From 3da18b263cb0cf1814cef374771d242c9591ed2d Mon Sep 17 00:00:00 2001 From: cnlohr Date: Tue, 13 Dec 2016 20:56:35 -0500 Subject: Add charles' camfind (DOES NOT WORK!!!) --- tools/planetest/camfind.c | 259 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 259 insertions(+) create mode 100644 tools/planetest/camfind.c (limited to 'tools/planetest/camfind.c') diff --git a/tools/planetest/camfind.c b/tools/planetest/camfind.c new file mode 100644 index 0000000..c1fba0e --- /dev/null +++ b/tools/planetest/camfind.c @@ -0,0 +1,259 @@ +#include +#include +#include "linmath.h" +#include + +#define PTS 32 +#define MAX_CHECKS 20000 + +double hmd_points[PTS*3]; +double hmd_point_angles[PTS*2]; +int hmd_point_counts[PTS*2]; +int LoadData( char Camera ); + +//Values used for RunTest() +float LighthousePos[3] = { 0, 0,0 }; +float LighthouseQuat[4] = { 1, 0, 0, 0 }; + +//Actual values +float xyzypr[6] = { 0, 0, 1, 0, 0, 0 }; + + +float RunOpti( int axis ); +float RunTest(); + +int main() +{ + int i; + + if( LoadData( 'L' ) ) return 5; + + int opti = 0; + int cycle = 0; + int axis = 0; + + float dx; + + float bestxyzypr[6]; + memcpy( bestxyzypr, xyzypr, sizeof( xyzypr ) ); + + float fullrange = 5; + for( cycle = 0; cycle < 10; cycle ++ ) + { + for( axis = 0; axis < 3; axis++ ) + { + float bestxyzyprrunning[6]; + float beste = 1e20; + for( dx = -fullrange; dx < fullrange; dx += fullrange/100 ) + { + memcpy( xyzypr, bestxyzypr, sizeof( xyzypr ) ); + xyzypr[axis] += dx; + xyzypr[3] = 0; + xyzypr[4] = 0; + xyzypr[5] = 0; + float ft; + for( opti = 3; opti < 6; opti++ ) + { + ft = RunOpti( opti ); + } + if( ft < beste ) { beste = ft; memcpy( bestxyzyprrunning, xyzypr, sizeof( xyzypr ) ); } + } + printf( "%f %f %f %f %f %f = %f\n", xyzypr[0], xyzypr[1], xyzypr[2], xyzypr[3], xyzypr[4], xyzypr[5], beste ); + memcpy( bestxyzypr, bestxyzyprrunning, sizeof( bestxyzypr ) ); + } + + fullrange *= 0.2; + } +} + + +float RunOpti( int axis ) +{ + float xyzyprchange[6]; + memcpy( xyzyprchange, xyzypr, sizeof( xyzypr ) ); + int i; + float minv = 1e20; + float fv = -1.3; + float bv = 0; + + //Coarse linear search + for( i = 0; i < 26; i++ ) + { + xyzyprchange[axis] = fv; + quatfromeuler( LighthouseQuat, &xyzyprchange[3] ); + memcpy( LighthousePos, &xyzyprchange[0], sizeof( LighthousePos ) ); + float ft = RunTest(); + if( ft < minv ) { minv = ft; bv = fv; } + fv += 0.1; + } + + xyzyprchange[axis] = bv; + + //Now, do a more precise binary search. + float jumpamount = 0.1; + for( i = 0; i < 30; i++ ) + { + float orig = xyzyprchange[axis]; + + minv = 1e20; + + fv = xyzyprchange[axis] = orig; + quatfromeuler( LighthouseQuat, &xyzyprchange[3] ); + memcpy( LighthousePos, &xyzyprchange[0], sizeof( LighthousePos ) ); + float ft = RunTest(); + if( ft < minv ) { minv = ft; bv = fv; } + + fv = xyzyprchange[axis] = orig + jumpamount; + quatfromeuler( LighthouseQuat, &xyzyprchange[3] ); + memcpy( LighthousePos, &xyzyprchange[0], sizeof( LighthousePos ) ); + ft = RunTest(); + if( ft < minv ) { minv = ft; bv = fv; } + + fv = xyzyprchange[axis] = orig - jumpamount; + quatfromeuler( LighthouseQuat, &xyzyprchange[3] ); + memcpy( LighthousePos, &xyzyprchange[0], sizeof( LighthousePos ) ); + ft = RunTest(); + if( ft < minv ) { minv = ft; bv = fv; } + + xyzyprchange[axis] = bv; + + jumpamount *= 0.5; + } + + + + xyzypr[axis] = bv; + return minv; +} + + +float RunTest() +{ + int k; + float totprob = 0.0; + for( k = 0; k < 64; k++ ) + { + if( hmd_point_counts[k] == 0 ) continue; + int axis = k%2; + int pt = k/2; + float angle = (hmd_point_angles[k] - 200000) / 200000 * 3.1415926535; + if( axis == 0 ) angle = -angle; + float thiseuler[3] = { 0, 0, 0 }; + thiseuler[axis] = angle; + //axis = 0: x changes. +y is rotated plane normal. + //axis = 1: y changes. +x is rotated plane normal. + float planequat[4]; + quatfromeuler( planequat, thiseuler ); + quatrotateabout( planequat, planequat, LighthouseQuat ); //Order of rotations may be wrong. + float plane_normal[3] = { 0, 0, 0 }; + plane_normal[!axis] = 1; + quatrotatevector( plane_normal, planequat, plane_normal ); + + //plane_normal is our normal / LighthousePos is our point. + float w0[] = { hmd_points[pt*3+0], hmd_points[pt*3+1], hmd_points[pt*3+2] }; + //float w0[] = { 0, 0, 0 }; + float d = plane_normal[0] * LighthousePos[0] + plane_normal[1] * LighthousePos[1] + plane_normal[2] * LighthousePos[2]; + float D = plane_normal[0] * w0[0] + plane_normal[1] * w0[1] + plane_normal[2] * w0[2] - d; //Point line distance assuming ||normal|| = 1. + + totprob += D*D; + + //printf( " : %f %f %f %f %f %f\n", plane_normal[0], plane_normal[1], plane_normal[2], 1.0, angle, hmd_point_angles[k] ); + } + return totprob; +} + + +int LoadData( char Camera ) +{ + int calpts[MAX_CHECKS*4]; //X (0) or Y (1), ID, offset + int calptscount; + + FILE * f = fopen( "correct_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\n", pt ); + return -8; + } + } + if( pt < PTS ) + { + fprintf( stderr, "Not enough points.\n" ); + return -9; + } + fclose( f ); + printf( "Loaded %d points\n", pt ); + + + int xck = 0; + f = fopen( "second_full_test.csv", "r" ); + if( !f ) { fprintf( stderr, "Error: can't open two lighthouses test data.\n" ); return -11; } + while( !feof(f) && !ferror(f) ) + { + char * lineptr; + size_t n; + lineptr = 0; + n = 0; + ssize_t r = getline( &lineptr, &n, f ); + char lf[10]; + char xory[10]; + char dev[10]; + int timestamp; + int sensorid; + int offset; + int code; + int rk = sscanf( lineptr, "%9s %9s %9s %d %d %d %d\n", lf, xory, dev, ×tamp, &sensorid, &code, &offset ); + if( lf[0] == Camera && rk == 7 ) + { + //calpts + if( xory[0] == 'X' ) + { + calpts[xck*3+0] = 0; + } + else if( xory[0] == 'Y' ) + { + calpts[xck*3+0] = 1; + } + else + { + printf( "Confusing line\n" ); + continue; + } + + calpts[xck*3+1] = sensorid; + calpts[xck*3+2] = offset; + xck++; + } + if( lineptr ) free( lineptr ); + } + printf( "Cal points: %d\n", xck ); + calptscount = xck; + + int i; + for( i = 0; i < calptscount; i++ ) + { + int isy = calpts[i*3+0]; + int pt = calpts[i*3+1]; + int ofs = calpts[i*3+2]; + hmd_point_counts[pt*2+isy]++; + hmd_point_angles[pt*2+isy]+=ofs; + } + for( i = 0; i < 32; i++ ) + { + if( hmd_point_counts[i*2+0] < 100 ) hmd_point_counts[i*2+0] = 0; + if( hmd_point_counts[i*2+1] < 100 ) hmd_point_counts[i*2+1] = 0; + + hmd_point_angles[i*2+0]/=hmd_point_counts[i*2+0]; + hmd_point_angles[i*2+1]/=hmd_point_counts[i*2+1]; + } + return 0; +} -- cgit v1.2.3