From 41b2091f9be605b39ce33f3ce8bb47ab1aeabcc7 Mon Sep 17 00:00:00 2001 From: cnlohr Date: Thu, 15 Dec 2016 22:57:51 -0500 Subject: Remove old planetest --- tools/planetest/camfind.c | 385 ---------------------------------------------- 1 file changed, 385 deletions(-) delete mode 100644 tools/planetest/camfind.c (limited to 'tools/planetest/camfind.c') diff --git a/tools/planetest/camfind.c b/tools/planetest/camfind.c deleted file mode 100644 index 1e9b2b9..0000000 --- a/tools/planetest/camfind.c +++ /dev/null @@ -1,385 +0,0 @@ -#include -#include -#include "linmath.h" -#include -#include - -#define PTS 32 -#define MAX_CHECKS 20000 - -FLT hmd_points[PTS*3]; -FLT hmd_norms[PTS*3]; -FLT hmd_point_angles[PTS*2]; -int hmd_point_counts[PTS*2]; -int LoadData( char Camera ); - -//Values used for RunTest() -FLT LighthousePos[3] = { 0, 0, 0 }; -FLT LighthouseQuat[4] = { 1, 0, 0, 0 }; - -//Actual values -FLT xyzypr[6] = { 0, 2, 2, 0, 0, 0 }; - - -FLT RunOpti( int axis ); -FLT RunTest( int print ); -void PrintOpti(); - -int main() -{ - int i; - - //Load either 'L' (LH1) or 'R' (LH2) data. - if( LoadData( 'R' ) ) return 5; - - int opti = 0; - int cycle = 0; - int axis = 0; - - FLT dx, dy, dz; - - FLT bestxyzypr[6]; - memcpy( bestxyzypr, xyzypr, sizeof( xyzypr ) ); - - FLT fullrange = 5; //Maximum search space for positions. (Relative to HMD) - for( cycle = 0; cycle < 20; cycle ++ ) - { - - //Adjust position, one axis at a time, over and over until we zero in. -#define FULLSEARCH - -#ifndef FULLSEARCH - for( axis = 0; axis < 3; axis++ ) -#endif - { - FLT bestxyzyprrunning[6]; - FLT beste = 1e20; - - //Try a bunch of points in this axis. -#ifdef FULLSEARCH - for( dz = -fullrange; dz <= fullrange; dz += fullrange/3 ) - for( dy = -fullrange; dy <= fullrange; dy += fullrange/3 ) - for( dx = -fullrange; dx <= fullrange; dx += fullrange/3 ) - { -#else - for( dx = -fullrange; dx <= fullrange; dx += fullrange/5 ) - { -#endif - //Specificially adjust one axis at a time, searching for the best. - memcpy( xyzypr, bestxyzypr, sizeof( xyzypr ) ); -#ifdef FULLSEARCH - xyzypr[0] += dx; - xyzypr[1] += dy; - xyzypr[2] += dz; -#else - xyzypr[axis] += dx; -#endif - //if( axis == 2 && xyzypr[2] < 0 ) continue; - - xyzypr[3] = 0; - xyzypr[4] = 0; - xyzypr[5] = 0; - FLT ft; - int reopt = 0; - - //Try refining the search for the best orientation several times. - for( reopt = 0; reopt < 4; reopt++ ) - { - //XXX This search mechanism is insufficient :( - //Search through each axis every time. - for( opti = 3; opti < 6; opti++ ) - { - ft = RunOpti( opti ); - } - if( ft < beste ) { beste = ft; memcpy( bestxyzyprrunning, xyzypr, sizeof( xyzypr ) ); } - } - //printf( " %f %f %f %f\n", xyzypr[0], xyzypr[1], xyzypr[2], ft ); -#ifndef FULLSEARCH - memcpy( bestxyzypr, bestxyzyprrunning, sizeof( bestxyzypr ) ); -#endif - } -#ifdef FULLSEARCH - memcpy( bestxyzypr, bestxyzyprrunning, sizeof( bestxyzypr ) ); -#endif - - //Print out the quality of the lock this time. - FLT dist = sqrt(bestxyzypr[0]*bestxyzypr[0] + bestxyzypr[1]*bestxyzypr[1] + bestxyzypr[2]*bestxyzypr[2]); - printf( "%f %f %f (%f) %f %f %f = %f\n", bestxyzypr[0], bestxyzypr[1], bestxyzypr[2], dist, bestxyzypr[3], bestxyzypr[4], bestxyzypr[5], beste ); - } -/* - if( bestxyzypr[2] < 0 ) - { - bestxyzypr[0] *= -1; - bestxyzypr[1] *= -1; - bestxyzypr[2] *= -1; - } -*/ - //Every cycle, tighten up the search area. - fullrange *= 0.6; - } - - //Use bestxyzypr - memcpy( xyzypr, bestxyzypr, sizeof( xyzypr ) ); - - - //Print out plane accuracies with these settings. - PrintOpti(); -} - -void PrintOpti() -{ - FLT xyzyprchange[6]; - memcpy( xyzyprchange, xyzypr, sizeof( xyzypr ) ); - quatfromeuler( LighthouseQuat, &xyzyprchange[3] ); - memcpy( LighthousePos, &xyzyprchange[0], sizeof( LighthousePos ) ); - FLT ft = RunTest(1); - printf( "Final RMS: %f\n", ft ); -} - - -FLT RunOpti( int axis ) -{ - FLT xyzyprchange[6]; - memcpy( xyzyprchange, xyzypr, sizeof( xyzypr ) ); - int i; - FLT minv = 1e20; - FLT fv = -3.3; - FLT bv = 0; - - - //Coarse linear search first, try to figure out about where - for( i = 0; i < 33*2; i++ ) - { - xyzyprchange[axis] = fv; - quatfromeuler( LighthouseQuat, &xyzyprchange[3] ); - memcpy( LighthousePos, &xyzyprchange[0], sizeof( LighthousePos ) ); - FLT ft = RunTest(0); - //printf( " %d / %f = %f\n", ft, fv ); - if( ft < minv ) { minv = ft; bv = fv; } - fv += 0.1; - } - - xyzyprchange[axis] = bv; -#if 1 - //Now, do a more precise binary-ish search. - FLT jumpamount = 0.15; - for( i = 0; i < 20; i++ ) - { - FLT orig = xyzyprchange[axis]; - - minv = 1e20; - - //When searching, consider 'less' 'this' and 'more' - - fv = xyzyprchange[axis] = orig; - quatfromeuler( LighthouseQuat, &xyzyprchange[3] ); - memcpy( LighthousePos, &xyzyprchange[0], sizeof( LighthousePos ) ); - FLT ft = RunTest(0); - if( ft < minv ) { minv = ft; bv = fv; } - - fv = xyzyprchange[axis] = orig + jumpamount; - quatfromeuler( LighthouseQuat, &xyzyprchange[3] ); - memcpy( LighthousePos, &xyzyprchange[0], sizeof( LighthousePos ) ); - ft = RunTest(0); - if( ft < minv ) { minv = ft; bv = fv; } - - fv = xyzyprchange[axis] = orig - jumpamount; - quatfromeuler( LighthouseQuat, &xyzyprchange[3] ); - memcpy( LighthousePos, &xyzyprchange[0], sizeof( LighthousePos ) ); - ft = RunTest(0); - if( ft < minv ) { minv = ft; bv = fv; } - - xyzyprchange[axis] = bv; - - //Tighten up search area. Doing by 0.5 can cause unusual instabilities. - jumpamount *= 0.6; - } -#endif - xyzypr[axis] = bv; - return minv; -} - - -FLT RunTest( int print ) -{ - int k; - FLT totprob = 0.0; - int ict = 0; - for( k = 0; k < 64; 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( "%d %d : angle: %f / ", 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[1] = cos(angle); - plane_normal[2] =-sin(angle); - } - else - { - plane_normal[0] =-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] }; - -//May be able to remove this. -// FLT w0[] = { hmd_points[pt*3+0], hmd_points[pt*3+2],-hmd_points[pt*3+1] }; //XXX WRONG Why does this produce the right answers? - - //FLT w0[] = { 0, 0, 0 }; - 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( " %f %f N:%f\n", d, D, dot ); - totprob += (D*D); //Calculate RMS distance of incorrectitude. - - ict++; - } - return sqrt(totprob/ict); -} - - -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 ); - - - 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\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( "third_test_with_time_lengths.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 length; - int rk = sscanf( lineptr, "%9s %9s %9s %d %d %d %d %d\n", lf, xory, dev, ×tamp, &sensorid, &code, &offset, &length ); - if( lf[0] == Camera && rk == 8 ) - { - //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]; - hmd_point_angles[i*2+0] = (hmd_point_angles[i*2+0] - 200000) / 200000 * 3.1415926535/2; // Is it really 800,000 ticks per revolution? - hmd_point_angles[i*2+1] = (hmd_point_angles[i*2+1] - 200000) / 200000 * 3.1415926535/2; // Is it really 800,000 ticks per revolution? - } - - - - - return 0; -} -- cgit v1.2.3