diff options
Diffstat (limited to 'tools/generate_reprojection_functions/check_generated.c')
| -rw-r--r-- | tools/generate_reprojection_functions/check_generated.c | 127 |
1 files changed, 127 insertions, 0 deletions
diff --git a/tools/generate_reprojection_functions/check_generated.c b/tools/generate_reprojection_functions/check_generated.c new file mode 100644 index 0000000..446e94f --- /dev/null +++ b/tools/generate_reprojection_functions/check_generated.c @@ -0,0 +1,127 @@ +#include "survive_reproject.full.generated.h" +#include <libsurvive/survive.h> +#include <libsurvive/survive_reproject.h> +#include <math.h> +#include <os_generic.h> + +void gen_survive_reproject_full(FLT *out, const SurvivePose *obj_pose, const LinmathVec3d obj_pt, + const SurvivePose *lh2world, const BaseStationData *bsd, + const survive_calibration_config *config) { + FLT phase_scale = config->use_flag & SVCal_Phase ? config->phase_scale : 0.; + FLT phase_0 = bsd->fcal.phase[0]; + FLT phase_1 = bsd->fcal.phase[1]; + + FLT tilt_scale = config->use_flag & SVCal_Tilt ? config->tilt_scale : 0.; + FLT tilt_0 = bsd->fcal.tilt[0]; + FLT tilt_1 = bsd->fcal.tilt[1]; + + FLT curve_scale = config->use_flag & SVCal_Curve ? config->curve_scale : 0.; + FLT curve_0 = bsd->fcal.curve[0]; + FLT curve_1 = bsd->fcal.curve[1]; + + FLT gib_scale = config->use_flag & SVCal_Gib ? config->gib_scale : 0; + FLT gibPhase_0 = bsd->fcal.gibpha[0]; + FLT gibPhase_1 = bsd->fcal.gibpha[1]; + FLT gibMag_0 = bsd->fcal.gibmag[0]; + FLT gibMag_1 = bsd->fcal.gibmag[1]; + + gen_reproject(out, obj_pose->Pos, obj_pt, lh2world->Pos, phase_scale, phase_0, phase_1, tilt_scale, tilt_0, tilt_1, + curve_scale, curve_0, curve_1, gib_scale, gibPhase_0, gibPhase_1, gibMag_0, gibMag_1); +} + +double next_rand(double mx) { return (float)rand() / (float)(RAND_MAX / mx) - mx / 2.; } + +SurvivePose random_pose() { + SurvivePose rtn = {.Pos = {next_rand(10), next_rand(10), next_rand(10)}, + .Rot = {next_rand(1), next_rand(1), next_rand(1), next_rand(1)}}; + + quatnormalize(rtn.Rot, rtn.Rot); + return rtn; +} + +void random_point(FLT *out) { + out[0] = next_rand(10); + out[1] = next_rand(10); + out[2] = next_rand(10); +} + +void print_pose(const SurvivePose *pose) { + printf("[%f %f %f] [%f %f %f %f]\n", pose->Pos[0], pose->Pos[1], pose->Pos[2], pose->Rot[0], pose->Rot[1], + pose->Rot[2], pose->Rot[3]); +} + +void check_rotate_vector() { + SurvivePose obj = random_pose(); + FLT pt[3]; + random_point(pt); + + int cycles = 1000000000; + FLT gen_out[3], out[3]; + double start, stop; + start = OGGetAbsoluteTime(); + for (int i = 0; i < cycles; i++) { + gen_quat_rotate_vector(gen_out, obj.Rot, pt); + } + stop = OGGetAbsoluteTime(); + printf("gen: %f %f %f (%f)\n", gen_out[0], gen_out[1], gen_out[2], stop - start); + + start = OGGetAbsoluteTime(); + for (int i = 0; i < cycles; i++) { + quatrotatevector(out, obj.Rot, pt); + } + stop = OGGetAbsoluteTime(); + + printf("%f %f %f (%f)\n", out[0], out[1], out[2], stop - start); +} + +void check_invert() { + SurvivePose obj = random_pose(); + SurvivePose gen_inv, inv; + gen_invert_pose(gen_inv.Pos, obj.Pos); + InvertPose(&inv, &obj); + + print_pose(&gen_inv); + print_pose(&inv); +} + +void check_reproject() { + SurvivePose obj = random_pose(); + LinmathVec3d pt; + random_point(pt); + SurvivePose lh = random_pose(); + + survive_calibration_config config; + BaseStationData bsd; + for (int i = 0; i < 10; i++) + *((FLT *)&bsd.fcal.phase[0] + i) = next_rand(1); + + for (int i = 0; i < 4; i++) + *((FLT *)&config.phase_scale + i) = next_rand(1); + + config.use_flag = (enum SurviveCalFlag)0xff; + FLT out_pt[2] = {0}; + int cycles = 10000000; + + double start_gen = OGGetAbsoluteTime(); + for (int i = 0; i < cycles; i++) { + gen_survive_reproject_full(out_pt, &obj, pt, &lh, &bsd, &config); + } + double stop_gen = OGGetAbsoluteTime(); + printf("gen: %f %f (%f)\n", out_pt[0], out_pt[1], stop_gen - start_gen); + + double start_reproject = OGGetAbsoluteTime(); + for (int i = 0; i < cycles; i++) + survive_reproject_full(out_pt, &obj, pt, &lh, &bsd, &config); + double stop_reproject = OGGetAbsoluteTime(); + + printf("%f %f (%f)\n", out_pt[0], out_pt[1], stop_reproject - start_reproject); + out_pt[0] = out_pt[1] = 0; +} + +int main() { + check_rotate_vector(); + check_invert(); + check_reproject(); + + return 0; +} |