Re: [simspark-devel] The angle in the horizontal plane.

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Hi Feng,

I had a second look at your problem. As I wrote, you have a small gap 
between the camera and the pitch axis of the head, but if it would be 
this gap, then the resulting change should look different. I reproduced 
your situation on my machine and I was able to record similar values.

Here my results:
where:
- Vec is the perceived polar coordinates in cartesian cordinates
- res the resulting vision vector after an inverse rotatation of the 
movement
- pos the resulting position calculation based on the known position of 
the flags

NECK PITCH CASE ============================================================
(n hj2) (ax -30.00))
(See
(G2R (pol 15.74 -4.50 30.91))
(G1R (pol 15.72 4.22 30.75))
(F1R (pol 17.20 26.69 25.43))
(F2R (pol 17.20 -26.85 25.41))

Vec1: (13.46, -1.05, 8.08) res: (15.70, -1.05, 0.27) pos: (-5.20, 0.01, 
0.52)
Vec2: (13.47, 0.99, 8.03) res: (15.68, 0.99, 0.22) pos: (-5.18, 0.05, 0.57)
Vec3: (13.87, 6.97, 7.38) res: (15.71, 6.97, -0.54) pos: (-5.21, 0.02, 0.54)
Vec4: (13.86, -7.01, 7.38) res: (15.69, -7.01, -0.53) pos: (-5.19, 0.01, 
0.53)

(HJ (n hj2) (ax -0.00))
(See
(G2R (pol 15.74 -3.90 0.94))
(G1R (pol 15.74 3.77 0.94))
(F1R (pol 17.21 24.09 -1.70))
(F2R (pol 17.19 -24.15 -1.84))

Vec1: (15.70, -1.07, 0.25) res: (15.70, -1.07, 0.25) pos: (-5.20, 0.02, 
0.54)
Vec2: (15.70, 1.03, 0.25) res: (15.70, 1.03, 0.25) pos: (-5.20, 0.01, 0.54)
Vec3: (15.70, 7.02, -0.51) res: (15.70, 7.02, -0.51) pos: (-5.20, -0.02, 
0.51)
Vec4: (15.67, -7.02, -0.55) res: (15.67, -7.02, -0.55) pos: (-5.17, 
0.02, 0.55)

(HJ (n hj2) (ax 30.00))
(See
(G2R (pol 15.74 -4.41 -28.97))
(G1R (pol 15.73 4.23 -29.06))
(F1R (pol 17.19 27.58 -29.00))
(F2R (pol 17.23 -27.51 -28.70))

Vec1: (13.72, -1.05, -7.62) res: (15.70, -1.05, 0.26) pos: (-5.20, 0.00, 
0.53)
Vec2: (13.71, 1.01, -7.64) res: (15.69, 1.01, 0.23) pos: (-5.19, 0.03, 0.56)
Vec3: (13.32, 6.96, -8.33) res: (15.70, 6.96, -0.55) pos: (-5.20, 0.03, 
0.55)
Vec4: (13.40, -6.98, -8.27) res: (15.74, -6.98, -0.46) pos: (-5.24, 
-0.01, 0.46)

NECK YAW CASE ============================================================
(HJ (n hj1) (ax -30.00))
(See
(G2R (pol 15.75 26.30 1.00))
(G1R (pol 15.71 33.57 0.69))
(F1R (pol 17.20 54.11 -1.79))
(F2R (pol 17.20 5.99 -1.83))

Vec1: (14.11, 6.97, 0.27) res: (15.71, -1.01, 0.27) pos: (-5.21, -0.03, 
0.52)
Vec2: (13.08, 8.68, 0.18) res: (15.67, 0.97, 0.18) pos: (-5.17, 0.07, 0.61)
Vec3: (10.07, 13.92, -0.53) res: (15.69, 7.02, -0.53) pos: (-5.19, 
-0.02, 0.53)
Vec4: (17.09, 1.79, -0.54) res: (15.70, -6.99, -0.54) pos: (-5.20, 
-0.00, 0.54)

(HJ (n hj1) (ax 0.00))
(See
(G2R (pol 15.75 -3.62 1.03))
(G1R (pol 15.75 4.00 1.01))
(F1R (pol 17.19 24.03 -1.88))
(F2R (pol 17.17 -24.15 -1.98))

Vec1: (15.71, -0.99, 0.28) res: (15.71, -0.99, 0.28) pos: (-5.21, -0.05, 
0.51)
Vec2: (15.70, 1.09, 0.27) res: (15.70, 1.09, 0.27) pos: (-5.20, -0.04, 0.52)
Vec3: (15.69, 6.99, -0.56) res: (15.69, 6.99, -0.56) pos: (-5.19, 0.00, 
0.56)
Vec4: (15.65, -7.02, -0.59) res: (15.65, -7.02, -0.59) pos: (-5.15, 
0.02, 0.59)

(HJ (n hj1) (ax 30.00))
(See
(G2R (pol 15.75 -33.51 1.06))
(G1R (pol 15.76 -25.84 1.08))
(F1R (pol 17.17 -6.05 -2.00))
(F2R (pol 17.20 -53.85 -1.79))

Vec1: (13.12, -8.69, 0.29) res: (15.71, -0.96, 0.29) pos: (-5.21, -0.08, 
0.50)
Vec2: (14.18, -6.86, 0.29) res: (15.71, 1.14, 0.29) pos: (-5.21, -0.09, 
0.50)
Vec3: (17.06, -1.80, -0.59) res: (15.68, 6.96, -0.59) pos: (-5.18, 0.03, 
0.59)
Vec4: (10.14, -13.88, -0.53) res: (15.72, -6.95, -0.53) pos: (-5.22, 
-0.04, 0.53)

As you see, this effect is more related to pitch movements and the 
corder flags - the yaw case is not affected as much and as well not in 
the same way. This would also indicate a relation to the 
camera-pitch-gap, but if you look at the resulting positions, this 
effect isn't realy present any more. Overall I think it's related to the 
general noise of the vision, even though it looks dubious.

Hope I could help you,
Stefan

Am 20.05.2011 16:07, schrieb feng:
> Hi all,
> There is a simple problem that has been bothering me for some time.
> Form  a flag,we can get the Distance , the  Theta,and  the Phi.  The description of Theta in User's Manual is:the angle in the horizontal plane.But when i raise NAO's head a little,Theta increases.
> Here is my test (with agent stand on(-5.2,0,0),do nothing):
> Head2 Angle :30      angle to RFlag1 :27.76    angle to RFlag2 :-27.65
> Head2 Angle :0        angle to RFlag1 :24.11    angle to RFlag2 :-23.98
> Head2 Angle :-30     angle to RFlag1 :26.87    angle to RFlag2 :-27.04
> I am not clear on this problem,please help.
> Best regards,
> Feng
>
>
>
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