From f442da3264111a012612194690a647f284ff3d68 Mon Sep 17 00:00:00 2001 From: cnlohr Date: Tue, 24 Jan 2017 01:28:56 -0500 Subject: add new lighthousefind --- tools/lighthousefind/Makefile | 10 + tools/lighthousefind/camfind.c | 460 +++++++++++++++++++++++++++++++++++++++++ 2 files changed, 470 insertions(+) create mode 100644 tools/lighthousefind/Makefile create mode 100644 tools/lighthousefind/camfind.c (limited to 'tools/lighthousefind') diff --git a/tools/lighthousefind/Makefile b/tools/lighthousefind/Makefile new file mode 100644 index 0000000..b3e2637 --- /dev/null +++ b/tools/lighthousefind/Makefile @@ -0,0 +1,10 @@ +all : camfind + +CFLAGS:=-g -O4 -DFLT=double -I../../redist -flto +LDFLAGS:=$(CFLAGS) -lm + +camfind : camfind.o ../../redist/linmath.c + gcc -o $@ $^ $(LDFLAGS) + +clean : + rm -rf *.o *~ camfind diff --git a/tools/lighthousefind/camfind.c b/tools/lighthousefind/camfind.c new file mode 100644 index 0000000..04b2bd6 --- /dev/null +++ b/tools/lighthousefind/camfind.c @@ -0,0 +1,460 @@ +#include +#include +#include "linmath.h" +#include +#include +#include + +#define PTS 32 +#define MAX_CHECKS 40000 +#define MIN_HITS_FOR_VALID 10 + +FLT hmd_points[PTS*3]; +FLT hmd_norms[PTS*3]; +FLT hmd_point_angles[PTS*2]; +int hmd_point_counts[PTS*2]; +int best_hmd_target = 0; +int LoadData( char Camera, const char * FileData ); + +//Values used for RunTest() +FLT LighthousePos[3] = { 0, 0, 0 }; +FLT LighthouseQuat[4] = { 1, 0, 0, 0 }; + +FLT RunOpti( int print ); +FLT RunTest( int print ); +void PrintOpti(); + +int main( int argc, char ** argv ) +{ + int i; + + if( argc != 3 ) + { + fprintf( stderr, "Error: usage: camfind [camera (L or R)] [datafile]\n" ); + exit( -1 ); + } + + //Load either 'L' (LH1) or 'R' (LH2) data. + if( LoadData( argv[1][0], argv[2] ) ) return 5; + + int opti = 0; + int cycle = 0; + int axis = 0; + + FLT dx, dy, dz; + + FLT bestxyz[3]; + memcpy( bestxyz, LighthousePos, sizeof( LighthousePos ) ); + + //STAGE1 1: Detemine vectoral position from lighthouse to target. Does not determine lighthouse-target distance. + //This also is constantly optimizing the lighthouse quaternion for optimal spotting. + FLT fullrange = 5; //Maximum search space for positions. (Relative to HMD) + + for( cycle = 0; cycle < 30; cycle ++ ) + { + + //Adjust position, one axis at a time, over and over until we zero in. + { + FLT bestxyzrunning[3]; + FLT beste = 1e20; + + FILE * f; + if( cycle == 0 ) + { + char filename[1024]; + sprintf( filename, "%c_lighthouse.dat", argv[1][0] ); + f = fopen( filename, "wb" ); + } + FLT splits = 4; + if( cycle == 0 ) splits = 32; + if( cycle == 1 ) splits = 13; + if( cycle == 2 ) splits = 10; + if( cycle == 3 ) splits = 8; + if( cycle == 4 ) splits = 5; + + for( dz = 0; dz < fullrange; dz += fullrange/splits ) + for( dy = -fullrange; dy < fullrange; dy += fullrange/splits ) + for( dx = -fullrange; dx < fullrange; dx += fullrange/splits ) + { + //Specificially adjust one axis at a time, searching for the best. + memcpy( LighthousePos, bestxyz, sizeof( LighthousePos ) ); + LighthousePos[0] += dx; + LighthousePos[1] += dy; + LighthousePos[2] += dz; + + FLT ft; + //Try refining the search for the best orientation several times. + ft = RunOpti(0); + if( cycle == 0 ) + { + float sk = ft*10.; + if( sk > 1 ) sk = 1; + uint8_t cell = (1.0 - sk) * 255; + FLT epsilon = 0.1; + + if( dz == 0 ) { /* Why is dz special? ? */ + if ( dx > -epsilon && dx < epsilon ) + cell = 255; + if ( dy > -epsilon && dy < epsilon ) + cell = 128; + } + + fprintf( f, "%c", cell ); + } + + if( ft < beste ) { beste = ft; memcpy( bestxyzrunning, LighthousePos, sizeof( LighthousePos ) ); } + } + + if( cycle == 0 ) + { + fclose( f ); + } + memcpy( bestxyz, bestxyzrunning, sizeof( bestxyz ) ); + + //Print out the quality of the lock this time. + FLT dist = sqrt(bestxyz[0]*bestxyz[0] + bestxyz[1]*bestxyz[1] + bestxyz[2]*bestxyz[2]); + printf( "%f %f %f (%f) = %f\n", bestxyz[0], bestxyz[1], bestxyz[2], dist, beste ); + } + + //Every cycle, tighten up the search area. + fullrange *= 0.25; + } + + //Use bestxyz + memcpy( LighthousePos, bestxyz, sizeof( LighthousePos ) ); + + //Optimize the quaternion for lighthouse rotation + RunOpti(1); + + printf( "Best Quat: %f %f %f %f\n", PFFOUR( LighthouseQuat ) ); + + //Print out plane accuracies with these settings. + FLT ft = RunTest(1); + printf( "Final RMS: %f\n", ft ); +} + +FLT RunOpti( int print ) +{ + int i, p; + FLT UsToTarget[3]; + FLT LastUsToTarget[3]; + FLT mux = .9; + quatsetnone( LighthouseQuat ); + + int first = 1, second = 0; + + //First check to see if this is a valid viewpoint. + + for( p = 0; p < 32; p++ ) + { + if( hmd_point_counts[p*2+0] < MIN_HITS_FOR_VALID || hmd_point_counts[p*2+1] < MIN_HITS_FOR_VALID ) continue; + FLT me_to_dot[3]; + sub3d( me_to_dot, LighthousePos, &hmd_points[p*3] ); + float dot = dot3d( &hmd_norms[p*3], me_to_dot ); + if( dot < -.01 ) { return 1000; } + } + + int iters = 6; + + for( i = 0; i < iters; i++ ) + { + first = 1; + for( p = 0; p < 32; p++ ) + { + if( hmd_point_counts[p*2+0] < MIN_HITS_FOR_VALID || hmd_point_counts[p*2+1] < MIN_HITS_FOR_VALID ) continue; + + //Find out where our ray shoots forth from. + FLT ax = hmd_point_angles[p*2+0]; + FLT ay = hmd_point_angles[p*2+1]; + + //NOTE: Inputs may never be output with cross product. + //Create a fictitious normalized ray. Imagine the lighthouse is pointed + //straight in the +z direction, this is the lighthouse ray to the point. + FLT RayShootOut[3] = { sin(ax), sin(ay), 0 }; + RayShootOut[2] = sqrt( 1 - (RayShootOut[0]*RayShootOut[0] + RayShootOut[1]*RayShootOut[1]) ); + FLT RayShootOutWorld[3]; + + //Rotate that ray by the current rotation estimation. + quatrotatevector( RayShootOutWorld, LighthouseQuat, RayShootOut ); + + //Find a ray from us to the target point. + sub3d( UsToTarget, &hmd_points[p*3], LighthousePos ); + if( magnitude3d( UsToTarget ) < 0.0001 ) { continue; } + normalize3d( UsToTarget, UsToTarget ); + + FLT RotatedLastUs[3]; + quatrotatevector( RotatedLastUs, LighthouseQuat, LastUsToTarget ); + + //Rotate the lighthouse around this axis to point at the HMD. + //If it's the first time, the axis is synthesized, if it's after that, use most recent point. + FLT ConcatQuat[4]; + FLT AxisToRotate[3]; + if( first ) + { + cross3d( AxisToRotate, RayShootOutWorld, UsToTarget ); + if( magnitude3d(AxisToRotate) < 0.0001 ) break; + normalize3d( AxisToRotate, AxisToRotate ); + //Don't need to worry about being negative, cross product will fix it. + FLT RotateAmount = anglebetween3d( RayShootOutWorld, UsToTarget ); + quatfromaxisangle( ConcatQuat, AxisToRotate, RotateAmount ); + } + else + { + FLT Target[3]; + FLT Actual[3]; + + copy3d( AxisToRotate, LastUsToTarget ); + //Us to target = normalized ray from us to where we should be. + //RayShootOut = where we would be pointing. + sub3d( Target, UsToTarget, AxisToRotate ); //XXX XXX XXX WARNING THIS MESSES STUFF UP. + sub3d( Actual, RayShootOutWorld, AxisToRotate ); + if( magnitude3d( Actual ) < 0.0001 || magnitude3d( Target ) < 0.0001 ) { continue; } + normalize3d( Target, Target ); + normalize3d( Actual, Actual ); + + cross3d( AxisToRotate, Actual, Target ); //XXX Check: AxisToRotate should be equal to LastUsToTarget. + if( magnitude3d( AxisToRotate ) < 0.000001 ) { continue; } + normalize3d( AxisToRotate,AxisToRotate ); + + //printf( "%f %f %f === %f %f %f : ", PFTHREE( AxisToRotate ), PFTHREE( LastUsToTarget ) ); + FLT RotateAmount = anglebetween3d( Actual, Target ) * mux; + //printf( "FA: %f (O:%f)\n", acos( dot3d( Actual, Target ) ), RotateAmount ); + quatfromaxisangle( ConcatQuat, AxisToRotate, RotateAmount ); + } + + quatrotateabout( LighthouseQuat, ConcatQuat, LighthouseQuat ); //Chekcked. This appears to be + + mux = mux * 0.94; + if( second ) { second = 0; } + if( first ) { first = 0; second = 1; } + copy3d( LastUsToTarget, RayShootOutWorld ); + } + } + + //Step 2: Determine error. + float errorsq = 0.0; + int count = 0; + for( p = 0; p < 32; p++ ) + { + if( hmd_point_counts[p*2+0] < MIN_HITS_FOR_VALID || hmd_point_counts[p*2+1] < MIN_HITS_FOR_VALID ) continue; + + //Find out where our ray shoots forth from. + FLT ax = hmd_point_angles[p*2+0]; + FLT ay = hmd_point_angles[p*2+1]; + FLT RayShootOut[3] = { sin(ax), sin(ay), 0 }; + RayShootOut[2] = sqrt( 1 - (RayShootOut[0]*RayShootOut[0] + RayShootOut[1]*RayShootOut[1]) ); + + //Rotate that ray by the current rotation estimation. + quatrotatevector( RayShootOut, LighthouseQuat, RayShootOut ); + + //Point-line distance. + //Line defined by LighthousePos & Direction: RayShootOut + + //Find a ray from us to the target point. + sub3d( UsToTarget, &hmd_points[p*3], LighthousePos ); + FLT xproduct[3]; + cross3d( xproduct, UsToTarget, RayShootOut ); + FLT dist = magnitude3d( xproduct ); + errorsq += dist*dist; + if( print ) printf( "%f (%d(%d/%d))\n", dist, p, hmd_point_counts[p*2+0], hmd_point_counts[p*2+1] ); + } + if( print ) printf( " = %f\n", sqrt( errorsq ) ); + return sqrt(errorsq); +} + + +FLT RunTest( int print ) +{ + int k; + FLT totprob = 0.0; + int ict = 0; + for( k = 0; k < PTS*2; k++ ) + { + if( hmd_point_counts[k] == 0 ) continue; + int axis = k%2; + int pt = k/2; + + FLT angle = hmd_point_angles[k]; + if( print ) printf( "%3d %3d : angle: %10f / ", axis, pt, angle ); + + //XXX TODO: This is critical. We need to properly define the planes. + FLT plane_normal[3] = { 0, 0, 0 }; + if( axis == 0 ) + { + plane_normal[0] = cos(angle); + plane_normal[2] =-sin(angle); + } + else + { + plane_normal[1] = cos(angle); + plane_normal[2] =-sin(angle); + } + + + quatrotatevector( plane_normal, LighthouseQuat, plane_normal ); //Rotate plane normal by concatenated rotation. + + //plane_normal is our normal / LighthousePos is our point. + FLT w0[] = { hmd_points[pt*3+0], hmd_points[pt*3+1], hmd_points[pt*3+2] }; + FLT d = -(plane_normal[0] * LighthousePos[0] + plane_normal[1] * LighthousePos[1] + plane_normal[2] * LighthousePos[2]); + FLT D = plane_normal[0] * w0[0] + plane_normal[1] * w0[1] + plane_normal[2] * w0[2] + d; + //Point line distance assuming ||normal|| = 1. + + FLT delta[] = { LighthousePos[0]-hmd_points[pt*3+0],LighthousePos[1]-hmd_points[pt*3+1],LighthousePos[2]-hmd_points[pt*3+2] }; + FLT dot = delta[0] * hmd_norms[pt*3+0] + delta[1] * hmd_norms[pt*3+1] + delta[2] * hmd_norms[pt*3+2]; +// if( dot < -0.04 ) totprob+=10000000000; + if( print ) printf( " %10f %10f N:%f\n", d, D, dot ); + totprob += (D*D); //Calculate RMS distance of incorrectitude. + + ict++; + } + + if( print ) + { + int p; + printf( "POS: %f %f %f %f\n", PFFOUR(LighthousePos ) ); + printf( "QUAT: %f %f %f %f\n", PFFOUR(LighthouseQuat ) ); + printf( "Imagespace comparison:\n" ); + for( p = 0; p < 32; p++ ) + { + if( hmd_point_counts[p*2+0] < MIN_HITS_FOR_VALID || hmd_point_counts[p*2+1] < MIN_HITS_FOR_VALID ) continue; + + FLT us_to_targ[3]; + sub3d( us_to_targ, &hmd_points[p*3] , LighthousePos ); + + //Unrotate us_to_targ. + FLT unrotate[4]; + quatgetconjugate( unrotate, LighthouseQuat ); + + quatrotatevector( us_to_targ, unrotate, us_to_targ ); + normalize3d( us_to_targ, us_to_targ ); + FLT x = asin( us_to_targ[0] ); + FLT y = asin( us_to_targ[1] ); + + printf( "%f %f %f %f\n", hmd_point_angles[p*2+0], hmd_point_angles[p*2+1], x, y ); + } + } + + + return sqrt(totprob/ict); +} + + +int LoadData( char Camera, const char * datafile ) +{ + int calpts[MAX_CHECKS*4]; //X (0) or Y (1), ID, offset + int calptscount; + + FILE * f = fopen( "HMD_points.csv", "r" ); + int pt = 0; + if( !f ) { fprintf( stderr, "error: can't open hmd points.\n" ); return -5; } + while(!feof(f) && !ferror(f) && pt < PTS) + { + float fa, fb, fc; + int r = fscanf( f,"%g %g %g\n", &fa, &fb, &fc ); + hmd_points[pt*3+0] = fa; + hmd_points[pt*3+1] = fb; + hmd_points[pt*3+2] = fc; + pt++; + if( r != 3 ) + { + fprintf( stderr, "Not enough entries on line %d of points\n", pt ); + return -8; + } + } + if( pt < PTS ) + { + fprintf( stderr, "Not enough points.\n" ); + return -9; + } + fclose( f ); + printf( "Loaded %d points\n", pt ); + + + f = fopen( "HMD_normals.csv", "r" ); + int nrm = 0; + if( !f ) { fprintf( stderr, "error: can't open hmd points.\n" ); return -5; } + while(!feof(f) && !ferror(f) && nrm < PTS) + { + float fa, fb, fc; + int r = fscanf( f,"%g %g %g\n", &fa, &fb, &fc ); + hmd_norms[nrm*3+0] = fa; + hmd_norms[nrm*3+1] = fb; + hmd_norms[nrm*3+2] = fc; + nrm++; + if( r != 3 ) + { + fprintf( stderr, "Not enough entries on line %d of normals\n", nrm ); + return -8; + } + } + if( nrm < PTS ) + { + fprintf( stderr, "Not enough points.\n" ); + return -9; + } + if( nrm != pt ) + { + fprintf( stderr, "point/normal counts disagree.\n" ); + return -9; + } + fclose( f ); + printf( "Loaded %d norms\n", nrm ); + + int xck = 0; + f = fopen( datafile, "r" ); + if( !f ) + { + fprintf( stderr, "Error: cannot open processed_data.txt\n" ); + exit -11; + } + int lineno = 0; + while( !feof( f ) ) + { + //Format: + // HMD LX 0 3433 173656.227498 327.160210 36.342361 2.990936 + lineno++; + char devn[10]; + char inn[10]; + int id; + int pointct; + double avgTime; + double avgLen; + double stddevTime; + double stddevLen; + int ct = fscanf( f, "%9s %9s %d %d %lf %lf %lf %lf\n", devn, inn, &id, &pointct, &avgTime, &avgLen, &stddevTime, &stddevLen ); + if( ct == 0 ) continue; + if( ct != 8 ) + { + fprintf( stderr, "Malformatted line, %d in processed_data.txt\n", lineno ); + } + if( strcmp( devn, "HMD" ) != 0 ) continue; + + if( inn[0] != Camera ) continue; + + int isy = inn[1] == 'Y'; + + hmd_point_angles[id*2+isy] = ( avgTime - 200000 ) / 200000 * 3.1415926535/2.0; + hmd_point_counts[id*2+isy] = pointct; + } + fclose( f ); + + + int targpd; + int maxhits = 0; + + for( targpd = 0; targpd < PTS; targpd++ ) + { + int hits = hmd_point_counts[targpd*2+0]; + if( hits > hmd_point_counts[targpd*2+1] ) hits = hmd_point_counts[targpd*2+1]; + //Need an X and a Y lock. + + if( hits > maxhits ) { maxhits = hits; best_hmd_target = targpd; } + } + if( maxhits < MIN_HITS_FOR_VALID ) + { + fprintf( stderr, "Error: Not enough data for a primary fix.\n" ); + } + + return 0; +} + -- cgit v1.2.3