// ============================================================================
void VideoProcessor::get_robot_pos()
{
// detect the markers
this->m_markers = this->m_detector.detect(this->m_image_input, this->m_cam_param, this->m_marker_size);
// no markers found
if (this->m_markers.size() == 0) {
this->m_flag_robot_found = false;
return;
}
// if found, check if id match the robot marker id
// cv::Mat t_output_image;
// this->m_image_input.copyTo(t_output_image);
this->m_flag_robot_found = false;
for (int i = 0; i < this->m_markers.size(); i++) {
if (this->m_markers[i].id == this->m_marker_id_robot) {
// found robot
this->m_flag_robot_found = true;
// // draw cube
// this->m_markers[i].draw(t_output_image, cv::Scalar(0, 0, 255), 1);
// aruco::CvDrawingUtils::draw3dCube(t_output_image, this->m_markers[i], this->m_cam_param);
// aruco::CvDrawingUtils::draw3dAxis(t_output_image, this->m_markers[i], this->m_cam_param);
// obtain position information
geometry_msgs::Pose2D t_pose;
t_pose.x = this->m_markers[i].Tvec.at<float>(0, 0);
t_pose.y = this->m_markers[i].Tvec.at<float>(1, 0);
// calculate orientation using Euler angle
Eigen::Vector3d t_angle_axis;
t_angle_axis << this->m_markers[i].Rvec.at<float>(0, 0),
this->m_markers[i].Rvec.at<float>(1, 0),
this->m_markers[i].Rvec.at<float>(2, 0);
Eigen::Matrix3d t_rot;
t_rot = Eigen::AngleAxisd(t_angle_axis.norm(), t_angle_axis.normalized());
// reverse the y and z axis
for (int i = 0; i < 3; i++) {
for (int j = 1; j < 3; j++) {
t_rot(i, j) = -t_rot(i, j);
}
}
Eigen::Vector3d ea = t_rot.eulerAngles(0, 1, 2);
t_pose.theta = ea[2];
// convert to [0 2*pi]
if (t_pose.theta < 0) {
t_pose.theta += 2 * PI;
} else if (t_pose.theta > 2 * PI) {
t_pose.theta -= 2 * PI;
}
// write to file
double t = (double) (this->m_frame_count - 1) / (double) this->m_frame_rate;
this->m_robot_data << t << ", " << t_pose.x << ", " << t_pose.y << ", " << t_pose.theta << std::endl;
break;
}
}
// cv::Mat t_display;
// cv::resize(t_output_image, t_display, cv::Size(), 0.5, 0.5);
// cv::imshow("test", t_display);
// cv::waitKey(5);
}
void Polyhedra::Initialize(){
if (init) return;
bool isRandom = false;
//get vertices
int N = (int) v.size();
if (N==0) {
//generate randomly
while ((int) v.size()<4) GenerateRandomGeometry();
N = (int) v.size();
isRandom = true;
}
//compute convex hull of vertices
std::vector<CGALpoint> points;
points.resize(v.size());
for(int i=0;i<N;i++) {
points[i] = CGALpoint(v[i][0],v[i][1],v[i][2]);
}
CGAL::convex_hull_3(points.begin(), points.end(), P);
//connect triagular facets if possible
std::transform(P.facets_begin(), P.facets_end(), P.planes_begin(),Plane_equation());
P = Simplify(P, 1E-9);
//modify order of v according to CGAl polyhedron
int i = 0;
v.clear();
for (Polyhedron::Vertex_iterator vIter = P.vertices_begin(); vIter != P.vertices_end(); ++vIter, i++){
v.push_back(Vector3r(vIter->point().x(),vIter->point().y(),vIter->point().z()));
}
//list surface triangles for plotting
faceTri.clear();
std::transform(P.facets_begin(), P.facets_end(), P.planes_begin(),Plane_equation());
for (Polyhedron::Facet_iterator fIter = P.facets_begin(); fIter != P.facets_end(); fIter++){
Polyhedron::Halfedge_around_facet_circulator hfc0;
int n = fIter->facet_degree();
hfc0 = fIter->facet_begin();
int a = std::distance(P.vertices_begin(), hfc0->vertex());
for (int i=2; i<n; i++){
++hfc0;
faceTri.push_back(a);
faceTri.push_back(std::distance(P.vertices_begin(), hfc0->vertex()));
faceTri.push_back(std::distance(P.vertices_begin(), hfc0->next()->vertex()));
}
}
//compute centroid and volume
P_volume_centroid(P, &volume, ¢roid);
//check vierd behavior of CGAL in tessalation
if(isRandom && volume*1.75<4./3.*3.14*size[0]/2.*size[1]/2.*size[2]/2.) {
v.clear();
seed = rand();
Initialize();
}
Vector3r translation((-1)*centroid);
//set centroid to be [0,0,0]
for(int i=0;i<N;i++) {
v[i] = v[i]-centroid;
}
if(isRandom) centroid = Vector3r::Zero();
Vector3r origin(0,0,0);
//move and rotate also the CGAL structure Polyhedron
Transformation t_trans(1.,0.,0.,translation[0],0.,1.,0.,translation[1],0.,0.,1.,translation[2],1.);
std::transform( P.points_begin(), P.points_end(), P.points_begin(), t_trans);
//compute inertia
Real vtet;
Vector3r ctet;
Matrix3r Itet1, Itet2;
Matrix3r inertia_tensor(Matrix3r::Zero());
for(int i=0; i<(int) faceTri.size(); i+=3){
vtet = std::abs((origin-v[faceTri[i+2]]).dot((v[faceTri[i]]-v[faceTri[i+2]]).cross(v[faceTri[i+1]]-v[faceTri[i+2]]))/6.);
ctet = (origin+v[faceTri[i]]+v[faceTri[i+1]]+v[faceTri[i+2]]) / 4.;
Itet1 = TetraInertiaTensor(origin-ctet, v[faceTri[i]]-ctet, v[faceTri[i+1]]-ctet, v[faceTri[i+2]]-ctet);
ctet = ctet-origin;
Itet2<<
ctet[1]*ctet[1]+ctet[2]*ctet[2], -ctet[0]*ctet[1], -ctet[0]*ctet[2],
-ctet[0]*ctet[1], ctet[0]*ctet[0]+ctet[2]*ctet[2], -ctet[2]*ctet[1],
-ctet[0]*ctet[2], -ctet[2]*ctet[1], ctet[1]*ctet[1]+ctet[0]*ctet[0];
inertia_tensor = inertia_tensor + Itet1 + Itet2*vtet;
}
if(std::abs(inertia_tensor(0,1))+std::abs(inertia_tensor(0,2))+std::abs(inertia_tensor(1,2)) < 1E-13){
// no need to rotate, inertia already diagonal
orientation = Quaternionr::Identity();
inertia = Vector3r(inertia_tensor(0,0),inertia_tensor(1,1),inertia_tensor(2,2));
}else{
// calculate eigenvectors of I
Vector3r rot;
Matrix3r I_rot(Matrix3r::Zero()), I_new(Matrix3r::Zero());
matrixEigenDecomposition(inertia_tensor,I_rot,I_new);
// I_rot = eigenvectors of inertia_tensors in columns
// I_new = eigenvalues on diagonal
// set positove direction of vectors - otherwise reloading does not work
Matrix3r sign(Matrix3r::Zero());
Real max_v_signed = I_rot(0,0);
Real max_v = std::abs(I_rot(0,0));
if (max_v < std::abs(I_rot(1,0))) {max_v_signed = I_rot(1,0); max_v = std::abs(I_rot(1,0));}
if (max_v < std::abs(I_rot(2,0))) {max_v_signed = I_rot(2,0); max_v = std::abs(I_rot(2,0));}
sign(0,0) = max_v_signed/max_v;
max_v_signed = I_rot(0,1);
max_v = std::abs(I_rot(0,1));
if (max_v < std::abs(I_rot(1,1))) {max_v_signed = I_rot(1,1); max_v = std::abs(I_rot(1,1));}
if (max_v < std::abs(I_rot(2,1))) {max_v_signed = I_rot(2,1); max_v = std::abs(I_rot(2,1));}
sign(1,1) = max_v_signed/max_v;
sign(2,2) = 1.;
I_rot = I_rot*sign;
// force the eigenvectors to be right-hand oriented
Vector3r third = (I_rot.col(0)).cross(I_rot.col(1));
I_rot(0,2) = third[0];
I_rot(1,2) = third[1];
I_rot(2,2) = third[2];
inertia = Vector3r(I_new(0,0),I_new(1,1),I_new(2,2));
orientation = Quaternionr(I_rot);
//rotate the voronoi cell so that x - is maximal inertia axis and z - is minimal inertia axis
//orientation.normalize(); //not needed
for(int i=0; i< (int) v.size();i++) {
v[i] = orientation.conjugate()*v[i];
}
//rotate also the CGAL structure Polyhedron
Matrix3r rot_mat = (orientation.conjugate()).toRotationMatrix();
Transformation t_rot(rot_mat(0,0),rot_mat(0,1),rot_mat(0,2),rot_mat(1,0),rot_mat(1,1),rot_mat(1,2),rot_mat(2,0),rot_mat(2,1),rot_mat(2,2),1.);
std::transform( P.points_begin(), P.points_end(), P.points_begin(), t_rot);
}
//initialization done
init = 1;
}
//**********************************************************************************
//generate "packing" of non-overlapping balls
vector<Vector3r> fillBoxByBalls_cpp(Vector3r minCoord, Vector3r maxCoord, Vector3r sizemin, Vector3r sizemax, Vector3r ratio, int seed, shared_ptr<Material> mat, int NumPoints){
vector<Vector3r> v;
Polyhedra trialP;
Polyhedron trial, trial_moved;
srand(seed);
int it = 0;
vector<Polyhedron> polyhedrons;
vector<vector<Vector3r> > vv;
Vector3r position;
bool intersection;
int count = 0;
Vector3r radii;
bool fixed_ratio = 0;
if (ratio[0] > 0 && ratio[1] > 0 && ratio[2]>0){
fixed_ratio = 1;
sizemax[0] = min(min(sizemax[0]/ratio[0], sizemax[1]/ratio[1]), sizemax[2]/ratio[2]);
sizemin[0] = max(max(sizemin[0]/ratio[0], sizemin[1]/ratio[1]), sizemin[2]/ratio[2]);
}
fixed_ratio = 1; //force spherical
//it - number of trials to make packing possibly more/less dense
Vector3r random_size;
while (it<1000){
it = it+1;
if (it == 1){
if (fixed_ratio) {
double rrr = (rand()*(sizemax[0]-sizemin[0])/RAND_MAX + sizemin[0])/2.;
radii = Vector3r(rrr,rrr,rrr);
}else {
radii = Vector3r(rand()*(sizemax[0]-sizemin[0])/2.,rand()*(sizemax[1]-sizemin[1])/2.,rand()*(sizemax[2]-sizemin[2])/2.)/RAND_MAX + sizemin/2.;
}
trialP.v = BallPoints(radii,NumPoints,rand());
trialP.Initialize();
trial = trialP.GetPolyhedron();
Matrix3r rot_mat = (trialP.GetOri()).toRotationMatrix();
Transformation t_rot(rot_mat(0,0),rot_mat(0,1),rot_mat(0,2),rot_mat(1,0),rot_mat(1,1),rot_mat(1,2),rot_mat(2,0),rot_mat(2,1),rot_mat(2,2),1.);
std::transform( trial.points_begin(), trial.points_end(), trial.points_begin(), t_rot);
}
position = Vector3r(rand()*(maxCoord[0]-minCoord[0]),rand()*(maxCoord[1]-minCoord[1]),rand()*(maxCoord[2]-minCoord[2]))/RAND_MAX + minCoord;
//move CGAL structure Polyhedron
Transformation transl(CGAL::TRANSLATION, ToCGALVector(position));
trial_moved = trial;
std::transform( trial_moved.points_begin(), trial_moved.points_end(), trial_moved.points_begin(), transl);
//calculate plane equations
std::transform( trial_moved.facets_begin(), trial_moved.facets_end(), trial_moved.planes_begin(),Plane_equation());
intersection = false;
//call test with boundary
for(Polyhedron::Vertex_iterator vi = trial_moved.vertices_begin(); (vi != trial_moved.vertices_end()) && (!intersection); vi++){
intersection = (vi->point().x()<minCoord[0]) || (vi->point().x()>maxCoord[0]) || (vi->point().y()<minCoord[1]) || (vi->point().y()>maxCoord[1]) || (vi->point().z()<minCoord[2]) || (vi->point().z()>maxCoord[2]);
}
//call test with other polyhedrons
for(vector<Polyhedron>::iterator a = polyhedrons.begin(); (a != polyhedrons.end()) && (!intersection); a++){
intersection = do_intersect(*a,trial_moved);
if (intersection) break;
}
if (!intersection){
polyhedrons.push_back(trial_moved);
v.clear();
for(Polyhedron::Vertex_iterator vi = trial_moved.vertices_begin(); vi != trial_moved.vertices_end(); vi++){
v.push_back(FromCGALPoint(vi->point()));
}
vv.push_back(v);
it = 0;
count ++;
}
}
cout << "generated " << count << " polyhedrons"<< endl;
//can't be used - no information about material
Scene* scene=Omega::instance().getScene().get();
for(vector<vector<Vector3r> >::iterator p=vv.begin(); p!=vv.end(); ++p){
shared_ptr<Body> BP = NewPolyhedra(*p, mat);
BP->shape->color = Vector3r(double(rand())/RAND_MAX,double(rand())/RAND_MAX,double(rand())/RAND_MAX);
scene->bodies->insert(BP);
}
return v;
}
