//EXPERIMENTAL DRIVER - DO NOT USE #include #include #include #include "epnp/epnp.h" #include "linmath.h" #include #include #include #include #define MAX_PT_PER_SWEEP 32 typedef struct { int sweepaxis; int sweeplh; 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; int PoserCharlesRefine(SurviveObject *so, PoserData *pd) { CharlesPoserData * dd = so->PoserData; if( !dd ) so->PoserData = dd = calloc( sizeof(CharlesPoserData), 1 ); SurviveSensorActivations *scene = &so->activations; switch (pd->pt) { case POSERDATA_IMU: { // Really should use this... PoserDataIMU *imuData = (PoserDataIMU *)pd; //TODO: Actually do Madgwick's algorithm LinmathQuat applymotion; const SurvivePose * object_pose = &so->OutPose; imuData->gyro[0] *= -0.0005; imuData->gyro[1] *= -0.0005; imuData->gyro[2] *= 0.0005; quatfromeuler( applymotion, imuData->gyro ); //printf( "%f %f %f\n", imuData->gyro [0], imuData->gyro [1], imuData->gyro [2] ); SurvivePose object_pose_out; quatrotateabout(object_pose_out.Rot, object_pose->Rot, applymotion ); copy3d( object_pose_out.Pos, object_pose->Pos ); PoserData_poser_raw_pose_func(pd, so, 0, &object_pose_out); return 0; } case POSERDATA_LIGHT: { int i; PoserDataLight *ld = (PoserDataLight *)pd; int lhid = ld->lh; int senid = ld->sensor_id; BaseStationData * bsd = &so->ctx->bsd[ld->lh]; if( !bsd->PositionSet ) break; SurvivePose * lhp = &bsd->Pose; FLT angle = ld->angle; int sensor_id = ld->sensor_id; int axis = dd->sweepaxis; const SurvivePose * object_pose = &so->OutPose; dd->sweeplh = lhid; //FOR NOW, drop LH1. //if( lhid == 1 ) break; // const FLT * sensor_normal = &so->sensor_normals[senid*3]; // FLT sensor_normal_worldspace[3]; // ApplyPoseToPoint(sensor_normal_worldspace, object_pose, sensor_inpos); 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]; sub3d( sensorpos_rel_lh, sensor_position_worldspace, lhp->Pos ); //Next, define a normal in global space of the plane created by the sweep hit. //Careful that this must be normalized. FLT sweep_normal[3]; //If 1, the "y" axis. //XXX Check me. if( axis ) //XXX Just FYI this should include account for skew { sweep_normal[0] = 0; sweep_normal[1] = cos(angle ); sweep_normal[2] = sin( angle ); //printf( "+" ); } else { sweep_normal[0] = cos( angle ); sweep_normal[1] = 0; sweep_normal[2] = -sin( angle ); //printf( "-" ); } //Need to apply the lighthouse's transformation to the sweep's normal. quatrotatevector( sweep_normal, lhp->Rot, sweep_normal); //Compute point-line distance between sensorpos_rel_lh and the plane defined by sweep_normal. //Do this by projecting sensorpos_rel_lh (w) onto sweep_normal (v). //You can do this by |v dot w| / |v| ... But we know |v| is 1. So... FLT dist = dot3d( sensorpos_rel_lh, sweep_normal ); if( (i = dd->ptsweep) < MAX_PT_PER_SWEEP ) { 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; memcpy( &dd->object_pose_at_hit[i], object_pose, sizeof(SurvivePose) ); dd->ptsweep++; } return 0; } case POSERDATA_SYNC: { PoserDataLight *l = (PoserDataLight *)pd; int lhid = l->lh; //you can get sweepaxis and sweeplh. if( dd->ptsweep ) { 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; //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 0.8 //Explodes if you exceed 1.0 #define CORRECT_TELESCOPTION_COEFFICIENT 8.0 //Converges even as high as 10.0 and doesn't explode. #define CORRECT_ROTATION_COEFFICIENT 1.0 //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 //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; } //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); //We have "Average error" now. A vector in worldspace. //This can correct for lateral error, but not distance from camera. //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 ); } //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; } //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); zoom *= CORRECT_TELESCOPTION_COEFFICIENT; FLT veccamalong[3]; sub3d( veccamalong, lh_pose->Pos, object_pose->Pos ); normalize3d( veccamalong, veccamalong ); scale3d( veccamalong, veccamalong, zoom ); add3d( vec_correct, veccamalong, vec_correct ); } 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 ); } //Janky need to do this somewhere else... This initializes the pose estimator. if( so->PoseConfidence < .01 ) { 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; } PoserData_poser_raw_pose_func(pd, so, lhid, &object_pose_out); dd->ptsweep = 0; } dd->sweepaxis = l->acode & 1; //printf( "SYNC %d %p\n", l->acode, dd ); break; } case POSERDATA_FULL_SCENE: { //return opencv_solver_fullscene(so, (PoserDataFullScene *)(pd)); } } return -1; } REGISTER_LINKTIME(PoserCharlesRefine);