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cellGem: calculate distance from sphere to camera

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This commit is contained in:
Megamouse 2024-11-28 22:39:50 +01:00
parent 926de68a79
commit a8b0c0be07
3 changed files with 25 additions and 16 deletions
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14
rpcs3/Emu/Cell/Modules/cellGem.cpp
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@ -232,7 +232,7 @@ public:
u8 rumble = 0; // Rumble intensity u8 rumble = 0; // Rumble intensity
gem_color sphere_rgb = {}; // RGB color of the sphere LED gem_color sphere_rgb = {}; // RGB color of the sphere LED
u32 hue = 0; // Tracking hue of the motion controller u32 hue = 0; // Tracking hue of the motion controller
f32 distance{1500.0f}; // Distance from the camera in mm f32 distance_mm{1500.0f}; // Distance from the camera in mm
f32 radius{10.0f}; // Radius of the sphere in camera pixels f32 radius{10.0f}; // Radius of the sphere in camera pixels
bool radius_valid = true; // If the radius and distance of the sphere was computed. bool radius_valid = true; // If the radius and distance of the sphere was computed.
@ -817,7 +817,7 @@ public:
{ {
// Only set new radius and distance if the radius is valid // Only set new radius and distance if the radius is valid
controller.radius = info.radius; controller.radius = info.radius;
controller.distance = info.distance; controller.distance_mm = info.distance_mm;
} }
} }
} }
@ -894,8 +894,8 @@ static inline void pos_to_gem_image_state(u32 gem_num, const gem_config::gem_con
gem_image_state->v = image_y; gem_image_state->v = image_y;
// Projected camera coordinates in mm // Projected camera coordinates in mm
gem_image_state->projectionx = camera_x / controller.distance; gem_image_state->projectionx = camera_x / controller.distance_mm;
gem_image_state->projectiony = camera_y / controller.distance; gem_image_state->projectiony = camera_y / controller.distance_mm;
if (g_cfg.io.show_move_cursor) if (g_cfg.io.show_move_cursor)
{ {
@ -929,7 +929,7 @@ static inline void pos_to_gem_state(u32 gem_num, const gem_config::gem_controlle
// World coordinates in mm // World coordinates in mm
gem_state->pos[0] = camera_x; gem_state->pos[0] = camera_x;
gem_state->pos[1] = camera_y; gem_state->pos[1] = camera_y;
gem_state->pos[2] = static_cast<f32>(controller.distance); gem_state->pos[2] = controller.distance_mm;
gem_state->pos[3] = 0.f; gem_state->pos[3] = 0.f;
gem_state->quat[0] = 320.f - image_x; gem_state->quat[0] = 320.f - image_x;
@ -939,7 +939,7 @@ static inline void pos_to_gem_state(u32 gem_num, const gem_config::gem_controlle
// TODO: calculate handle position based on our world coordinate and the angles // TODO: calculate handle position based on our world coordinate and the angles
gem_state->handle_pos[0] = camera_x; gem_state->handle_pos[0] = camera_x;
gem_state->handle_pos[1] = camera_y; gem_state->handle_pos[1] = camera_y;
gem_state->handle_pos[2] = static_cast<f32>(controller.distance + 10); gem_state->handle_pos[2] = controller.distance_mm + 10.0f;
gem_state->handle_pos[3] = 0.f; gem_state->handle_pos[3] = 0.f;
if (g_cfg.io.show_move_cursor) if (g_cfg.io.show_move_cursor)
@ -1800,7 +1800,7 @@ error_code cellGemGetImageState(u32 gem_num, vm::ptr<CellGemImageState> gem_imag
gem_image_state->frame_timestamp = shared_data.frame_timestamp_us.load(); gem_image_state->frame_timestamp = shared_data.frame_timestamp_us.load();
gem_image_state->timestamp = gem_image_state->frame_timestamp + 10; gem_image_state->timestamp = gem_image_state->frame_timestamp + 10;
gem_image_state->r = controller.radius; // Radius in camera pixels gem_image_state->r = controller.radius; // Radius in camera pixels
gem_image_state->distance = controller.distance; // 1.5 meters away from camera gem_image_state->distance = controller.distance_mm;
gem_image_state->visible = gem.is_controller_ready(gem_num); gem_image_state->visible = gem.is_controller_ready(gem_num);
gem_image_state->r_valid = controller.radius_valid; gem_image_state->r_valid = controller.radius_valid;

13
rpcs3/Input/ps_move_tracker.cpp
View file

@ -408,9 +408,18 @@ void ps_move_tracker<DiagnosticsEnabled>::process_contours(ps_move_info& info, u
if (best_index == umax) if (best_index == umax)
return; return;
// Calculate distance from sphere to camera
const f32 sphere_radius_pixels = radii[best_index];
constexpr f32 focal_length_mm = 3.5f; // Based on common webcam specs
constexpr f32 sensor_width_mm = 3.6f; // Based on common webcam specs
const f32 image_width_pixels = static_cast<float>(width);
const f32 focal_length_pixels = (focal_length_mm * image_width_pixels) / sensor_width_mm;
const f32 distance_mm = (focal_length_pixels * CELL_GEM_SPHERE_RADIUS_MM) / sphere_radius_pixels;
// Set results
info.valid = true; info.valid = true;
info.distance = 1500.0f; info.distance_mm = distance_mm;
info.radius = radii[best_index]; info.radius = sphere_radius_pixels;
info.x_pos = std::clamp(static_cast<u32>(centers[best_index].x), 0u, width); info.x_pos = std::clamp(static_cast<u32>(centers[best_index].x), 0u, width);
info.y_pos = std::clamp(static_cast<u32>(centers[best_index].y), 0u, height); info.y_pos = std::clamp(static_cast<u32>(centers[best_index].y), 0u, height);

14
rpcs3/Input/ps_move_tracker.h
View file

@ -8,13 +8,13 @@
struct ps_move_info struct ps_move_info
{ {
bool valid = false; bool valid = false; // The tracking result
f32 radius = 0.0f; f32 radius = 0.0f; // Radius of the sphere in pixels
f32 distance = 0.0f; f32 distance_mm = 0.0f; // Distance from sphere to camera in mm
u32 x_pos = 0; u32 x_pos = 0; // X position in pixels
u32 y_pos = 0; u32 y_pos = 0; // Y position in pixels
u32 x_max = 0; u32 x_max = 0; // Maximum X position in pixels
u32 y_max = 0; u32 y_max = 0; // Maximum Y position in pixels
}; };
template <bool DiagnosticsEnabled = false> template <bool DiagnosticsEnabled = false>