diff options
| -rw-r--r-- | opentrack/pose.hpp | 11 | ||||
| -rw-r--r-- | opentrack/quat.hpp | 48 | ||||
| -rw-r--r-- | opentrack/tracker.cpp | 36 | ||||
| -rw-r--r-- | opentrack/tracker.h | 12 |
4 files changed, 61 insertions, 46 deletions
diff --git a/opentrack/pose.hpp b/opentrack/pose.hpp index 41e984f5..d0aadcd9 100644 --- a/opentrack/pose.hpp +++ b/opentrack/pose.hpp @@ -13,7 +13,7 @@ private: double axes[6]; public: - Pose() : axes {0,0,0, 0,0,0 } {} + Pose() : axes {0,0,0, 0,0,0} {} inline operator double*() { return axes; } inline operator const double*() const { return axes; } @@ -32,13 +32,4 @@ public: q.to_euler_degrees(ret(Yaw), ret(Pitch), ret(Roll)); return ret; } - - Pose operator&(const Pose& B) const - { - const Quat q = quat() * B.quat().inv(); - Pose ret = fromQuat(q); - for (int i = TX; i < TX + 3; i++) - ret(i) = axes[i] - B.axes[i]; - return ret; - } }; diff --git a/opentrack/quat.hpp b/opentrack/quat.hpp index 6d777b28..aec87f4c 100644 --- a/opentrack/quat.hpp +++ b/opentrack/quat.hpp @@ -12,19 +12,19 @@ class Quat { private: static constexpr double pi = 3.141592653; static constexpr double r2d = 180./pi; - double a,b,c,d; // quaternion coefficients + double _0,_1,_2,_3; // quaternion coefficients public: - Quat() : a(1.),b(0.),c(0.),d(0.) {} - Quat(double yaw, double pitch, double roll) { from_euler_rads(yaw, pitch, roll); } - Quat(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {} + Quat() : _0(1.),_1(0.),_2(0.),_3(0.) {} + Quat(double yaw, double pitch, double roll) { *this = from_euler_rads(yaw, pitch, roll); } + Quat(double a, double b, double c, double d) : _0(a),_1(b),_2(c),_3(d) {} - Quat inv(){ - return Quat(a,-b,-c, -d); + Quat inv() const { + return Quat(_0,-_1,-_2, -_3); } // conversions // see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles - void from_euler_rads(double yaw, double pitch, double roll) + static Quat from_euler_rads(double yaw, double pitch, double roll) { const double sin_phi = sin(roll/2.); @@ -34,17 +34,21 @@ public: const double sin_psi = sin(yaw/2.); const double cos_psi = cos(yaw/2.); - a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi; - b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi; - c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi; - d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi; + Quat q; + + q._0 = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi; + q._1 = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi; + q._2 = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi; + q._3 = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi; + + return q; } void to_euler_rads(double& yaw, double& pitch, double& roll) const { - roll = atan2(2.*(a*b + c*d), 1. - 2.*(b*b + c*c)); - pitch = asin(2.*(a*c - b*d)); - yaw = atan2(2.*(a*d + b*c), 1. - 2.*(c*c + d*d)); + roll = atan2(2.*(_0*_1 + _2*_3), 1. - 2.*(_1*_1 + _2*_2)); + pitch = asin(2.*(_0*_2 - _1*_3)); + yaw = atan2(2.*(_0*_3 + _1*_2), 1. - 2.*(_2*_2 + _3*_3)); } void to_euler_degrees(double& yaw, double& pitch, double& roll) const @@ -58,9 +62,15 @@ public: const Quat operator*(const Quat& B) const { const Quat& A = *this; - return Quat(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d, // quaternion multiplication - A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c, - A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b, - A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a); - } + const Quat ret(A._0*B._0 - A._1*B._1 - A._2*B._2 - A._3*B._3, + A._0*B._1 + A._1*B._0 + A._2*B._3 - A._3*B._2, + A._0*B._2 - A._1*B._3 + A._2*B._0 + A._3*B._1, + A._0*B._3 + A._1*B._2 - A._2*B._1 + A._3*B._0); + const double mag_2 = ret._0 * ret._0 + + ret._1 * ret._1 + + ret._2 * ret._2 + + ret._3 * ret._3; + const double inv_mag = 1./sqrt(mag_2); + return Quat(1., ret._1 * inv_mag, ret._2 * inv_mag, ret._3 * inv_mag); + } }; diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp index b40399e3..95e81c1a 100644 --- a/opentrack/tracker.cpp +++ b/opentrack/tracker.cpp @@ -28,7 +28,8 @@ Tracker::Tracker(main_settings& s, Mappings &m, SelectedLibraries &libs) : centerp(false), enabledp(true), should_quit(false), - libs(libs) + libs(libs), + t_b {0,0,0} { } @@ -73,7 +74,7 @@ static cv::Matx33d euler_to_rmat(const double* input) cosH * cosP, }; - return cv::Matx33d(foo); + return cv::Matx33d(foo); } void Tracker::t_compensate(const double* input, double* output, bool rz) @@ -91,7 +92,7 @@ void Tracker::t_compensate(const double* input, double* output, bool rz) void Tracker::logic() { libs.pTracker->data(newpose); - + Pose final_raw_; if (enabledp) @@ -110,29 +111,38 @@ void Tracker::logic() } final_raw = final_raw_; } - + Pose filtered_pose; - + if (libs.pFilter) libs.pFilter->filter(final_raw, filtered_pose); else filtered_pose = final_raw; - + if (centerp) { centerp = false; - raw_center = filtered_pose; + r_b = filtered_pose.quat(); + for (int i = 0; i < 3; i++) + t_b[i] = filtered_pose(i); + } + + Pose raw_centered; + + { + const Quat q = filtered_pose.quat(); + raw_centered = Pose::fromQuat(r_b.inv() * q); + for (int i = 0; i < 3; i++) + raw_centered(i) = filtered_pose(i) - t_b[i]; } - - Pose raw_centered = filtered_pose & raw_center; - + Pose mapped_pose_precomp; - + for (int i = 0; i < 6; i++) mapped_pose_precomp(i) = map(raw_centered(i), m(i)); - + Pose mapped_pose; - + mapped_pose = mapped_pose_precomp; if (s.tcomp_p) t_compensate(mapped_pose_precomp, mapped_pose, s.tcomp_tz); diff --git a/opentrack/tracker.h b/opentrack/tracker.h index 462f4e50..4282bc4e 100644 --- a/opentrack/tracker.h +++ b/opentrack/tracker.h @@ -21,18 +21,22 @@ private: QMutex mtx; main_settings& s; Mappings& m; - + Timer t; - Pose output_pose, raw_6dof, raw_center, final_raw; + Pose output_pose, raw_6dof, final_raw; + double newpose[6]; std::atomic<bool> centerp; std::atomic<bool> enabledp; std::atomic<bool> should_quit; SelectedLibraries const& libs; - + + Quat r_b; + double t_b[3]; + double map(double pos, Mapping& axis); void logic(); - + static void t_compensate(const double* input, double* output, bool rz); void run() override; public: |