Quaternion::Quaternion(Acceleration* mAcceleration, Omega* mOmega, EncoderYaw* mEncoderYaw) : _mAcceleration(mAcceleration), _mOmega(mOmega), IsUseCompass(false), IsUseEncoderYaw(true), _mCompass(0), Interval(0), Valid(false), _mEncoderYaw(mEncoderYaw){
PrevT.setZero();
Matrix3f Q;
Q.setIdentity();
Q *= 1e-6f;
Matrix3f R;
R.setIdentity();
R *= 1e-1f;
_QuaternionKalman = new Kalman(mAcceleration->getAngle(), Q, R);
PrevTick = App::mApp->mTicks->getTicks();
}
static inline Matrix3f createRotation(const Vector3f & _axis, float angle)
{
Vector3f axis = normalize(_axis);
float si = sinf(angle);
float co = cosf(angle);
Matrix3f ret;
ret.setIdentity();
ret *= co;
for (int r = 0; r < 3; ++r) for (int c = 0; c < 3; ++c) ret.at(c,r) += (1.0f - co) * axis[c] * axis[r];
Matrix3f skewmat;
skewmat.setZeros();
skewmat.at(1,0) = -axis.z;
skewmat.at(0,1) = axis.z;
skewmat.at(2,0) = axis.y;
skewmat.at(0,2) = -axis.y;
skewmat.at(2,1) = axis.x;
skewmat.at(1,2) = -axis.x;
skewmat *= si;
ret += skewmat;
return ret;
}
bool MatrixTest::setIdentityTests(void)
{
Matrix3f A;
A.setIdentity();
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
if (i == j) {
ut_test(fabs(A(i, j) - 1) < 1e-7);
} else {
ut_test(fabs(A(i, j) - 0) < 1e-7);
}
}
}
return true;
}
int main()
{
Matrix3f A;
A.setIdentity();
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
if (i == j) {
TEST( fabs(A(i, j) - 1) < 1e-7);
} else {
TEST( fabs(A(i, j) - 0) < 1e-7);
}
}
}
return 0;
}
bool MatrixTest::matrixMultTests(void)
{
float data[9] = {1, 0, 0, 0, 1, 0, 1, 0, 1};
Matrix3f A(data);
float data_check[9] = {1, 0, 0, 0, 1, 0, -1, 0, 1};
Matrix3f A_I(data_check);
Matrix3f I;
I.setIdentity();
Matrix3f R = A * A_I;
ut_test(isEqual(R, I));
Matrix3f R2 = A;
R2 *= A_I;
ut_test(isEqual(R2, I));
Matrix3f A2 = eye<float, 3>() * 2;
Matrix3f B = A2.emult(A2);
Matrix3f B_check = eye<float, 3>() * 4;
ut_test(isEqual(B, B_check));
return true;
}
bool Quaternion::Update(){
if(_mOmega->getIsValided()){
Vector3f omega = _mOmega->getOmega() * MathTools::RADIAN_PER_DEGREE;
Vector4f q;
q << 0, omega[0], omega[1], omega[2];
Vector4f t;
t[0] = -q[1]*_Quaternion[1]-q[2]*_Quaternion[2]-q[3]*_Quaternion[3];
t[1] = q[1]*_Quaternion[0]+q[2]*_Quaternion[3]-q[3]*_Quaternion[2];
t[2] = -q[1]*_Quaternion[3]+q[2]*_Quaternion[0]+q[3]*_Quaternion[1];
t[3] = q[1]*_Quaternion[2]-q[2]*_Quaternion[1]+q[3]*_Quaternion[0];
Interval = App::mApp->mTicks->getTicks() - PrevTick;
PrevTick = App::mApp->mTicks->getTicks();
Interval /= 1000.0f;
if(Interval <= 0){
Valid = false;
return false;
}
t *= 0.5f * Interval;
q = _Quaternion + 0.5f * (t + PrevT);
PrevT = t;
q.normalize();
Vector3f e = QuaternionToEuler(q);
bool valid = true;
bool AccValid = _mAcceleration->getIsValided() && (_mAcceleration->getAcc().norm() > Acceleration::Gravity * 0.95f) && (_mAcceleration->getAcc().norm() < Acceleration::Gravity * 1.05f);
Vector3f angle;
bool MagValid;
if(IsUseCompass){
MagValid = _mCompass->getIsValided() && _mCompass->getMag().norm() > 0.9f && _mCompass->getMag().norm() < 1.1f;
}
if(AccValid){
angle = _mAcceleration->getAngle();
if(IsUseCompass && MagValid){
angle[2] = _mCompass->getAngle()[2];
}
else if(IsUseEncoderYaw){
angle[2] = _mEncoderYaw->getYaw();
}
else{
angle[2] = e[2];
}
}
else{
angle[0] = e[0];
angle[1] = e[1];
if(IsUseCompass && MagValid){
angle[2] = _mCompass->getAngle()[2];
}
else if(IsUseEncoderYaw){
angle[2] = _mEncoderYaw->getYaw();
}
else{
angle[2] = e[2];
}
}
Matrix3f A;
A.setIdentity();
Matrix3f H;
H.setIdentity();
if(valid && AccValid && _QuaternionKalman->Filtering(A, e, H, angle)){
angle = _QuaternionKalman->getCorrectedData();
for(int i = 0; i < 3; i++){
if(angle[i] != angle[i]){
Valid = false;
return false;
}
}
if(IsUseEncoderYaw && fabs(fabs(_mEncoderYaw->getYaw()) - MathTools::PI) < 0.01f){
angle[2] = _mEncoderYaw->getYaw();
}
_Euler = angle;
}
else{
_Euler = e;
}
_Quaternion = EulerToQuaternion(_Euler);
return true;
}
else{
Valid = false;
return false;
}
}
HRESULT PrimeSenseSensor::createFirstConnected()
{
HRESULT hr = S_OK;
openni::Status rc = openni::STATUS_OK;
const char* deviceURI = openni::ANY_DEVICE;
rc = openni::OpenNI::initialize();
std::cout << "After initialization: " << openni::OpenNI::getExtendedError() << std::endl;
// Create Device
rc = m_device.open(deviceURI);
if (rc != openni::STATUS_OK)
{
std::cout << "Device open failed: " << openni::OpenNI::getExtendedError() << std::endl;
openni::OpenNI::shutdown();
return S_FALSE;
}
openni::PlaybackControl* pc = m_device.getPlaybackControl();
// Create Depth Stream
rc = m_depthStream.create(m_device, openni::SENSOR_DEPTH);
if (rc == openni::STATUS_OK)
{
rc = m_depthStream.start();
if (rc != openni::STATUS_OK)
{
std::cout << "Couldn't start depth stream: " << openni::OpenNI::getExtendedError() << std::endl;
m_depthStream.destroy();
}
}
else
{
std::cout << "Couldn't find depth stream: " << openni::OpenNI::getExtendedError() << std::endl;
}
// Create Color Stream
rc = m_colorStream.create(m_device, openni::SENSOR_COLOR);
if (rc == openni::STATUS_OK)
{
rc = m_colorStream.start();
if (rc != openni::STATUS_OK)
{
std::cout << "Couldn't start color stream: " << openni::OpenNI::getExtendedError() << " Return code: " << rc << std::endl;
m_colorStream.destroy();
}
}
else
{
std::cout << "Couldn't find color stream: " << openni::OpenNI::getExtendedError() << std::endl;
}
if (GlobalAppState::get().s_enableColorCropping)
{
if (m_colorStream.isCroppingSupported()) {
m_colorStream.setCropping(GlobalAppState::get().s_colorCropX, GlobalAppState::get().s_colorCropY, GlobalAppState::get().s_colorCropWidth, GlobalAppState::get().s_colorCropHeight);
}
else {
std::cout << "cropping is not supported for this color stream" << std::endl;
}
}
// Check Streams
if (!m_depthStream.isValid() || !m_colorStream.isValid())
{
std::cout << "No valid streams. Exiting" << std::endl;
openni::OpenNI::shutdown();
return S_FALSE;
}
openni::CameraSettings* cs = m_colorStream.getCameraSettings();
//cs->setAutoWhiteBalanceEnabled(false);
//cs->setAutoExposureEnabled(false);
//cs->setGain(1);
//cs->setExposure(10);
std::cout << "getGain: " << cs->getGain() << std::endl;
std::cout << "getExposure: " << cs->getExposure() << std::endl;
std::cout << "getAutoExposureEnabled: " << cs->getAutoExposureEnabled() << std::endl;
std::cout << "getAutoWhiteBalanceEnabled: " << cs->getAutoWhiteBalanceEnabled() << std::endl;
// Get Dimensions
m_depthVideoMode = m_depthStream.getVideoMode();
m_colorVideoMode = m_colorStream.getVideoMode();
int depthWidth = m_depthVideoMode.getResolutionX();
int depthHeight = m_depthVideoMode.getResolutionY();
int colorWidth = m_colorVideoMode.getResolutionX();
int colorHeight = m_colorVideoMode.getResolutionY();
RGBDSensor::init(depthWidth, depthHeight, colorWidth, colorHeight, 1);
m_streams = new openni::VideoStream*[2];
m_streams[0] = &m_depthStream;
m_streams[1] = &m_colorStream;
if (rc != openni::STATUS_OK)
{
openni::OpenNI::shutdown();
return 3;
}
m_device.setImageRegistrationMode(openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR);
float focalLengthX = (depthWidth/2.0f)/tan(m_depthStream.getHorizontalFieldOfView()/2.0f);
float focalLengthY = (depthHeight/2.0f)/tan(m_depthStream.getVerticalFieldOfView()/2.0f);
initializeDepthIntrinsics(focalLengthX, focalLengthY, depthWidth/2.0f, depthHeight/2.0f);
focalLengthX = (colorWidth/2.0f)/tan(m_colorStream.getHorizontalFieldOfView()/2.0f);
focalLengthY = (colorHeight/2.0f)/tan(m_colorStream.getVerticalFieldOfView()/2.0f);
initializeColorIntrinsics(focalLengthX, focalLengthY, colorWidth/2.0f, colorHeight/2.0f);
Matrix3f R; R.setIdentity(); Vector3f t; t.setZero();
initializeColorExtrinsics(R, t);
R(0, 0) = 9.9991741106823473e-001; R(0, 1) = 3.0752530258331304e-003; R(0, 2) = -1.2478536028949385e-002;
R(1, 0) = -3.0607678272497924e-003; R(1, 1) = 9.9999461994140826e-001; R(1, 2) = 1.1797408808971066e-003;
R(2, 0) = 1.2482096895408091e-002; R(2, 1) = -1.1414495457493831e-003; R(2, 2) = 9.9992144408949846e-001;
//t[0] = -2.5331974929667012e+001; t[1] = 6.1798287248283634e-001; t[2] = 3.8510108109251804e+000;
//t[0] /= 1000.0f; t[1] /= 1000.0f; t[2] /= 1000.0f;
//
//initializeDepthExtrinsics(R, t);
return hr;
}
void CalibrationNode::performEstimation(){
if(rotationRB_vec.size() < 5 ){
std::cout << "Insufficient data" << std::endl;
return;
}
//perform least squares estimation
Matrix3f M;
Matrix4f rbi, rbj, cbi, cbj;
Matrix4f A, B;
Matrix3f I;
I.setIdentity();
MatrixXf C(0,3), bA(0,1), bB(0,1);
Vector3f ai, bi;
VectorXf V_tmp;
MatrixXf C_tmp;
M.setZero();
for(int i=0; i < (int)rotationRB_vec.size(); i++){
for(int j=0; j < (int)rotationRB_vec.size(); j++){
if(i!=j){
rbi << rotationRB_vec[i] , translationRB_vec[i] , 0, 0, 0, 1;
rbj << rotationRB_vec[j] , translationRB_vec[j] , 0, 0, 0, 1;
A = rbj.inverse()*rbi;
cbi << rotationCB_vec[i] , translationCB_vec[i] , 0, 0, 0, 1;
cbj << rotationCB_vec[j] , translationCB_vec[j] , 0, 0, 0, 1;
B = cbj*cbi.inverse();
ai = getLogTheta(A.block(0,0,3,3));
bi = getLogTheta(B.block(0,0,3,3));
M += bi*ai.transpose();
MatrixXf C_tmp = C;
C.resize(C.rows()+3, NoChange);
C << C_tmp, Matrix3f::Identity() - A.block(0,0,3,3);
V_tmp = bA;
bA.resize(bA.rows()+3, NoChange);
bA << V_tmp, A.block(0,3,3,1);
V_tmp = bB;
bB.resize(bB.rows()+3, NoChange);
bB << V_tmp, B.block(0,3,3,1);
}//end of if i!=j
}
}//end of for(.. i < rotationRB_vec.size(); ..)
#if ESTIMATION_DEBUG
std::cout << "M = [ " << M << " ]; " << endl;
#endif
EigenSolver<Matrix3f> es(M.transpose()*M);
Matrix3cf D = es.eigenvalues().asDiagonal();
Matrix3cf V = es.eigenvectors();
Matrix3cf Lambda = D.inverse().array().sqrt();
Matrix3cf Theta_X = V * Lambda * V.inverse() * M.transpose();
std::cout << "Orientation of Camera Frame with respect to Robot tool-tip frame." << std::endl;
std::cout << "Theta_X = [ " << Theta_X.real() << " ]; " << endl;
//Estimating translational offset
for(int i=0; i < bB.rows()/3; i++){
bB.block(i*3,0,3,1) = Theta_X.real()*bB.block(i*3,0,3,1);
}
bA = bA - bB; // this is d. saving memory
std::cout << "Translation of Camera Frame with respect to Robot tool-tip frame." << std::endl;
cout << "bX = [ " << (C.transpose()*C).inverse() * C.transpose() * bA << " ]; " << endl;
}