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authorStanislaw Halik <sthalik@misaki.pl>2018-03-05 20:39:58 +0100
committerStanislaw Halik <sthalik@misaki.pl>2018-03-10 18:35:13 +0100
commit1384338acf910ec15d98aec44eca0c45028ce008 (patch)
tree9b72e5c83682aeb0483c6e808e5cb2e46b0182a3
parent4fa5cac95f24732b3e4362561491b3e63737200a (diff)
Revert "compat/correlation-calibration: retire"
This reverts commit 7cf79b12ddbfeedf24861ff489a1008f867d9440.
-rw-r--r--compat/correlation-calibrator.cpp166
-rw-r--r--compat/correlation-calibrator.hpp76
2 files changed, 242 insertions, 0 deletions
diff --git a/compat/correlation-calibrator.cpp b/compat/correlation-calibrator.cpp
new file mode 100644
index 00000000..aef804d2
--- /dev/null
+++ b/compat/correlation-calibrator.cpp
@@ -0,0 +1,166 @@
+#include "correlation-calibrator.hpp"
+#include "variance.hpp"
+#include "compat/math.hpp"
+
+#include <cmath>
+#include <iterator>
+
+#include <QDebug>
+
+#define DEBUG_PRINT
+#ifdef DEBUG_PRINT
+# include <cstdio>
+# include <cwchar>
+ using std::fwprintf;
+ using std::fflush;
+#endif
+
+using namespace correlation_calibrator_impl;
+
+correlation_calibrator::correlation_calibrator()
+{
+}
+
+static constexpr unsigned nbuckets[6] =
+{
+ x_nbuckets,
+ y_nbuckets,
+ z_nbuckets,
+
+ yaw_nbuckets,
+ pitch_nbuckets,
+ roll_nbuckets,
+};
+
+static constexpr double spacing[6] =
+{
+ translation_spacing,
+ translation_spacing,
+ translation_spacing,
+
+ yaw_spacing_in_degrees,
+ pitch_spacing_in_degrees,
+ roll_spacing_in_degrees,
+};
+
+static constexpr wchar_t const* const names[6] {
+ L"x", L"y", L"z",
+ L"yaw", L"pitch", L"roll",
+};
+
+bool correlation_calibrator::check_buckets(const vec6 &data)
+{
+ bool ret = false;
+ unsigned pos[6];
+
+ for (unsigned k = 0; k < 6; k++)
+ {
+ const double val = clamp(data[k], min[k], max[k]);
+ pos[k] = (val-min[k])/spacing[k];
+
+ if (pos[k] >= nbuckets[k])
+ {
+ qDebug() << "idx" << k
+ << "bucket" << (int)pos[k]
+ << "outside bounds" << nbuckets[k];
+
+ return false;
+ }
+
+ if (!buckets[k][pos[k]])
+ ret = true;
+
+ buckets[k][pos[k]] = true;
+ }
+
+ if (ret)
+ for (unsigned k = 0; k < 6; k++)
+ buckets[k][pos[k]] = true;
+
+ return ret;
+}
+
+void correlation_calibrator::input(const vec6& data_)
+{
+ if (!check_buckets(data_))
+ return;
+
+ data.push_back(data_);
+}
+
+mat66 correlation_calibrator::get_coefficients() const
+{
+ if (data.size() < min_samples)
+ {
+ qDebug() << "correlation-calibrator: not enough data";
+
+ mat66 ret;
+ for (unsigned k = 0; k < 6; k++)
+ ret(k, k) = 1;
+ return ret;
+ }
+
+ variance vs[6];
+ vec6 devs, means;
+
+ for (const vec6& x : data)
+ for (unsigned i = 0; i < 6; i++)
+ vs[i].input(x(i));
+
+ for (unsigned i = 0; i < 6; i++)
+ {
+ means(i) = vs[i].avg();
+ devs(i) = vs[i].stddev();
+
+ constexpr double EPS = 1e-4;
+
+ if (devs(i) < EPS)
+ devs(i) = EPS;
+ }
+
+ mat66 cs;
+
+ for (const vec6& x : data)
+ for (unsigned k = 0; k < 6; k++)
+ {
+ for (unsigned idx = 0; idx < 6; idx++)
+ {
+ const double zi = (x(idx) - means(idx)),
+ zk = (x(k) - means(k));
+
+ cs(idx, k) += zi * zk / (devs(k)*devs(k));
+ }
+ }
+
+ cs = cs * (1./(data.size() - 1));
+
+#if defined DEBUG_PRINT
+ fwprintf(stderr, L"v:change-of h:due-to\n");
+ fwprintf(stderr, L"%10s ", L"");
+ for (unsigned k = 0; k < 6; k++)
+ fwprintf(stderr, L"%10s", names[k]);
+ fwprintf(stderr, L"\n");
+
+ for (unsigned i = 0; i < 6; i++)
+ {
+ fwprintf(stderr, L"%10s ", names[i]);
+ for (unsigned k = 0; k < 6; k++)
+ fwprintf(stderr, L"%10.3f", cs(i, k));
+ fwprintf(stderr, L"\n");
+ }
+ fflush(stderr);
+#endif
+
+ for (unsigned k = 0; k < 6; k++)
+ cs(k, k) = 1;
+
+ // derivations from
+ // https://www.thoughtco.com/how-to-calculate-the-correlation-coefficient-3126228
+
+ return cs;
+}
+
+unsigned correlation_calibrator::sample_count() const
+{
+ return data.size();
+}
diff --git a/compat/correlation-calibrator.hpp b/compat/correlation-calibrator.hpp
new file mode 100644
index 00000000..b44a2312
--- /dev/null
+++ b/compat/correlation-calibrator.hpp
@@ -0,0 +1,76 @@
+#pragma once
+
+#include "simple-mat.hpp"
+#include <array>
+#include <vector>
+#include <tuple>
+
+#include "export.hpp"
+
+namespace correlation_calibrator_impl {
+
+static constexpr inline double min[6] = {
+ -50,
+ -50,
+ 250,
+
+ -180,
+ -180,
+ -180,
+};
+
+static constexpr inline double max[6] = {
+ 50,
+ 50,
+ 250,
+
+ 180,
+ 180,
+ 180,
+};
+
+static constexpr inline double yaw_spacing_in_degrees = 1.5;
+static constexpr inline double pitch_spacing_in_degrees = 1;
+static constexpr inline double roll_spacing_in_degrees = 1;
+
+static constexpr inline unsigned yaw_nbuckets = 1+ 360./yaw_spacing_in_degrees;
+static constexpr inline unsigned pitch_nbuckets = 1+ 360./pitch_spacing_in_degrees;
+static constexpr inline unsigned roll_nbuckets = 1+ 360./roll_spacing_in_degrees;
+
+static constexpr inline double translation_spacing = .25;
+static constexpr inline unsigned x_nbuckets = 1+ (max[0]-min[0])/translation_spacing;
+static constexpr inline unsigned y_nbuckets = 1+ (max[1]-min[1])/translation_spacing;
+static constexpr inline unsigned z_nbuckets = 1+ (max[2]-min[2])/translation_spacing;
+
+using vec6 = Mat<double, 6, 1>;
+using mat66 = Mat<double, 6, 6>;
+
+class OTR_COMPAT_EXPORT correlation_calibrator final
+{
+ // careful to avoid vector copies
+ std::array<std::vector<bool>, 6> buckets =
+ {
+ std::vector<bool>(x_nbuckets, false),
+ std::vector<bool>(y_nbuckets, false),
+ std::vector<bool>(z_nbuckets, false),
+ std::vector<bool>(yaw_nbuckets, false),
+ std::vector<bool>(pitch_nbuckets, false),
+ std::vector<bool>(roll_nbuckets, false),
+ };
+
+ std::vector<vec6> data;
+
+ bool check_buckets(const vec6& data);
+
+public:
+ correlation_calibrator();
+ void input(const vec6& data);
+ mat66 get_coefficients() const;
+ unsigned sample_count() const;
+
+ static constexpr inline unsigned min_samples = 25;
+};
+
+} // ns correlation_calibrator_impl
+
+using correlation_calibrator_impl::correlation_calibrator;