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// (C) 2016, 2017 Joshua Allen, MIT/x11 License.
// (C) 2016, 2017 <>< C. N. Lohr, Under MIT/x11 License.
// All OOTX code was written by J. Allen. Rest of the code is probably mostly CNLohr.
//
// This file is primarily geared to the calibration phase, to produce the world cal information.
// Once world cal is produced, it's unlikely you will need this file at all. The plan is
// to not include it at all on any stripped-down versions of libsurvive.
//
#include "survive_cal.h"
#include "survive_internal.h"
#include <math.h>
#include <string.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <linmath.h>
#include "survive_config.h"
#define PTS_BEFORE_COMMON 32
#define NEEDED_COMMON_POINTS 10
#define MIN_SENSORS_VISIBLE_PER_LH_FOR_CAL 4
#define NEEDED_TIMES_OF_COMMON 5
#define DRPTS_NEEDED_FOR_AVG ((int)(DRPTS*3/4))
static void handle_calibration( struct SurviveCalData *cd );
static void reset_calibration( struct SurviveCalData * cd );
void ootx_packet_clbk_d(ootx_decoder_context *ct, ootx_packet* packet)
{
static uint8_t lighthouses_completed = 0;
SurviveContext * ctx = (SurviveContext*)(ct->user);
SurviveCalData * cd = ctx->calptr;
int id = ct->user1;
SV_INFO( "Got OOTX packet %d %p", id, cd );
lighthouse_info_v6 v6;
init_lighthouse_info_v6(&v6, packet->data);
BaseStationData * b = &ctx->bsd[id];
//print_lighthouse_info_v6(&v6);
b->BaseStationID = v6.id;
b->fcalphase[0] = v6.fcal_0_phase;
b->fcalphase[1] = v6.fcal_1_phase;
b->fcaltilt[0] = tan(v6.fcal_0_tilt);
b->fcaltilt[1] = tan(v6.fcal_1_tilt); //XXX??? Is this right? See https://github.com/cnlohr/libsurvive/issues/18
b->fcalcurve[0] = v6.fcal_0_curve;
b->fcalcurve[1] = v6.fcal_1_curve;
b->fcalgibpha[0] = v6.fcal_0_gibphase;
b->fcalgibpha[1] = v6.fcal_1_gibphase;
b->fcalgibmag[0] = v6.fcal_0_gibmag;
b->fcalgibmag[1] = v6.fcal_1_gibmag;
b->OOTXSet = 1;
config_set_lighthouse(ctx->lh_config,b,id);
lighthouses_completed++;
if (lighthouses_completed >= NUM_LIGHTHOUSES) {
config_save(ctx, "config.json");
}
}
int survive_cal_get_status( struct SurviveContext * ctx, char * description, int description_length )
{
struct SurviveCalData * cd = ctx->calptr;
switch( cd->stage )
{
case 0:
return snprintf( description, description_length, "0 Not calibrating" );
case 1:
return snprintf( description, description_length, "1 Collecting OOTX Data (%d:%d)", cd->ootx_decoders[0].buf_offset, cd->ootx_decoders[1].buf_offset );
case 2:
case 3:
if( cd->found_common )
{
return snprintf( description, description_length, "%d Collecting Sweep Data %d/%d", cd->stage, cd->peak_counts, DRPTS );
}
else
{
return snprintf( description, description_length, "%d Searching for common watchman cal %d/%d (%d/%d)", cd->stage, cd->peak_counts, PTS_BEFORE_COMMON, cd->times_found_common, NEEDED_TIMES_OF_COMMON );
}
case 5:
return snprintf( description, description_length, "%d LH Find complete.", cd->stage );
case 4:
default:
return snprintf( description, description_length, "%d Unkown calibration state", cd->stage );
}
}
void survive_cal_install( struct SurviveContext * ctx )
{
int i;
struct SurviveCalData * cd = ctx->calptr = calloc( 1, sizeof( struct SurviveCalData ) );
for( i = 0; i < NUM_LIGHTHOUSES; i++ )
{
ootx_init_decoder_context(&cd->ootx_decoders[i]);
cd->ootx_decoders[i].user = ctx;
cd->ootx_decoders[i].user1 = i;
}
cd->stage = 1;
cd->ctx = ctx;
cd->poseobjects[0] = survive_get_so_by_name( ctx, "HMD" );
cd->poseobjects[1] = survive_get_so_by_name( ctx, "WM0" );
cd->poseobjects[2] = survive_get_so_by_name( ctx, "WM1" );
if( cd->poseobjects[0] == 0 || cd->poseobjects[1] == 0 || cd->poseobjects[2] == 0 )
{
SV_ERROR( "Error: cannot find all devices needed for calibration." );
free( cd );
return;
}
//XXX TODO MWTourney, work on your code here.
/*
if( !cd->hmd )
{
cd->hmd = survive_get_so_by_name( ctx, "TR0" );
if( !cd->hmd )
{
SV_ERROR( "Error: cannot find any devices labeled HMD. Required for calibration" );
free( cd );
return;
}
SV_INFO( "HMD not found, calibrating using Tracker" );
}
*/
const char * DriverName;
const char * PreferredPoser = config_read_str( ctx->global_config_values, "ConfigPoser", "PoserCharlesSlow" );
PoserCB PreferredPoserCB = 0;
const char * FirstPoser = 0;
printf( "Available posers:\n" );
i = 0;
while( ( DriverName = GetDriverNameMatching( "Poser", i++ ) ) )
{
PoserCB p = GetDriver( DriverName );
if( !PreferredPoserCB ) PreferredPoserCB = p;
int ThisPoser = strcmp( DriverName, PreferredPoser ) == 0;
if( ThisPoser ) PreferredPoserCB = p;
}
cd->ConfigPoserFn = PreferredPoserCB;
printf( "Got config poser: %p\n", cd->ConfigPoserFn );
ootx_packet_clbk = ootx_packet_clbk_d;
ctx->calptr = cd;
}
void survive_cal_light( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length )
{
struct SurviveContext * ctx = so->ctx;
struct SurviveCalData * cd = ctx->calptr;
if( !cd ) return;
switch( cd->stage )
{
default:
case 2: //Taking in angle data. We don't care about light data anymore.
case 0: //Default, inactive.
break;
case 1:
//Collecting OOTX data.
if( sensor_id < 0 )
{
int lhid = -sensor_id-1;
if( lhid < NUM_LIGHTHOUSES && so->codename[0] == 'H' )
{
uint8_t dbit = (acode & 2)>>1;
ootx_pump_bit( &cd->ootx_decoders[lhid], dbit );
}
int i;
for( i = 0; i < NUM_LIGHTHOUSES; i++ )
if( ctx->bsd[i].OOTXSet == 0 ) break;
if( i == NUM_LIGHTHOUSES ) cd->stage = 2; //If all lighthouses have their OOTX set, move on.
}
break;
}
}
void survive_cal_angle( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle )
{
struct SurviveContext * ctx = so->ctx;
struct SurviveCalData * cd = ctx->calptr;
if( !cd ) return;
int sensid = sensor_id;
if( strcmp( so->codename, "WM0" ) == 0 )
sensid += 32;
if( strcmp( so->codename, "WM1" ) == 0 )
sensid += 64;
if( sensid >= MAX_SENSORS_TO_CAL || sensid < 0 ) return;
int lighthouse = acode>>2;
int axis = acode & 1;
switch( cd->stage )
{
default:
case 1: //Collecting OOTX data. (Don't do anything here, yet.)
case 0: //Default, inactive.
break;
case 2:
{
int ct = cd->all_counts[sensid][lighthouse][axis]++;
cd->all_lengths[sensid][lighthouse][axis][ct] = length;
cd->all_angles[sensid][lighthouse][axis][ct] = angle;
int dev = sensid / 32;
if( ct > cd->peak_counts )
{
cd->peak_counts = ct;
}
//Determine if there is a sensor on a watchman visible from both lighthouses.
/* if( sensid >= 32 )
{
int k;
int ok = 1;
for( k = 0; k < NUM_LIGHTHOUSES; k++ )
{
if( cd->all_counts[sensid][k][0] < NEEDED_COMMON_POINTS || cd->all_counts[sensid][k][1] < NEEDED_COMMON_POINTS )
{
ok = 0;
break;
}
}
if( ok ) cd->found_common = 1;
}*/
if( cd->peak_counts >= PTS_BEFORE_COMMON )
{
int min_peaks = PTS_BEFORE_COMMON;
int i, j, k;
cd->found_common = 1;
for( i = 0; i < MAX_SENSORS_TO_CAL/SENSORS_PER_OBJECT; i++ )
for( j = 0; j < NUM_LIGHTHOUSES; j++ )
{
int sensors_visible = 0;
for( k = 0; k < SENSORS_PER_OBJECT; k++ )
{
if( cd->all_counts[k+i*SENSORS_PER_OBJECT][j][0] > NEEDED_COMMON_POINTS &&
cd->all_counts[k+i*SENSORS_PER_OBJECT][j][1] > NEEDED_COMMON_POINTS )
sensors_visible++;
}
if( sensors_visible < MIN_SENSORS_VISIBLE_PER_LH_FOR_CAL )
{
printf( "Dev %d, LH %d not enough visible points found.\n", i, j );
cd->found_common = 0;
return;
}
}
int tfc = cd->times_found_common;
if( cd->found_common )
{
if( tfc >= NEEDED_TIMES_OF_COMMON )
{
SV_INFO( "Stage 2 moving to stage 3. %d %d %d", cd->peak_counts, cd->found_common, tfc );
reset_calibration( cd );
cd->stage = 3;
cd->found_common = 1;
}
else
{
SV_INFO( "Stage 2 good - continuing. %d %d %d", cd->peak_counts, cd->found_common, tfc );
reset_calibration( cd );
cd->times_found_common = tfc+1;
}
}
else
{
SV_INFO( "Stage 2 bad - redoing. %d %d %d", cd->peak_counts, cd->found_common, tfc );
reset_calibration( cd );
cd->times_found_common = 0;
}
/* SV_INFO( "Stage 2 moving to stage 3. %d %d", cd->peak_counts, cd->found_common );
reset_calibration( cd );
cd->stage = 3;
cd->found_common = 1;*/
}
break;
}
case 3:
{
int ct = cd->all_counts[sensid][lighthouse][axis]++;
cd->all_lengths[sensid][lighthouse][axis][ct] = length;
cd->all_angles[sensid][lighthouse][axis][ct] = angle;
if( ct > cd->peak_counts )
{
cd->peak_counts = ct;
if( ct >= DRPTS )
handle_calibration( cd ); //This must also reset all cals.
}
break;
}
}
}
static void reset_calibration( struct SurviveCalData * cd )
{
memset( cd->all_counts, 0, sizeof( cd->all_counts ) );
cd->peak_counts = 0;
cd->found_common = 0;
cd->times_found_common = 0;
cd->stage = 2;
}
static void handle_calibration( struct SurviveCalData *cd )
{
struct SurviveContext * ctx = cd->ctx;
#define MAX_CAL_PT_DAT (MAX_SENSORS_TO_CAL*NUM_LIGHTHOUSES*2)
/*
FLT avgsweeps[MAX_CAL_PT_DAT];
FLT avglens[MAX_CAL_PT_DAT];
FLT stdsweeps[MAX_CAL_PT_DAT];
FLT stdlens[MAX_CAL_PT_DAT];
int ctsweeps[MAX_CAL_PT_DAT];
*/
memset( cd->ctsweeps, 0, sizeof( cd->ctsweeps ) );
//Either advance to stage 4 or go resetting will go back to stage 2.
//What is stage 4? Are we done then?
mkdir( "calinfo", 0755 );
FILE * hists = fopen( "calinfo/histograms.csv", "w" );
FILE * ptinfo = fopen( "calinfo/ptinfo.csv", "w" );
int sen, axis, lh;
for( sen = 0; sen < MAX_SENSORS_TO_CAL; sen++ )
for( lh = 0; lh < NUM_LIGHTHOUSES; lh++ )
for( axis = 0; axis < 2; axis++ )
{
int dpmax = cd->all_counts[sen][lh][axis];
if( dpmax < MIN_PTS_BEFORE_CAL ) continue;
int i;
FLT sumsweepangle = 0;
FLT sumlentime = 0;
//Find initial guess at average
for( i = 0; i < dpmax; i++ )
{
FLT sweepangle = cd->all_angles[sen][lh][axis][i];
FLT datalen = cd->all_lengths[sen][lh][axis][i];
sumsweepangle += sweepangle;
sumlentime += datalen;
}
#define OUTLIER_ANGLE 0.001 //TODO: Tune
#define OUTLIER_LENGTH 0.001 //TODO: Tune
#define ANGLE_STDEV_TOO_HIGH 0.000001 //TODO: Tune
FLT avgsweep = sumsweepangle / dpmax;
FLT avglen = sumlentime / dpmax;
int count = 0;
FLT max_outlier_angle = 0;
FLT max_outlier_length = 0;
//Get rid of outliers
for( i = 0; i < dpmax; i++ )
{
FLT sweepangle = cd->all_angles[sen][lh][axis][i];
FLT datalen = cd->all_lengths[sen][lh][axis][i];
FLT Sdiff = sweepangle - avgsweep;
FLT Ldiff = datalen - avglen;
FLT Sdiff2 = Sdiff * Sdiff;
FLT Ldiff2 = Ldiff * Ldiff;
if( Sdiff2 > OUTLIER_ANGLE || Ldiff2 > OUTLIER_LENGTH )
{
cd->all_lengths[sen][lh][axis][i] = -1;
}
else
{
if( Sdiff2 > max_outlier_angle ) max_outlier_angle = Sdiff2;
if( Ldiff2 > max_outlier_length ) max_outlier_length = Ldiff2;
count++;
}
}
if( count < DRPTS_NEEDED_FOR_AVG )
{
printf( "DPAVG %d\n", count );
//Not enough for this point to be considered.
continue;
}
sumsweepangle = 0;
sumlentime = 0;
//Redo, finding new average:
for( i = 0; i < dpmax; i++ )
{
FLT sweepangle = cd->all_angles[sen][lh][axis][i];
FLT datalen = cd->all_lengths[sen][lh][axis][i];
if( datalen < 0 ) continue;
sumsweepangle += sweepangle;
sumlentime += datalen;
}
avgsweep = sumsweepangle / count;
avglen = sumlentime / count;
FLT stddevang = 0;
FLT stddevlen = 0;
#define HISTOGRAMSIZE 31
#define HISTOGRAMBINANG 0.00001 //TODO: Tune
int histo[HISTOGRAMSIZE];
memset( histo, 0, sizeof( histo ) );
for( i = 0; i < dpmax; i++ )
{
FLT sweepangle = cd->all_angles[sen][lh][axis][i];
FLT datalen = cd->all_lengths[sen][lh][axis][i];
if( datalen < 0 ) continue;
FLT Sdiff = sweepangle - avgsweep;
FLT Ldiff = datalen - avglen;
FLT Sdiff2 = Sdiff * Sdiff;
FLT Ldiff2 = Ldiff * Ldiff;
stddevang += Sdiff2;
stddevlen += Ldiff2;
int llm = Sdiff / HISTOGRAMBINANG + (HISTOGRAMSIZE/2.0);
if( llm < 0 ) llm = 0;
if( llm >= HISTOGRAMSIZE ) llm = HISTOGRAMSIZE-1;
histo[llm]++;
}
stddevang /= count;
stddevlen /= count;
if( stddevang > ANGLE_STDEV_TOO_HIGH )
{
SV_INFO( "DROPPED: %02d:%d:%d dropped because stddev (%f) was too high.", sen, lh, axis, stddevang );
continue;
}
fprintf( hists, "%02d_%d_%d, ", sen, lh, axis );
for( i = 0; i < HISTOGRAMSIZE; i++ )
{
fprintf( hists, "%d ", histo[i] );
}
fprintf( hists, "\n" );
fprintf( ptinfo, "%d %d %d %d %f %f %f %f %f %f\n", sen, lh, axis, count, avgsweep, avglen*1000000, stddevang*1000000000, stddevlen*1000000000, max_outlier_length*1000000000, max_outlier_angle*1000000000 );
int dataindex = sen*(2*NUM_LIGHTHOUSES)+lh*2+axis;
cd->avgsweeps[dataindex] = avgsweep;
cd->avglens[dataindex] = avglen;
cd->stdsweeps[dataindex] = stddevang;
cd->stdlens[dataindex] = stddevlen;
cd->ctsweeps[dataindex] = count;
}
fclose( hists );
fclose( ptinfo );
int obj;
//Poses of lighthouses relative to objects.
SurvivePose objphl[POSE_OBJECTS][NUM_LIGHTHOUSES];
FILE * fobjp = fopen( "calinfo/objposes.csv", "w" );
for( obj = 0; obj < POSE_OBJECTS; obj++ )
{
int i, j;
PoserDataFullScene fsd;
fsd.pt = POSERDATA_FULL_SCENE;
for( j = 0; j < NUM_LIGHTHOUSES; j++ )
for( i = 0; i < SENSORS_PER_OBJECT; i++ )
{
int gotdata = 0;
int dataindex = (i+obj*32)*(2*NUM_LIGHTHOUSES)+j*2+0;
if( cd->ctsweeps[dataindex+0] < DRPTS_NEEDED_FOR_AVG ||
cd->ctsweeps[dataindex+1] < DRPTS_NEEDED_FOR_AVG )
{
fsd.lengths[i][j][0] = -1;
fsd.lengths[i][j][1] = -1;
continue;
}
fsd.lengths[i][j][0] = cd->avglens[dataindex+0];
fsd.lengths[i][j][1] = cd->avglens[dataindex+1];
fsd.angles[i][j][0] = cd->avgsweeps[dataindex+0];
fsd.angles[i][j][1] = cd->avgsweeps[dataindex+1];
}
int r = cd->ConfigPoserFn( cd->poseobjects[obj], (PoserData*)&fsd );
if( r )
{
SV_INFO( "Failed calibration on dev %d\n", obj );
reset_calibration( cd );
cd->stage = 2;
fclose( fobjp );
return;
}
int lh;
for( lh = 0; lh < NUM_LIGHTHOUSES; lh++ )
{
SurvivePose * objfromlh = &cd->poseobjects[obj]->FromLHPose[lh]; //The pose is here
SurvivePose * lhp = &ctx->bsd[lh].Pose; //Need to somehow put pose here.
memcpy( &objphl[obj][lh], objfromlh, sizeof( SurvivePose ) );
fprintf( fobjp, "%f %f %f\n", objfromlh->Pos[0], objfromlh->Pos[1], objfromlh->Pos[2] );
fprintf( fobjp, "%f %f %f %f\n", objfromlh->Rot[0], objfromlh->Rot[1], objfromlh->Rot[2], objfromlh->Rot[3] );
}
}
fclose( fobjp );
SV_INFO( "Stage 4 succeeded." );
reset_calibration( cd );
cd->stage = 5;
}
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