From 074e6894ad75345b697763dfccc632c5959b1603 Mon Sep 17 00:00:00 2001 From: Mike Turvey Date: Tue, 30 May 2017 22:01:28 -0700 Subject: Adding comments --- src/poser_turveytori.c | 75 +++++++++++++++++++++++++++++++++++++++----------- 1 file changed, 59 insertions(+), 16 deletions(-) diff --git a/src/poser_turveytori.c b/src/poser_turveytori.c index 45a1122..e10a323 100644 --- a/src/poser_turveytori.c +++ b/src/poser_turveytori.c @@ -1253,21 +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); @@ -1278,6 +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]; @@ -1286,7 +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]; @@ -1305,9 +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; @@ -1334,17 +1349,31 @@ 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); + 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); 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 invRot[4]; + //quatgetreciprocal(invRot, rotQuat); + //quatrotateabout(newOrientation, invRot, so->ctx->bsd[lh].Pose.Rot); + ////quatrotateabout(newOrientation, so->ctx->bsd[lh].Pose.Rot, invRot); + so->OutPose.Pos[0] = wcPos[0]; so->OutPose.Pos[1] = wcPos[1]; @@ -1619,8 +1648,8 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) //quatrotatevector(norm, downQuat, norm); //quatrotatevector(point, downQuat, point); - rotatearoundaxis(norm, norm, axis, angle); - rotatearoundaxis(point, point, axis, angle); + //rotatearoundaxis(norm, norm, axis, angle); + //rotatearoundaxis(point, point, axis, angle); to->sensor[sensorCount].normal.x = norm[0]; @@ -1655,8 +1684,8 @@ int PoserTurveyTori( SurviveObject * so, PoserData * poserData ) //quatrotatevector(norm, downQuat, norm); //quatrotatevector(point, downQuat, point); - rotatearoundaxis(norm, norm, axis, angle); - rotatearoundaxis(point, point, axis, angle); + //rotatearoundaxis(norm, norm, axis, angle); + //rotatearoundaxis(point, point, axis, angle); to->sensor[sensorCount].normal.x = norm[0]; @@ -1678,6 +1707,20 @@ 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; -- cgit v1.2.3