + //{ + // SolveForLighthouse(pos, quat, to, so, 0, lh, 1); + // countdown--; + //} + //else + //{ + // SolveForLighthouse(pos, quat, to, so, 0, lh, 0); + //} + + + + SolveForLighthouse(pos, quat, to, so, 0, lh, 0); printf("!\n"); } @@ -1584,6 +1641,11 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) //quatfrom2vectors(downQuat, negZ, td->down); quatfrom2vectors(downQuat, td->down, negZ); + FLT angle; + FLT axis[3]; + angleaxisfrom2vect(&angle, axis, td->down, negZ); + //angleaxisfrom2vect(&angle, &axis, negZ, td->down); + { int sensorCount = 0; @@ -1595,8 +1657,12 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) FLT norm[3] = { so->sensor_normals[i * 3 + 0] , so->sensor_normals[i * 3 + 1] , so->sensor_normals[i * 3 + 2] }; FLT point[3] = { so->sensor_locations[i * 3 + 0] , so->sensor_locations[i * 3 + 1] , so->sensor_locations[i * 3 + 2] }; - quatrotatevector(norm, downQuat, norm); - quatrotatevector(point, downQuat, point); + //quatrotatevector(norm, downQuat, norm); + //quatrotatevector(point, downQuat, point); + + //rotatearoundaxis(norm, norm, axis, angle); + //rotatearoundaxis(point, point, axis, angle); + to->sensor[sensorCount].normal.x = norm[0]; to->sensor[sensorCount].normal.y = norm[1]; @@ -1627,8 +1693,12 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) FLT norm[3] = { so->sensor_normals[i * 3 + 0] , so->sensor_normals[i * 3 + 1] , so->sensor_normals[i * 3 + 2] }; FLT point[3] = { so->sensor_locations[i * 3 + 0] , so->sensor_locations[i * 3 + 1] , so->sensor_locations[i * 3 + 2] }; - quatrotatevector(norm, downQuat, norm); - quatrotatevector(point, downQuat, point); + //quatrotatevector(norm, downQuat, norm); + //quatrotatevector(point, downQuat, point); + + //rotatearoundaxis(norm, norm, axis, angle); + //rotatearoundaxis(point, point, axis, angle); + to->sensor[sensorCount].normal.x = norm[0]; to->sensor[sensorCount].normal.y = norm[1]; @@ -1649,6 +1719,20 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) SolveForLighthouse(pos, quat, to, so, 0, 1, 1); } + + // This code block rotates the lighthouse fixes to accound for any time the tracked object + // is oriented other than +z = up + // This REALLY DOESN'T WORK!!! + //{ + // for (int lh = 0; lh < 2; lh++) + // { + // quatrotatevector(&(so->ctx->bsd[lh].Pose.Pos[0]), downQuat, &(so->ctx->bsd[lh].Pose.Pos[0])); + // //quatrotateabout(&(so->ctx->bsd[lh].Pose.Rot[0]), &(so->ctx->bsd[lh].Pose.Rot[0]), downQuat); + // quatrotateabout(&(so->ctx->bsd[lh].Pose.Rot[0]), downQuat, &(so->ctx->bsd[lh].Pose.Rot[0])); + // } + //} + + free(to); //printf( "Full scene data.\n" ); break; |