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authorStanislaw Halik <sthalik@misaki.pl>2014-10-25 20:29:25 +0200
committerStanislaw Halik <sthalik@misaki.pl>2014-10-25 20:29:25 +0200
commit52e0c206f862fc77a3aac270e8a3fda27d82609c (patch)
treeed5d2ef4f21d8c61be66133ede2ad90ddf3d5430 /opentrack
parent3c87946ba80c541f17d7be42ec9f78ff3f738175 (diff)
fix sign, r/t compensation
Issue: #63
Diffstat (limited to 'opentrack')
-rw-r--r--opentrack/tracker.cpp87
-rw-r--r--opentrack/tracker.h2
2 files changed, 43 insertions, 46 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index 76a817c5..24561be3 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -39,31 +39,25 @@ Tracker::~Tracker()
wait();
}
-double Tracker::map(double pos, Mapping& axis) {
+double Tracker::map(double pos, Mapping& axis)
+{
bool altp = (pos < 0) && axis.opts.altp;
axis.curve.setTrackingActive( !altp );
axis.curveAlt.setTrackingActive( altp );
auto& fc = altp ? axis.curveAlt : axis.curve;
- double invert = axis.opts.invert ? -1 : 1;
- return invert * (fc.getValue(pos) + axis.opts.zero);
+ return fc.getValue(pos) + axis.opts.zero;
}
// http://stackoverflow.com/a/18436193
static cv::Vec3d rmat_to_euler(const cv::Matx33d& R)
{
- //static constexpr double pi = 3.141592653;
- float x1 = -asin(R(0,2));
- //float x2 = pi - x1;
-
- float y1 = atan2(R(1,2) / cos(x1), R(2,2) / cos(x1));
- //float y2 = atan2(R(1,2) / cos(x2), R(2,2) / cos(x2));
-
- float z1 = atan2(R(0,1) / cos(x1), R(0,0) / cos(x1));
- //float z2 = atan2(R(0,1) / cos(x2), R(0,0) / cos(x2));
-
- return cv::Vec3d { -x1, y1, -z1 };
+ const double beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
+ const double alpha = atan2( R(1,0), R(0,0));
+ const double gamma = atan2( R(2,1), R(2,2));
+ return cv::Vec3d { alpha, -beta, gamma };
}
+// tait-bryan angles, not euler
static cv::Matx33d euler_to_rmat(const double* input)
{
static constexpr double pi = 3.141592653;
@@ -79,33 +73,32 @@ static cv::Matx33d euler_to_rmat(const double* input)
const auto s3 = sin(B);
double foo[] = {
- // x
- c2*c3,
- -c2*s3,
- s2,
- // y
- c1*s3 + c3*s1*s2,
- c1*c3 - s1*s2*s3,
- -c2*s1,
- // z
- s1*s3 - c1*c2*s2,
- c3*s1 + c1*s2*s3,
- c1*c2,
+ // z
+ c1 * c3 - s1 * s2 * s3,
+ - s3 * c2,
+ s1 * c3 + c1 * s2 * s3,
+ // x
+ c1 * s3 + s1 * s2 * c3,
+ c3 * c2,
+ s3 * s1 - c1 * s2 * c3,
+ // y
+ - s1 * c2,
+ - s2,
+ c1 * c2,
};
return cv::Matx33d(foo);
}
-void Tracker::t_compensate(const double* input, double* output, bool rz)
+void Tracker::t_compensate(const cv::Matx33d& rmat, const double* xyz, double* output, bool rz)
{
- const cv::Matx33d rmat = euler_to_rmat(&input[Yaw]);
- const cv::Vec3d tvec(input);
- const cv::Vec3d ret = rmat * tvec;
-
- const int max = !rz ? 3 : 2;
-
- for (int i = 0; i < max; i++)
- output[i] = ret(i);
+ const double xyz_[3] = { xyz[1], -xyz[0], xyz[2] };
+ cv::Matx31d tvec(xyz_);
+ const cv::Matx31d ret = rmat * tvec;
+ output[0] = ret(1, 0);
+ output[1] = -ret(0, 0);
+ if (!rz)
+ output[2] = ret(2, 0);
}
void Tracker::logic()
@@ -138,6 +131,10 @@ void Tracker::logic()
else
filtered_pose = final_raw;
+ // must invert early as euler_to_rmat's sensitive to sign change
+ for (int i = 0; i < 6; i++)
+ filtered_pose[i] *= m(i).opts.invert ? -1. : 1.;
+
if (centerp)
{
centerp = false;
@@ -149,8 +146,8 @@ void Tracker::logic()
Pose raw_centered;
{
- const auto m = euler_to_rmat(&filtered_pose[Yaw]);
- const cv::Matx33d m_ = m * r_b.t();
+ const cv::Matx33d rmat = euler_to_rmat(&filtered_pose[Yaw]);
+ const cv::Matx33d m_ = rmat * r_b.t();
const auto euler = rmat_to_euler(m_);
for (int i = 0; i < 3; i++)
{
@@ -165,19 +162,19 @@ void Tracker::logic()
for (int i = 0; i < 6; i++)
mapped_pose_precomp(i) = map(raw_centered(i), m(i));
- Pose mapped_pose;
+ Pose mapped_pose = mapped_pose_precomp;
- mapped_pose = mapped_pose_precomp;
if (s.tcomp_p)
- t_compensate(mapped_pose_precomp, mapped_pose, s.tcomp_tz);
+ t_compensate(euler_to_rmat(&mapped_pose_precomp[Yaw]),
+ mapped_pose_precomp,
+ mapped_pose,
+ s.tcomp_tz);
libs.pProtocol->pose(mapped_pose);
- {
- QMutexLocker foo(&mtx);
- output_pose = mapped_pose;
- raw_6dof = final_raw;
- }
+ QMutexLocker foo(&mtx);
+ output_pose = mapped_pose;
+ raw_6dof = final_raw;
}
void Tracker::run() {
diff --git a/opentrack/tracker.h b/opentrack/tracker.h
index f671ecd2..1d5421c6 100644
--- a/opentrack/tracker.h
+++ b/opentrack/tracker.h
@@ -39,7 +39,7 @@ private:
double map(double pos, Mapping& axis);
void logic();
- static void t_compensate(const double* input, double* output, bool rz);
+ void t_compensate(const cv::Matx33d& rmat, const double* ypr, double* output, bool rz);
void run() override;
public:
Tracker(main_settings& s, Mappings& m, SelectedLibraries& libs);