Ejemplo n.º 1
0
// draw all the lines between aPts and Pts that have a corr>threshold.
// if aPtInd is in the range of aPts, then draw only the lines that comes from aPts[aPtInd]
void drawCorrLines(PlotLines::Ptr lines, const vector<btVector3>& aPts, const vector<btVector3>& bPts, const Eigen::MatrixXf& corr, float threshold, int aPtInd) {
  vector<btVector3> linePoints;
  vector<btVector4> lineColors;
  float max_corr = corr.maxCoeff(); // color lines by corr, where corr has been mapped [threshold,max_corr] -> [0,1]
  for (int i=0; i<corr.rows(); ++i)
    for (int j=0; j<corr.cols(); ++j)
    	if (corr(i,j) > threshold) {
    		if (aPtInd<0 || aPtInd>=corr.rows() || aPtInd==i) {
					linePoints.push_back(aPts[i]);
					linePoints.push_back(bPts[j]);
					float color_factor = (corr(i,j)-threshold)/(max_corr-threshold); //basically, it ranges from 0 to 1
					lineColors.push_back(btVector4(color_factor, color_factor,0,1));
				}
    	}
  lines->setPoints(linePoints, lineColors);
}
Ejemplo n.º 2
0
	slimage::Image3ub PlotDeltaDensity(const Eigen::MatrixXf& dd)
	{
		return PlotDeltaDensity(dd, 
			std::max(std::abs(dd.minCoeff()), std::abs(dd.maxCoeff())));
	}
Ejemplo n.º 3
0
	slimage::Image3ub PlotDeltaDensity(const Eigen::MatrixXf& actual, const Eigen::MatrixXf& reference)
	{
		float a = std::abs(reference.maxCoeff());
		return PlotDeltaDensity(actual - reference, 0.1f * a);
	}
Ejemplo n.º 4
0
	slimage::Image3ub PlotDensity(const Eigen::MatrixXf& d) {
		return PlotDensity(d,
			d.minCoeff(), d.maxCoeff());
	}