From 3298e29594c0655e92afca195e6ef13582e5f017 Mon Sep 17 00:00:00 2001 From: cnlohr Date: Tue, 3 Apr 2018 21:56:50 -0400 Subject: The reuslts are incredibly stable. Need to test on the opi. --- src/poser_charlesrefine.c | 366 +++++++++++++++++++++++++--------------------- 1 file changed, 201 insertions(+), 165 deletions(-) (limited to 'src/poser_charlesrefine.c') diff --git a/src/poser_charlesrefine.c b/src/poser_charlesrefine.c index 4d44722..e6f6a57 100644 --- a/src/poser_charlesrefine.c +++ b/src/poser_charlesrefine.c @@ -9,6 +9,7 @@ #include #include #include +#include #define MAX_PT_PER_SWEEP 32 @@ -17,8 +18,10 @@ typedef struct { int sweepaxis; int sweeplh; - FLT normal_at_errors[MAX_PT_PER_SWEEP][3]; - FLT quantity_errors[MAX_PT_PER_SWEEP] + 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; @@ -51,7 +54,7 @@ int PoserCharlesRefine(SurviveObject *so, PoserData *pd) { dd->sweeplh = lhid; //FOR NOW, drop LH1. - if( lhid == 1 ) break; + //if( lhid == 1 ) break; // const FLT * sensor_normal = &so->sensor_normals[senid*3]; @@ -60,7 +63,11 @@ int PoserCharlesRefine(SurviveObject *so, PoserData *pd) { 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]; @@ -96,200 +103,229 @@ int PoserCharlesRefine(SurviveObject *so, PoserData *pd) { if( (i = dd->ptsweep) < MAX_PT_PER_SWEEP ) { - dd->normal_at_errors[i] = sweep_normal; + 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; - dd->ptsweep++: + memcpy( &dd->object_pose_at_hit[i], object_pose, sizeof(SurvivePose) ); + dd->ptsweep++; } -#if 0 - printf( "D %d %d: %f [%f %f %f]\n", lhid, axis, dist, sweep_normal[0], sweep_normal[1], sweep_normal[2] ); + return 0; + } + case POSERDATA_SYNC: { + PoserDataLight *l = (PoserDataLight *)pd; + int lhid = l->lh; - //Naieve approach... Push it in the right direction - SurvivePose object_pose_out; - quatcopy( object_pose_out.Rot, object_pose->Rot ); - scale3d(sweep_normal, sweep_normal, -0.1*dist); - add3d(object_pose_out.Pos, sweep_normal, object_pose->Pos); - if( so->PoseConfidence < .01 ) + //you can get sweepaxis and sweeplh. + if( dd->ptsweep ) { - dd->average_nudge[0] = 0; - dd->average_nudge[1] = 0; - dd->average_nudge[2] = 0; - - memcpy( &object_pose_out, &LinmathPose_Identity, sizeof( LinmathPose_Identity ) ); - object_pose_out.Pos[1] = 2.5; - object_pose_out.Pos[2] = 1.8; - so->PoseConfidence = 1.0; - } -// printf( "%f %f %f %f\n", object_pose->Rot[0], object_pose->Rot[1], object_pose->Rot[2], object_pose->Rot[3] ); - - PoserData_poser_raw_pose_func(pd, so, lhid, &object_pose_out); -#endif - -#if 0 -// = { - axis?0.0:sin(angle), - axis?sin(angle):0.0, - cos(angle) }; - - = sensor_locations; - LinmathPoint3d - int8_t sensor_ct; // sensor count - FLT *sensor_locations; // size is sensor_ct*3. Contains x,y,z values for each sensor - FLT *sensor_normals; // size is nrlocations*3. cointains normal vector for each sensor - - - // This is the quat equivalent of 'pout = pose * pin' if pose were a 4x4 matrix in homogenous space -void ApplyPoseToPoint(LinmathPoint3d pout, const LinmathPose *pose, const LinmathPoint3d pin); + 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; - SurvivePose obj2world; -// ApplyPoseToPose(&obj2world, &lh2world, &objpose); - memcpy( &obj2world, &LinmathPose_Identity, sizeof( obj2world ) ); - obj2world.Pos[1] = 1; - PoserData_poser_raw_pose_func(pd, so, lhid, &obj2world); -// PoserData_poser_raw_pose_func(pd, so, ld->lh, &posers[lightData->lh]); +//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 0.2 //Explodes if you exceed 1.0 +#define CORRECT_TELESCOPTION_COEFFICIENT 1.0 //Converges even as high as 10.0 and doesn't explode. +#define CORRECT_ROTATION_COEFFICIENT 5.0 //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 - // Pose Information, also "poser" field. - ///from SurviveObject - // FLT PoseConfidence; // 0..1 - // SurvivePose OutPose; // Final pose? (some day, one can dream!) - // SurvivePose FromLHPose[NUM_LIGHTHOUSES]; // Filled out by poser, contains computed position from each lighthouse. - // void *PoserData; // Initialized to zero, configured by poser, can be anything the poser wants. - // PoserCB PoserFn; + //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; + } - // printf( "%d %d %f\n", ld->sensor_id, ld->lh, ld->angle ); + //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); -/* - SurvivePose *object_pose, void *user); + //We have "Average error" now. A vector in worldspace. + //This can correct for lateral error, but not distance from camera. -typedef struct -{ - PoserType pt; - poser_raw_pose_func rawposeproc; - poser_lighthouse_pose_func lighthouseposeproc; - void *userdata; -} PoserData; - - PoserData hdr; - int sensor_id; - int acode; //OOTX Code associated with this sweep. bit 1 indicates vertical(1) or horizontal(0) sweep - int lh; //Lighthouse making this sweep - uint32_t timecode; //In object-local ticks. - FLT length; //In seconds - FLT angle; //In radians from center of lighthouse. -} PoserDataLight; - - - -*/ -#if 0 - SurvivePose posers[2]; - int meas[2] = {0, 0}; - for (int lh = 0; lh < so->ctx->activeLighthouses; lh++) { - if (so->ctx->bsd[lh].PositionSet) { - epnp pnp = {.fu = 1, .fv = 1}; - epnp_set_maximum_number_of_correspondences(&pnp, so->sensor_ct); - - add_correspondences(so, &pnp, scene, lightData->timecode, lh); - static int required_meas = -1; - if (required_meas == -1) - required_meas = survive_configi(so->ctx, "epnp-required-meas", SC_GET, 4); - - if (pnp.number_of_correspondences > required_meas) { - - SurvivePose objInLh = solve_correspondence(so, &pnp, false); - if (quatmagnitude(objInLh.Rot) != 0) { - SurvivePose *lh2world = &so->ctx->bsd[lh].Pose; - - SurvivePose txPose = {.Rot = {1}}; - ApplyPoseToPose(&txPose, lh2world, &objInLh); - posers[lh] = txPose; - meas[lh] = pnp.number_of_correspondences; - } - } - - epnp_dtor(&pnp); + //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 ); } - } - if (meas[0] > 0 && meas[1] > 0) { - SurvivePose interpolate = {0}; - bool winnerTakesAll = true; // Not convinced slerp does the right thing, will change this when i am - - if (winnerTakesAll) { - int winner = meas[0] > meas[1] ? 0 : 1; - PoserData_poser_raw_pose_func(pd, so, winner, &posers[winner]); - } else { - double a, b; - a = meas[0] * meas[0]; - b = meas[1] * meas[1]; - - double t = a + b; - for (size_t i = 0; i < 3; i++) { - interpolate.Pos[i] = (posers[0].Pos[i] * a + posers[1].Pos[i] * b) / (t); + //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; } - quatslerp(interpolate.Rot, posers[0].Rot, posers[1].Rot, b / (t)); - PoserData_poser_raw_pose_func(pd, so, lightData->lh, &interpolate); - } - } else { - if (meas[lightData->lh]) - PoserData_poser_raw_pose_func(pd, so, lightData->lh, &posers[lightData->lh]); - } -#endif -#endif - return 0; - } + //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); - case POSERDATA_SYNC: { - PoserDataLight *l = (PoserDataLight *)pd; - int lhid = l->lh; + zoom *= CORRECT_TELESCOPTION_COEFFICIENT; - //you can get sweepaxis and sweeplh. + FLT veccamalong[3]; + sub3d( veccamalong, lh_pose->Pos, object_pose->Pos ); + normalize3d( veccamalong, veccamalong ); + scale3d( veccamalong, veccamalong, zoom ); + add3d( vec_correct, veccamalong, vec_correct ); + } - if( dd->ptsweep ) - { - int i; - int lhid = dd->lhid; - int pts = dd->ptsweep; - const SurvivePose * object_pose = &so->OutPose; - FLT avg_err[3] = { 0, 0, 0 }; - FLT avgtot = 0.0; - for( i = 0; i < pts; i++ ) - { - FLT * nrm = dd->normal_at_errors[pts]; - FLT qty = quantity_errors[pts]; - avgtot += qty; - avg_err[0] = avg_err[0] + nrm[0] * qty; - avg_err[1] = avg_err[1] + nrm[1] * qty; - avg_err[2] = avg_err[2] + nrm[2] * qty; + 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 ); } - scale3d(avg_err, avg_err, 1./pts); - //We have "Average error" now. This is a world space value. - //This can correct for lateral error, but not distance from camera. - - //Next we need to find out what the weighting is to determine "zoom" - //How do we do this? ??? Too tired to math. - FLT weight = 0.0; - for( i = 0; i < pts; i++ ) + + //Janky need to do this somewhere else... This initializes the pose estimator. + if( so->PoseConfidence < .01 ) { - //??!?!? Sturfff + memcpy( &object_pose_out, &LinmathPose_Identity, sizeof( LinmathPose_Identity ) ); + object_pose_out.Pos[0] = -0.14372776; + object_pose_out.Pos[1] = 0.06856518; + object_pose_out.Pos[2] = 0.01960009; + object_pose_out.Rot[0] = 1.0; + object_pose_out.Rot[1] = -0.0; + object_pose_out.Rot[2] = 0.0; + object_pose_out.Rot[3] = 0.0; + so->PoseConfidence = 1.0; } - dd->ptsweep = 0; + PoserData_poser_raw_pose_func(pd, so, lhid, &object_pose_out); - //Update PoserData_poser_raw_pose_func(pd, so, lhid, &object_pose_out); + dd->ptsweep = 0; } - dd->nextaxis = l->acode & 1; - printf( "SYNC %d %p\n", l->acode, dd ); + dd->sweepaxis = l->acode & 1; + //printf( "SYNC %d %p\n", l->acode, dd ); break; } case POSERDATA_FULL_SCENE: { -- cgit v1.2.3