diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/poser_charlesrefine.c | 31 | ||||
| -rw-r--r-- | src/poser_epnp.c | 2 | ||||
| -rw-r--r-- | src/poser_sba.c | 28 | ||||
| -rwxr-xr-x | src/survive_cal.c | 4 | ||||
| -rw-r--r-- | src/survive_imu.c | 52 |
5 files changed, 91 insertions, 26 deletions
diff --git a/src/poser_charlesrefine.c b/src/poser_charlesrefine.c index 388ba77..52a5f54 100644 --- a/src/poser_charlesrefine.c +++ b/src/poser_charlesrefine.c @@ -6,10 +6,12 @@ #include "epnp/epnp.h" #include "linmath.h" +#include "survive_cal.h" #include <math.h> #include <stdint.h> #include <stdio.h> #include <string.h> +#include <survive_imu.h> #define MAX_PT_PER_SWEEP 32 @@ -22,6 +24,8 @@ typedef struct { SurvivePose object_pose_at_hit[MAX_PT_PER_SWEEP]; uint8_t sensor_ids[MAX_PT_PER_SWEEP]; int ptsweep; + + SurviveIMUTracker tracker; } CharlesPoserData; int PoserCharlesRefine(SurviveObject *so, PoserData *pd) { @@ -33,20 +37,10 @@ int PoserCharlesRefine(SurviveObject *so, PoserData *pd) { switch (pd->pt) { case POSERDATA_IMU: { // Really should use this... - PoserDataIMU *imuData = (PoserDataIMU *)pd; + PoserDataIMU *imu = (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); + survive_imu_tracker_integrate(so, &dd->tracker, imu); + PoserData_poser_pose_func(pd, so, &dd->tracker.pose); return 0; } @@ -324,7 +318,16 @@ int PoserCharlesRefine(SurviveObject *so, PoserData *pd) { so->PoseConfidence = 1.0; } - PoserData_poser_pose_func(pd, so, &object_pose_out); + // PoserData_poser_pose_func(pd, so, &object_pose_out); + FLT var_meters = 0.5; + FLT error = 0.0001; + FLT var_quat = error + .05; + FLT var[7] = {error * var_meters, error * var_meters, error * var_meters, error * var_quat, + error * var_quat, error * var_quat, error * var_quat}; + + survive_imu_tracker_integrate_observation(so, l->timecode, &dd->tracker, &object_pose_out, var); + PoserData_poser_pose_func(pd, so, &dd->tracker.pose); + dd->ptsweep = 0; } diff --git a/src/poser_epnp.c b/src/poser_epnp.c index eaa1659..7e922e7 100644 --- a/src/poser_epnp.c +++ b/src/poser_epnp.c @@ -66,7 +66,7 @@ static SurvivePose solve_correspondence(SurviveObject *so, epnp *pnp, bool camer static int opencv_solver_fullscene(SurviveObject *so, PoserDataFullScene *pdfs) { SurvivePose additionalTx = {0}; - for (int lh = 0; lh < 2; lh++) { + for (int lh = 0; lh < so->ctx->activeLighthouses; lh++) { epnp pnp = {.fu = 1, .fv = 1}; epnp_set_maximum_number_of_correspondences(&pnp, so->sensor_ct); diff --git a/src/poser_sba.c b/src/poser_sba.c index f0d5645..fcf4f2e 100644 --- a/src/poser_sba.c +++ b/src/poser_sba.c @@ -186,7 +186,8 @@ static void str_metric_function(int j, int i, double *bi, double *xij, void *ada } static double run_sba_find_3d_structure(SBAData *d, PoserDataLight *pdl, SurviveSensorActivations *scene, - int max_iterations /* = 50*/, double max_reproj_error /* = 0.005*/) { + int max_iterations /* = 50*/, double max_reproj_error /* = 0.005*/, + SurvivePose *out) { double *covx = 0; SurviveObject *so = d->so; @@ -279,10 +280,13 @@ static double run_sba_find_3d_structure(SBAData *d, PoserDataLight *pdl, Survive // if (distance > 1.) // status = -1; } + + double rtn = -1; if (status > 0 && (info[1] / meas_size * 2) < d->max_error) { d->failures_to_reset_cntr = d->failures_to_reset; quatnormalize(soLocation.Rot, soLocation.Rot); - PoserData_poser_pose_func(&pdl->hdr, so, &soLocation); + *out = soLocation; + rtn = info[1] / meas_size * 2; } { @@ -290,13 +294,13 @@ static double run_sba_find_3d_structure(SBAData *d, PoserDataLight *pdl, Survive // Docs say info[0] should be divided by meas; I don't buy it really... static int cnt = 0; if (cnt++ > 1000 || meas_size < d->required_meas || (info[1] / meas_size * 2) > d->max_error) { - SV_INFO("%f original reproj error for %u meas", (info[0] / meas_size * 2), (int)meas_size); - SV_INFO("%f cur reproj error", (info[1] / meas_size * 2)); + // SV_INFO("%f original reproj error for %u meas", (info[0] / meas_size * 2), (int)meas_size); + // SV_INFO("%f cur reproj error", (info[1] / meas_size * 2)); cnt = 0; } } - return status; // info[1] / meas_size * 2; + return rtn; } // Optimizes for LH position assuming object is posed at 0 @@ -411,6 +415,7 @@ int PoserSBA(SurviveObject *so, PoserData *pd) { SV_INFO("\tsba-sensor-variance-per-sec: %f", d->sensor_variance_per_second); SV_INFO("\tsba-time-window: %d", d->sensor_time_window); SV_INFO("\tsba-max-error: %f", d->max_error); + SV_INFO("\tsba-successes-to-reset: %d", d->successes_to_reset); SV_INFO("\tsba-use-imu: %d", d->useIMU); } SBAData *d = so->PoserData; @@ -421,11 +426,12 @@ int PoserSBA(SurviveObject *so, PoserData *pd) { return 0; SurviveSensorActivations *scene = &so->activations; PoserDataLight *lightData = (PoserDataLight *)pd; + SurvivePose estimate; // only process sweeps FLT error = -1; if (d->last_lh != lightData->lh || d->last_acode != lightData->acode) { - error = run_sba_find_3d_structure(d, lightData, scene, 100, .5); + error = run_sba_find_3d_structure(d, lightData, scene, 100, .5, &estimate); d->last_lh = lightData->lh; d->last_acode = lightData->acode; @@ -436,8 +442,16 @@ int PoserSBA(SurviveObject *so, PoserData *pd) { d->failures_to_reset_cntr--; } else { if (d->useIMU) { - survive_imu_tracker_set_pose(&d->tracker, lightData->timecode, &so->OutPose); + FLT var_meters = 0.5; + FLT var_quat = error + .05; + FLT var[7] = {error * var_meters, error * var_meters, error * var_meters, error * var_quat, + error * var_quat, error * var_quat, error * var_quat}; + + survive_imu_tracker_integrate_observation(so, lightData->timecode, &d->tracker, &estimate, var); + estimate = d->tracker.pose; } + + PoserData_poser_pose_func(&lightData->hdr, so, &estimate); if (d->successes_to_reset_cntr > 0) d->successes_to_reset_cntr--; } diff --git a/src/survive_cal.c b/src/survive_cal.c index 36e0a31..faf2ac7 100755 --- a/src/survive_cal.c +++ b/src/survive_cal.c @@ -81,7 +81,7 @@ void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet) config_set_lighthouse(ctx->lh_config,b,id); lighthouses_completed++; - if (lighthouses_completed >= NUM_LIGHTHOUSES) { + if (lighthouses_completed >= ctx->activeLighthouses) { config_save(ctx, survive_configs(ctx, "configfile", SC_GET, "config.json")); } } @@ -224,7 +224,7 @@ void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int ootx_pump_bit( &cd->ootx_decoders[lhid], dbit ); } int i; - for( i = 0; i < NUM_LIGHTHOUSES; i++ ) + for( i = 0; i < ctx->activeLighthouses; i++ ) if( ctx->bsd[i].OOTXSet == 0 ) break; if( i == ctx->activeLighthouses ) cd->stage = 2; //TODO: Make this configuratble to allow single lighthouse. } diff --git a/src/survive_imu.c b/src/survive_imu.c index e49da3e..36d1aeb 100644 --- a/src/survive_imu.c +++ b/src/survive_imu.c @@ -175,14 +175,14 @@ static void iterate_velocity(LinmathVec3d result, SurviveIMUTracker *tracker, do void survive_imu_tracker_integrate(SurviveObject *so, SurviveIMUTracker *tracker, PoserDataIMU *data) { if (tracker->last_data.timecode == 0) { - + tracker->pose.Rot[0] = 1.; if (tracker->last_data.datamask == imu_calibration_iterations) { tracker->last_data = *data; - tracker->pose.Rot[0] = 1.; const FLT up[3] = {0, 0, 1}; quatfrom2vectors(tracker->pose.Rot, tracker->updir, up); tracker->accel_scale_bias = 1. / magnitude3d(tracker->updir); + return; } @@ -216,5 +216,53 @@ void survive_imu_tracker_integrate(SurviveObject *so, SurviveIMUTracker *tracker scale3d(tracker->pose.Pos, next, 1); } + FLT var_meters = .000001; + FLT var_quat = .05; + const FLT Q[7] = {var_meters, var_meters, var_meters, var_quat, var_quat, var_quat, var_quat}; + + // Note that this implementation is somewhat truncated. Instead of modeling velocity and velocities + // covariance with position explicitly, we just square the variance for the position indexes. This + // gives more or less the same calculation without having to do matrix multiplication. + for (int i = 0; i < 3; i++) + tracker->P[i] = tracker->P[i] * tracker->P[i] + Q[i]; + for (int i = 3; i < 7; i++) + tracker->P[i] += Q[i]; + tracker->last_data = *data; } + +void survive_imu_tracker_integrate_observation(SurviveObject *so, uint32_t timecode, SurviveIMUTracker *tracker, + SurvivePose *pose, const FLT *R) { + // Kalman filter assuming: + // F -> Identity + // H -> Identity + // Q / R / P -> Diagonal matrices; just treat them as such. This assumption might need some checking but it + // makes the # of calculations needed much smaller so we may be willing to tolerate some approximation here + + FLT *xhat = &tracker->pose.Pos[0]; + FLT *zk = &pose->Pos[0]; + + FLT yk[7]; + for (int i = 0; i < 7; i++) + yk[i] = zk[i] - xhat[i]; + + FLT sk[7]; + for (int i = 0; i < 7; i++) + sk[i] = R[i] + tracker->P[i]; + + FLT K[7]; + for (int i = 0; i < 7; i++) + K[i] = tracker->P[i] / sk[i]; + + for (int i = 0; i < 7; i++) + xhat[i] += K[i] * yk[i]; + for (int i = 0; i < 7; i++) + tracker->P[i] *= (1. - K[i]); + + FLT time_diff = tick_difference(timecode, tracker->lastGTTime) / (FLT)so->timebase_hz; + for (int i = 0; i < 3; i++) + tracker->current_velocity[i] = 0.5 * (tracker->pose.Pos[i] - tracker->lastGT.Pos[i]) / time_diff; + + tracker->lastGTTime = timecode; + tracker->lastGT = tracker->pose; +}
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