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Code Issues 162 Packages Projects Releases Wiki Activity

Another tracker adjustment fix, doesn't pass all tests, but works better

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This commit is contained in:
Eiren Rain
2021-07-26 00:48:34 +03:00
parent e248cca4e7
commit 1c5167bb7c
4 changed files with 33 additions and 17 deletions
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4
src/main/java/io/eiren/gui/TrackersList.java
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@@ -218,11 +218,11 @@ public class TrackersList extends EJBox {
Tracker t2 = t;
if(t instanceof ReferenceAdjustedTracker) {
t2 = ((ReferenceAdjustedTracker<Tracker>) t).getTracker();
((ReferenceAdjustedTracker<Tracker>) t).adjustmentAttachment.toAngles(angles);
((ReferenceAdjustedTracker<Tracker>) t).attachmentFix.toAngles(angles);
adj.setText(StringUtils.prettyNumber(angles[0] * FastMath.RAD_TO_DEG, 0)
+ " " + StringUtils.prettyNumber(angles[1] * FastMath.RAD_TO_DEG, 0)
+ " " + StringUtils.prettyNumber(angles[2] * FastMath.RAD_TO_DEG, 0));
((ReferenceAdjustedTracker<Tracker>) t).adjustmentYaw.toAngles(angles);
((ReferenceAdjustedTracker<Tracker>) t).yawFix.toAngles(angles);
adjYaw.setText(StringUtils.prettyNumber(angles[0] * FastMath.RAD_TO_DEG, 0)
+ " " + StringUtils.prettyNumber(angles[1] * FastMath.RAD_TO_DEG, 0)
+ " " + StringUtils.prettyNumber(angles[2] * FastMath.RAD_TO_DEG, 0));

2
src/main/java/io/eiren/vr/Main.java
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@@ -7,7 +7,7 @@ import io.eiren.util.logging.LogManager;
public class Main {
public static String VERSION = "0.0.11";
public static String VERSION = "0.0.11 Test 1";
public static VRServer vrServer;

32
src/main/java/io/eiren/vr/trackers/ReferenceAdjustedTracker.java
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@@ -8,8 +8,9 @@ import io.eiren.vr.processor.TrackerBodyPosition;
public class ReferenceAdjustedTracker<E extends Tracker> implements Tracker {
public final E tracker;
public final Quaternion adjustmentYaw = new Quaternion();
public final Quaternion adjustmentAttachment = new Quaternion();
public final Quaternion yawFix = new Quaternion();
public final Quaternion gyroFix = new Quaternion();
public final Quaternion attachmentFix = new Quaternion();
protected float confidenceMultiplier = 1.0f;
public ReferenceAdjustedTracker(E tracker) {
@@ -44,9 +45,12 @@ public class ReferenceAdjustedTracker<E extends Tracker> implements Tracker {
*/
@Override
public void resetFull(Quaternion reference) {
fixGyroscope();
Quaternion sensorRotation = new Quaternion();
tracker.getRotation(sensorRotation);
adjustmentAttachment.set(sensorRotation).inverseLocal();
gyroFix.mult(sensorRotation, sensorRotation);
attachmentFix.set(sensorRotation).inverseLocal();
resetYaw(reference);
}
@@ -68,19 +72,31 @@ public class ReferenceAdjustedTracker<E extends Tracker> implements Tracker {
Quaternion sensorRotation = new Quaternion();
tracker.getRotation(sensorRotation);
sensorRotation.multLocal(adjustmentAttachment);
gyroFix.mult(sensorRotation, sensorRotation);
sensorRotation.multLocal(attachmentFix);
sensorRotation.toAngles(angles);
sensorRotation.fromAngles(0, angles[1], 0);
adjustmentYaw.set(sensorRotation).inverseLocal().multLocal(targetTrackerRotation);
yawFix.set(sensorRotation).inverseLocal().multLocal(targetTrackerRotation);
}
private void fixGyroscope() {
float[] angles = new float[3];
confidenceMultiplier = 1.0f / tracker.getConfidenceLevel();
Quaternion sensorRotation = new Quaternion();
tracker.getRotation(sensorRotation);
sensorRotation.toAngles(angles);
sensorRotation.fromAngles(0, angles[1], 0);
gyroFix.set(sensorRotation).inverseLocal();
}
protected void adjustInternal(Quaternion store) {
store.multLocal(adjustmentAttachment);
adjustmentYaw.mult(store, store);
gyroFix.mult(store, store);
store.multLocal(attachmentFix);
yawFix.mult(store, store);
}
@Override

12
src/test/java/io/eiren/unit/ReferenceAdjustmentsTests.java
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@@ -96,12 +96,6 @@ public class ReferenceAdjustmentsTests {
"Adjusted quat is not equal to reference quat (" + toDegs(referenceQuat) + " vs " + toDegs(read) + ")");
}
public static String toDegs(Quaternion q) {
float[] degs = new float[3];
q.toAngles(degs);
return StringUtils.prettyNumber(degs[0] * FastMath.RAD_TO_DEG, 0) + "," + StringUtils.prettyNumber(degs[1] * FastMath.RAD_TO_DEG, 0) + "," + StringUtils.prettyNumber(degs[2] * FastMath.RAD_TO_DEG, 0);
}
private void testAdjustedTrackerRotation(Quaternion trackerQuat, int refPitch, int refYaw, int refRoll) {
Quaternion referenceQuat = q(refPitch, refYaw, refRoll);
ComputedTracker tracker = new ComputedTracker("test");
@@ -175,6 +169,12 @@ public class ReferenceAdjustmentsTests {
return new Quaternion().fromAngles(pitch * FastMath.DEG_TO_RAD, yaw * FastMath.DEG_TO_RAD, roll * FastMath.DEG_TO_RAD);
}
public static String toDegs(Quaternion q) {
float[] degs = new float[3];
q.toAngles(degs);
return StringUtils.prettyNumber(degs[0] * FastMath.RAD_TO_DEG, 0) + "," + StringUtils.prettyNumber(degs[1] * FastMath.RAD_TO_DEG, 0) + "," + StringUtils.prettyNumber(degs[2] * FastMath.RAD_TO_DEG, 0);
}
private static class QuatEqualYawWithEpsilon {
private final Quaternion q;