Mercurial > public > ostc4
annotate Discovery/Src/motion.c @ 574:01ee21dd311f
Improved focus detection:
In previous version th calibration window was turned into the current one. At all two translations were used causing a jitter. Now the current view is translated into the calibration windows by one step increasing the quality of the prediction.
Reworked detection of pitch/sector/scroll events:
Sector and scroll uses pitch angles to calculate the view to show. Movment detection uses movment, which may also be out of focus for a short time. To improve all detections these two use cases are now handled individual. Sector and scroll have increased action angle in case yaw and roll stay stable.
| author | Ideenmodellierer |
|---|---|
| date | Wed, 25 Nov 2020 20:26:01 +0100 |
| parents | e3237f580ae9 |
| children | beb4d47542f1 |
| rev | line source |
|---|---|
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1 /* |
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2 * motion.c |
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3 * |
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4 * Created on: 20.05.2019 |
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5 * Author: Thorsten Sonntag |
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6 */ |
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7 |
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8 #include <stdint.h> |
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9 #include <string.h> |
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10 #include <stdlib.h> |
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11 #include <math.h> |
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12 #include "motion.h" |
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13 #include "data_central.h" |
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14 #include "t7.h" |
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15 #include "t3.h" |
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16 #include "settings.h" |
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17 |
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18 #define STABLE_STATE_COUNT 2 /* number of count to declare a state as stable (at the moment based on 100ms) */ |
| 363 | 19 #define STABLE_STATE_TIMEOUT 5 /* Detection shall be aborted if a movement state is stable for more than 500ms */ |
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20 |
| 551 | 21 #define SECTOR_WINDOW 40.0 /* Pitch window which is used for custom view projection */ |
| 381 | 22 #define SECTOR_WINDOW_MAX 120.0 /* Pitch window which will be greater than the divers field of view */ |
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23 #define SECTOR_HYSTERY 2 /* Additional offset to avoid fast changing displays */ |
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24 #define SECTOR_BORDER 400.0 /* Define a value which is out of limit to avoid not wanted key events */ |
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25 #define SECTOR_FILTER 10 /* Define speed for calculated angle to follow real value */ |
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26 |
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27 #define SECTOR_MAX 24 /* maximum number of sectors */ |
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28 #define SECTOR_SCROLL 7 /* number of sectors used for scroll detection */ |
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29 |
| 551 | 30 #define MOTION_DELTA_STABLE 0 |
| 31 #define MOTION_DELTA_JITTER 1 | |
| 32 #define MOTION_DELTA_RAISE 2 | |
| 33 #define MOTION_DELTA_FALL 3 | |
| 34 | |
| 35 #define MOTION_DELTA_JITTER_LEVEL 3.0 /* lower values are considered as stable */ | |
| 574 | 36 #define MOTION_DELTA_RAISE_LEVEL 6.0 /* Movement causing a significant change detected */ |
| 551 | 37 #define MOTION_DELTA_FALL_LEVEL -6.0 /* Movement causing a significant change detected */ |
| 38 | |
| 39 #define MOTION_DELTA_HISTORY_SIZE 20 /* Number of history data sets */ | |
| 40 | |
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41 detectionState_t detectionState = DETECT_NOTHING; |
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42 SSector sectorDetection; |
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43 |
| 551 | 44 static uint8_t motionDeltaHistory[3][MOTION_DELTA_HISTORY_SIZE]; /* Change history of roll, pitch and yaw */ |
| 45 static uint8_t motionDeltaHistoryIdx; /* Current index of history data */ | |
| 46 | |
| 47 static uint8_t focusCnt = 0; | |
| 48 static uint8_t inFocus = 0; | |
| 49 | |
| 50 void resetMotionDeltaHistory() | |
| 51 { | |
| 52 motionDeltaHistoryIdx = 0; | |
| 53 memset(motionDeltaHistory, 0, sizeof(motionDeltaHistory)); | |
| 54 } | |
| 55 | |
| 56 void evaluateMotionDelta(float roll, float pitch, float yaw) | |
| 57 { | |
| 58 static float lastValue[3] = {0.0,0.0,0.0}; | |
| 59 uint8_t nextIndex = motionDeltaHistoryIdx + 1; | |
| 60 uint8_t axis; | |
| 61 float curValue; | |
| 62 | |
| 63 if(nextIndex == MOTION_DELTA_HISTORY_SIZE) | |
| 64 { | |
| 65 nextIndex = 0; | |
| 66 } | |
| 67 for(axis=0; axis < 3; axis++) | |
| 68 { | |
| 69 switch(axis) | |
| 70 { | |
| 71 case MOTION_HISTORY_ROLL: curValue = roll; | |
| 72 break; | |
| 73 case MOTION_HISTORY_PITCH: curValue = pitch; | |
| 74 break; | |
| 75 default: | |
| 76 case MOTION_HISTORY_YAW: if((yaw < 90) && (lastValue[MOTION_HISTORY_YAW] > 270.0)) /* transition 360 => 0 */ | |
| 77 { | |
| 78 lastValue[MOTION_HISTORY_YAW] -= 360; | |
| 79 } | |
| 80 else if((yaw > 270) && (lastValue[MOTION_HISTORY_YAW] < 90.0)) /* transition 0 => 360 */ | |
| 81 { | |
| 82 lastValue[MOTION_HISTORY_YAW] += 360; | |
| 83 } | |
| 84 curValue = yaw; | |
| 85 break; | |
| 86 } | |
| 87 if(curValue - lastValue[axis] > MOTION_DELTA_RAISE_LEVEL) | |
| 88 { | |
| 89 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_RAISE; | |
| 90 } | |
| 91 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_RAISE_LEVEL) | |
| 92 { | |
| 93 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_JITTER; | |
| 94 } | |
| 95 if(fabsf(curValue - lastValue[axis]) < MOTION_DELTA_JITTER_LEVEL) | |
| 96 { | |
| 97 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_STABLE; | |
| 98 } | |
| 99 if(curValue - lastValue[axis] < MOTION_DELTA_FALL_LEVEL) | |
| 100 { | |
| 101 motionDeltaHistory[axis][nextIndex] = MOTION_DELTA_FALL; | |
| 102 } | |
| 103 lastValue[axis] = curValue; | |
| 104 } | |
| 105 motionDeltaHistoryIdx = nextIndex; | |
| 106 } | |
| 107 | |
| 108 SDeltaHistory GetDeltaHistory(uint8_t stepback) | |
| 109 { | |
| 110 uint8_t loop = stepback; | |
| 111 uint8_t index = motionDeltaHistoryIdx; | |
| 112 | |
| 113 SDeltaHistory result = {0,0,0}; | |
| 114 | |
| 115 if(stepback < MOTION_DELTA_HISTORY_SIZE) | |
| 116 { | |
| 117 while(loop != 0) /* find requested entry */ | |
| 118 { | |
| 119 loop--; | |
| 120 index--; | |
| 121 if(index == 0) | |
| 122 { | |
| 123 index = MOTION_DELTA_HISTORY_SIZE - 1; | |
| 124 } | |
| 125 } | |
| 126 result.roll = motionDeltaHistory[MOTION_HISTORY_ROLL][index]; | |
| 127 result.pitch = motionDeltaHistory[MOTION_HISTORY_PITCH][index]; | |
| 128 result.yaw = motionDeltaHistory[MOTION_HISTORY_YAW][index]; | |
| 129 } | |
| 130 return result; | |
| 131 } | |
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132 |
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133 uint8_t GetSectorForPitch(float pitch) |
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134 { |
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135 static uint8_t lastsector = 0; |
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136 float newPitch; |
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137 uint8_t sector = 0; |
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138 |
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139 newPitch = pitch + sectorDetection.offset + sectorDetection.center; /* do not use negative values and consider offset to center position */ |
| 381 | 140 if (newPitch < 0.0) /* clip value */ |
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141 { |
| 381 | 142 newPitch = 0.0; |
| 143 } | |
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144 if (newPitch > sectorDetection.window) /* clip value */ |
| 381 | 145 { |
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146 newPitch = sectorDetection.window; |
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147 } |
| 381 | 148 |
| 149 /* switch to other sector? */ | |
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150 if((newPitch > sectorDetection.upperborder) || (newPitch <= sectorDetection.lowerborder)) |
| 381 | 151 { |
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152 sector = (uint16_t) newPitch / sectorDetection.size; |
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153 sectorDetection.lowerborder = sector * sectorDetection.size - SECTOR_HYSTERY; |
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154 sectorDetection.upperborder = (sector + 1) * sectorDetection.size + SECTOR_HYSTERY; |
| 381 | 155 lastsector = sector; |
| 156 } | |
| 157 | |
| 158 return lastsector; | |
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159 } |
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160 |
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161 void DefinePitchSectors(float centerPitch,uint8_t numOfSectors) |
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162 { |
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163 if(numOfSectors == CUSTOMER_DEFINED_VIEWS) |
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164 { |
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165 if(settingsGetPointer()->design == 3) /* Big font view ? */ |
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166 { |
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167 sectorDetection.count = t3_GetEnabled_customviews(); |
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168 } |
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169 else |
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170 { |
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171 sectorDetection.count = t7_GetEnabled_customviews(); |
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172 } |
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173 if(sectorDetection.count > 7) |
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174 { |
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175 sectorDetection.count = 7; /* more views are hard to manually control */ |
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176 } |
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177 } |
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178 else |
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179 if(numOfSectors != CUSTOMER_KEEP_LAST_SECTORS) |
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180 { |
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181 sectorDetection.count = numOfSectors; |
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182 } |
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183 |
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184 if(sectorDetection.count == SECTOR_MAX) |
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185 { |
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186 sectorDetection.window = SECTOR_WINDOW_MAX; |
| 381 | 187 } |
| 188 else | |
| 189 { | |
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190 sectorDetection.window = SECTOR_WINDOW; |
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191 } |
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192 |
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193 sectorDetection.offset = (centerPitch - (sectorDetection.window / 2)) * -1.0; |
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194 sectorDetection.size = sectorDetection.window / sectorDetection.count; |
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195 sectorDetection.center = 0; |
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196 |
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197 /* reset border values */ |
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198 sectorDetection.lowerborder = SECTOR_BORDER; |
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199 sectorDetection.upperborder = SECTOR_BORDER * -1.0; |
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200 /* get the current sector */ |
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201 sectorDetection.current = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
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202 sectorDetection.target = sectorDetection.current; |
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203 /* do a small adjustment to center pitch to make sure the actual pitch is in the center of the current sector */ |
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204 sectorDetection.center = (sectorDetection.upperborder) - ((sectorDetection.size + 2 *SECTOR_HYSTERY) / 2.0) - (centerPitch + sectorDetection.offset); |
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205 |
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206 } |
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207 |
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208 void InitMotionDetection(void) |
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209 { |
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210 sectorDetection.target = 0; |
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211 sectorDetection.current = 0; |
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212 sectorDetection.size = 0; |
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213 sectorDetection.count = 0; |
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214 |
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215 switch(settingsGetPointer()->MotionDetection) |
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216 { |
| 551 | 217 case MOTION_DETECT_SECTOR: DefinePitchSectors(settingsGetPointer()->viewPitch,CUSTOMER_DEFINED_VIEWS); |
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218 break; |
| 551 | 219 case MOTION_DETECT_MOVE: DefinePitchSectors(settingsGetPointer()->viewPitch,SECTOR_MAX); |
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220 break; |
| 551 | 221 case MOTION_DETECT_SCROLL: DefinePitchSectors(settingsGetPointer()->viewPitch,SECTOR_SCROLL); |
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222 break; |
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223 default: |
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224 break; |
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225 } |
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226 |
| 551 | 227 resetMotionDeltaHistory(); |
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228 } |
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229 |
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230 /* Map the current pitch value to a sector and create button event in case the sector is left */ |
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231 detectionState_t detectSectorButtonEvent(float curPitch) |
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232 { |
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233 static uint8_t lastTargetSector = 0; |
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234 uint8_t newTargetSector; |
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235 uint8_t PitchEvent = DETECT_NOTHING; |
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236 |
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237 /* only change sector if reading is stable */ |
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238 newTargetSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
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239 if(lastTargetSector == newTargetSector) |
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240 { |
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241 sectorDetection.target = newTargetSector; |
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242 } |
| 381 | 243 lastTargetSector = newTargetSector; |
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244 if(sectorDetection.target != sectorDetection.current) |
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245 { |
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246 if(sectorDetection.target > sectorDetection.current) |
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247 { |
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248 sectorDetection.current++; |
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249 PitchEvent = DETECT_POS_PITCH; |
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250 } |
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251 else |
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252 { |
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253 sectorDetection.current--; |
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254 PitchEvent = DETECT_NEG_PITCH; |
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255 } |
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256 } |
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257 return PitchEvent; |
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258 } |
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259 |
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260 /* Check if pitch is not in center position and trigger a button action if needed */ |
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261 detectionState_t detectScrollButtonEvent(float curPitch) |
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262 { |
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263 static uint8_t delayscroll = 0; /* slow down the number of scroll events */ |
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264 |
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265 uint8_t PitchEvent = DETECT_NOTHING; |
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266 uint8_t newSector; |
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267 |
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268 if(delayscroll == 0) |
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269 { |
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270 newSector = GetSectorForPitch(stateRealGetPointer()->lifeData.compass_pitch); |
| 551 | 271 /* for scroll detection the motion window is split into 6 sectors => set event accoring to the sector number*/ |
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272 switch(newSector) |
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273 { |
| 574 | 274 case 0: PitchEvent = DETECT_POS_PITCH; |
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275 break; |
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276 case 6: PitchEvent = DETECT_NEG_PITCH; |
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277 break; |
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278 default: |
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279 break; |
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280 } |
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281 if(PitchEvent != DETECT_NOTHING) |
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282 { |
| 574 | 283 delayscroll = 7; |
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284 } |
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285 } |
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286 else |
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287 { |
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288 delayscroll--; |
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289 } |
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290 return PitchEvent; |
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291 } |
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292 |
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293 |
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294 /* Detect if user is generating an pitch including return to starting position */ |
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295 /* This is done by feeding the past movements value per value into a state machine */ |
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296 detectionState_t detectPitch(float currentPitch) |
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297 { |
| 551 | 298 uint8_t exit = 0; |
| 299 uint8_t step = 0; | |
| 574 | 300 uint8_t duration = 0; |
| 551 | 301 SDeltaHistory test; |
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302 |
| 551 | 303 detectionState = DETECT_NOTHING; |
| 304 while((step != MOTION_DELTA_HISTORY_SIZE) && (!exit)) /* start backward evalution of pitch changes*/ | |
| 305 { | |
| 306 test = GetDeltaHistory(step); | |
| 307 step++; | |
| 574 | 308 duration++; |
| 551 | 309 switch (detectionState) |
| 310 { | |
| 311 case DETECT_NOTHING: if(test.pitch > MOTION_DELTA_STABLE) | |
| 312 { | |
| 313 exit = 1; | |
| 314 } | |
| 315 else | |
| 316 { | |
| 317 detectionState = DETECT_START; | |
| 318 } | |
| 319 break; | |
| 320 case DETECT_START: if(test.pitch == MOTION_DELTA_RAISE) | |
| 321 { | |
| 322 detectionState = DETECT_POS_MOVE; | |
| 323 } | |
| 324 if(test.pitch == MOTION_DELTA_FALL) | |
| 325 { | |
| 326 detectionState = DETECT_NEG_MOVE; | |
| 327 } | |
| 574 | 328 duration = 0; |
| 551 | 329 break; |
| 330 case DETECT_NEG_MOVE: | |
| 331 case DETECT_POS_MOVE: if(test.pitch <= MOTION_DELTA_JITTER) | |
| 332 { | |
| 333 detectionState++; | |
| 334 } | |
| 335 break; | |
| 336 case DETECT_MAXIMA: if(test.pitch == MOTION_DELTA_FALL) | |
| 337 { | |
| 338 detectionState = DETECT_FALLBACK; | |
| 339 } | |
| 340 break; | |
| 341 case DETECT_MINIMA: if(test.pitch == MOTION_DELTA_RAISE) | |
| 342 { | |
| 343 detectionState = DETECT_RISEBACK; | |
| 344 } | |
| 345 break; | |
| 346 case DETECT_RISEBACK: | |
| 347 case DETECT_FALLBACK: if(test.pitch == MOTION_DELTA_STABLE) | |
| 348 { | |
| 574 | 349 if(duration > 5) /* avoid detection triggered by short moves */ |
| 350 { | |
| 351 detectionState++; | |
| 352 exit = 1; | |
| 353 } | |
| 354 else | |
| 355 { | |
| 356 detectionState = DETECT_NOTHING; | |
| 357 } | |
| 551 | 358 } |
| 359 break; | |
| 360 default: | |
| 361 detectionState = DETECT_NOTHING; | |
| 362 exit = 1; | |
| 363 break; | |
| 364 } | |
| 365 } | |
| 366 if((detectionState != DETECT_POS_PITCH) && (detectionState != DETECT_NEG_PITCH)) /* nothing found */ | |
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367 { |
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368 detectionState = DETECT_NOTHING; |
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369 } |
| 551 | 370 else /* dont detect the same event twice */ |
| 371 { | |
| 372 resetMotionDeltaHistory(); | |
| 373 } | |
| 374 return detectionState; | |
| 375 } | |
| 363 | 376 |
| 551 | 377 void anglesToCoord(float roll, float pitch, float yaw, SCoord *pCoord) |
| 378 { | |
| 379 pCoord->x = ((cosf(yaw) * cosf(pitch)) * pCoord->x + (cosf(yaw)*sinf(pitch)*sinf(roll) - (sinf(yaw)* cosf(roll))) * pCoord->y + (cosf(yaw)*sinf(pitch)*cosf(roll) + sinf(yaw)*sinf(roll)) * pCoord->z); | |
| 380 pCoord->y = ((sinf(yaw) * cosf(pitch)) * pCoord->x + (sinf(yaw)*sinf(pitch)*sinf(roll) + cosf(yaw) * cosf(roll)) * pCoord->y + ( sinf(yaw) * sinf(pitch) * cosf(roll) - cosf(yaw) * sinf(roll))* pCoord->z); | |
| 381 pCoord->z = ((-1*sinf(pitch)) * pCoord->x + (cosf(pitch) *sinf(roll)) * pCoord->y + (cosf(pitch) * cosf(roll))* pCoord->z); | |
| 382 } | |
| 383 | |
| 384 SCoord CoordAdd(SCoord cA, SCoord cB) | |
| 385 { | |
| 386 SCoord result; | |
| 387 | |
| 388 result.x = cA.x + cB.x; | |
| 389 result.y = cA.y + cB.y; | |
| 390 result.z = cA.z + cB.z; | |
| 391 return result; | |
| 392 } | |
| 393 | |
| 394 SCoord CoordSub(SCoord cA, SCoord cB) | |
| 395 { | |
| 396 SCoord result; | |
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397 |
| 551 | 398 result.x = cA.x - cB.x; |
| 399 result.y = cA.y - cB.y; | |
| 400 result.z = cA.z - cB.z; | |
| 401 return result; | |
| 402 } | |
| 403 | |
| 404 SCoord CoordCross(SCoord cA, SCoord cB) | |
| 405 { | |
| 406 SCoord result; | |
| 407 | |
| 408 result.x = (cA.y * cB.z) - (cA.z * cB.y); | |
| 409 result.y = (cA.z * cB.x) - (cA.x * cB.z); | |
| 410 result.z = (cA.x * cB.y) - (cA.y * cB.x); | |
| 411 | |
| 412 return result; | |
| 413 | |
| 414 } | |
| 415 | |
| 416 SCoord CoordMulF(SCoord op, float factor) | |
| 417 { | |
| 418 SCoord result; | |
| 419 result.x = (op.x * factor); | |
| 420 result.y = (op.y * factor); | |
| 421 result.z = (op.z * factor); | |
| 422 | |
| 423 return result; | |
| 424 } | |
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425 |
| 551 | 426 SCoord CoordDivF(SCoord op, float factor) |
| 427 { | |
| 428 SCoord result; | |
| 429 result.x = (op.x / factor); | |
| 430 result.y = (op.y / factor); | |
| 431 result.z = (op.z / factor); | |
| 432 | |
| 433 return result; | |
| 434 } | |
| 435 | |
| 436 float CoordDot(SCoord cA, SCoord cB) | |
| 437 { | |
| 438 float result; | |
| 439 | |
| 440 result = cA.x * cB.x + cA.y * cB.y + cB.z*cA.z; | |
| 441 return result; | |
| 442 } | |
| 443 | |
| 444 void calibrateViewport(float roll, float pitch, float yaw) | |
| 445 { | |
| 446 SSettings* pSettings = settingsGetPointer(); | |
| 447 | |
| 448 pSettings->viewPitch = pitch; | |
| 449 pSettings->viewRoll = roll; | |
| 450 pSettings->viewYaw = yaw; | |
| 451 } | |
| 452 | |
| 453 | |
| 454 float checkViewport(float roll, float pitch, float yaw) | |
| 455 { | |
| 574 | 456 static float freezeRoll = 0; |
| 457 static float freezeYaw = 0; | |
| 458 | |
| 551 | 459 uint8_t retval = 0; |
| 460 float angleYaw; | |
| 461 float anglePitch; | |
| 462 float angleRoll; | |
| 463 float distance = 0; | |
| 464 float _a, _b; | |
| 465 SCoord u,v,n; | |
| 466 float r; | |
| 467 | |
| 468 SCoord refVec; | |
| 469 SCoord axis_1; | |
| 470 SCoord axis_2; | |
| 471 SCoord curVec; | |
| 472 SCoord resultVec; | |
| 574 | 473 SDeltaHistory test; |
| 551 | 474 |
| 475 SSettings* pSettings = settingsGetPointer(); | |
| 476 | |
| 477 /* calculate base vector taking calibration delta into account yaw (heading) */ | |
| 478 float compYaw = yaw + pSettings->viewYaw; | |
| 574 | 479 |
| 480 compYaw = 360.0 - yaw; /* turn to 0° */ | |
| 481 compYaw += pSettings->viewYaw; /* consider calib yaw value */ | |
| 482 compYaw += yaw; | |
| 483 | |
| 551 | 484 if (compYaw < 0.0) |
| 485 { | |
| 486 compYaw = 360.0 + compYaw; | |
| 381 | 487 } |
| 551 | 488 |
| 489 if (compYaw > 360.0) | |
| 381 | 490 { |
| 574 | 491 compYaw = compYaw - 360.0; |
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492 } |
| 574 | 493 if (compYaw > 360.0) |
| 494 { | |
| 495 compYaw = compYaw - 360.0; | |
| 496 } | |
| 497 angleYaw = pSettings->viewYaw * M_PI / 180.0; | |
| 551 | 498 anglePitch = pSettings->viewPitch * M_PI / 180.0; |
| 499 angleRoll = pSettings->viewRoll * M_PI / 180.0; | |
| 500 | |
| 501 refVec.x = 0; | |
| 502 refVec.y = 0; | |
| 503 refVec.z = 1.0; | |
| 504 | |
| 505 anglesToCoord(angleRoll,anglePitch,angleYaw, &refVec); | |
| 506 | |
| 507 anglePitch = pitch * M_PI / 180.0; | |
| 508 angleRoll = roll * M_PI / 180.0; | |
| 509 angleYaw = yaw * M_PI / 180.0; | |
| 510 | |
| 511 /* assume x = 0 and y = 1 => find matching vector so axis_1 is 90° to axis_2 */ | |
| 512 axis_1.x = 0; | |
| 513 if(refVec.y >=0) | |
| 514 { | |
| 515 axis_2.y = 1; /* => Spawn y == refVec y */ | |
| 516 } | |
| 517 else axis_1.y = -1; | |
| 518 axis_1.z = -1.0 * refVec.y / refVec.z; | |
| 519 axis_2 = CoordCross(refVec, axis_1); /* Cross is 90° to refVec and Spawn as well => Plane Spawn / cross */ | |
| 520 | |
| 521 /* check if detection plane is correct */ | |
| 522 u = CoordSub(axis_1,refVec); | |
| 523 v = CoordSub(axis_2,refVec); | |
| 524 n = CoordCross(u,v); | |
| 525 | |
| 526 if((fabsf(n.x) <= 0.0001) && (fabsf(n.y) <= 0.0001) && (fabsf(n.z) <= 0.0001)) | |
| 527 { | |
| 528 retval = 2; | |
| 529 } | |
| 530 else | |
| 531 { | |
| 574 | 532 angleYaw = compYaw * M_PI / 180.0; |
| 551 | 533 anglePitch = pitch * M_PI / 180.0; |
| 534 angleRoll = roll * M_PI / 180.0; | |
| 535 curVec.x = 0; | |
| 536 curVec.y = 0; | |
| 537 curVec.z = 1.0; | |
| 538 anglesToCoord(angleRoll,anglePitch,angleYaw, &curVec); | |
| 539 | |
| 540 _a = CoordDot(curVec,n); | |
| 541 _b = CoordDot(refVec,n); | |
| 542 | |
| 543 if(_b>=(-0.0001)&&_b<=0.0001) /* Check if view port is parallel (no matchpoint) */ | |
| 544 { | |
| 545 retval = 3; | |
| 546 } | |
| 547 else | |
| 548 { | |
| 549 r=_a/_b; | |
| 550 if(r<0.00||r>1.40) /* are we looking into wrong direction? */ | |
| 551 { | |
| 552 retval = 4; | |
| 553 } | |
| 554 } | |
| 555 distance = retval * 1.0; /* just for debugging */ | |
| 556 if(retval == 0) | |
| 557 { | |
| 558 | |
| 559 /* start calculating the matchpoint */ | |
| 560 curVec = CoordMulF(curVec,r); | |
| 561 resultVec = CoordSub(refVec,curVec); | |
| 562 | |
| 563 /* calculate the distance between reference and actual vector */ | |
| 564 resultVec.x = resultVec.x * resultVec.x; | |
| 565 resultVec.y = resultVec.y * resultVec.y; | |
| 566 resultVec.z = resultVec.z * resultVec.z; | |
| 567 | |
| 568 if((resultVec.x == 0) && (resultVec.y == 0) && (resultVec.z == 0)) | |
| 569 { | |
| 570 distance = 0.0; | |
| 571 } | |
| 572 else | |
| 573 { | |
| 574 distance = sqrtf((resultVec.x + resultVec.y + resultVec.z)); | |
| 575 } | |
| 576 } | |
| 577 } | |
| 578 | |
| 579 if(distance < 0.5) /* handle focus counter to avoid fast in/out focus changes */ | |
| 580 { | |
| 581 if(focusCnt < 10) | |
| 582 { | |
| 583 if((focusCnt == 9) && (inFocus == 0)) /* we will get into focus */ | |
| 584 { | |
| 585 resetMotionDeltaHistory(); | |
| 586 } | |
| 587 focusCnt++; | |
| 588 } | |
| 574 | 589 if((focusCnt == 10) && (inFocus == 0)) |
| 551 | 590 { |
| 591 inFocus = 1; | |
| 574 | 592 freezeRoll = roll; |
| 593 freezeYaw = yaw; | |
| 551 | 594 } |
| 595 } | |
| 596 else | |
| 597 { | |
| 574 | 598 if(focusCnt >= 5) /* Reset focus faster then setting focus */ |
| 551 | 599 { |
| 574 | 600 if(pSettings->MotionDetection != MOTION_DETECT_MOVE) /* only apply extended focus for methods using absolute pitch values */ |
| 601 { | |
| 602 test = GetDeltaHistory(0); | |
| 603 if((test.yaw == MOTION_DELTA_STABLE) && (test.roll == MOTION_DELTA_STABLE)) | |
| 604 { | |
| 605 if((fabsf(freezeRoll - roll) < MOTION_DELTA_JITTER_LEVEL) && (fabsf(freezeYaw - yaw) < MOTION_DELTA_JITTER_LEVEL)) | |
| 606 { | |
| 607 focusCnt++; | |
| 608 } | |
| 609 } | |
| 610 else | |
| 611 { | |
| 612 if(freezeRoll != 0.0) | |
| 613 { | |
| 614 focusCnt = 1; | |
| 615 } | |
| 616 } | |
| 617 } | |
| 551 | 618 focusCnt--; |
| 619 } | |
| 620 else | |
| 621 { | |
| 574 | 622 focusCnt = 0; |
| 551 | 623 inFocus = 0; |
| 574 | 624 freezeRoll = 0; |
| 625 freezeYaw = 0; | |
| 551 | 626 } |
| 627 } | |
| 628 return distance; | |
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629 } |
| 551 | 630 uint8_t viewInFocus(void) |
| 631 { | |
| 632 return inFocus; | |
| 633 } | |
| 634 void resetFocusState(void) | |
| 635 { | |
| 636 inFocus = 0; | |
| 637 } |