void drawInfo() { if ( headCalibrationDone!=3 ) { GLText text; text.init(SCREEN_WIDTH,SCREEN_HEIGHT,glWhite, GLUT_BITMAP_HELVETICA_18); text.enterTextInputMode(); if ( passiveMode ) text.draw( "Passive" ); else text.draw(" Active " ); if ( orthographicMode ) text.draw(" Ortho " ); else text.draw( "Perspective " ); string row1 = stringify< Eigen::Matrix<double,1,4> >( objectPassiveTransformation.matrix().row(0) ); string row2 = stringify< Eigen::Matrix<double,1,4> >( objectPassiveTransformation.matrix().row(1) ); string row3 = stringify< Eigen::Matrix<double,1,4> >( objectPassiveTransformation.matrix().row(2) ); text.draw( row1 ); text.draw( row2 ); text.draw( row3 ); text.draw( stringify<int> (factors["Rotation"]) ); text.draw( stringify< Eigen::Vector3d >(projPointEyeRight) ); text.draw( stringify<int>(instantPlaneSlant)); text.leaveTextInputMode(); } }
void SceneGraphTest::testTranslationNodeParent() { NodePointer t1(new TranslationNode(0, 5, 0)); NodePointer n1(new Node(t1)); Affine3d expected; expected.setIdentity(); Translation3d expectedTranslation(0, 5, 0); expected *= expectedTranslation; Matrix4d actual = n1->getTransform().matrix(); QCOMPARE(actual, expected.matrix()); }
void SceneGraphTest::testScalingNodeParent() { NodePointer t1(new ScalingNode(1, 5, 1)); NodePointer n1(new Node(t1)); Affine3d expected; expected.setIdentity(); AlignedScaling3d expectedScaling(1, 5, 1); expected *= expectedScaling; Matrix4d actual = n1->getTransform().matrix(); QCOMPARE(actual, expected.matrix()); }
void Mesh::push_matrix() const { using namespace igl; using namespace Eigen; glPushMatrix(); Affine3d t; t.setIdentity(); t.rotate(rotation); glMultMatrixd(t.matrix().data()); glScaled(scale,scale,scale); glTranslated(shift(0),shift(1),shift(2)); }
bool pre_draw(igl::opengl::glfw::Viewer & viewer) { using namespace Eigen; using namespace std; if(viewer.core.is_animating) { // Interpolate pose and identity RotationList anim_pose(pose.size()); for(int e = 0;e<pose.size();e++) { anim_pose[e] = pose[e].slerp(anim_t,Quaterniond::Identity()); } // Propagate relative rotations via FK to retrieve absolute transformations RotationList vQ; vector<Vector3d> vT; igl::forward_kinematics(C,BE,P,anim_pose,vQ,vT); const int dim = C.cols(); MatrixXd T(BE.rows()*(dim+1),dim); for(int e = 0;e<BE.rows();e++) { Affine3d a = Affine3d::Identity(); a.translate(vT[e]); a.rotate(vQ[e]); T.block(e*(dim+1),0,dim+1,dim) = a.matrix().transpose().block(0,0,dim+1,dim); } // Compute deformation via LBS as matrix multiplication U = M*T; // Also deform skeleton edges MatrixXd CT; MatrixXi BET; igl::deform_skeleton(C,BE,T,CT,BET); viewer.data().set_vertices(U); viewer.data().set_edges(CT,BET,sea_green); viewer.data().compute_normals(); anim_t += anim_t_dir; anim_t_dir *= (anim_t>=1.0 || anim_t<=0.0?-1.0:1.0); } return false; }
void idle() { if (trialNumber >= maxTotalTrials ) exit(0); double elapsedFrameTime = totalTimer.getTimeIntervalInMilliSec(); optotrak.updateMarkers(elapsedFrameTime); markers = optotrak.getAllMarkers(); headEyeCoords.update(markers[1],markers[2],markers[3],TIMER_MS); allVisiblePatch = markers[1].isVisible() && markers[2].isVisible() && markers[3].isVisible(); allVisibleHead = markers[17].isVisible() && markers[18].isVisible() && allVisibleHead; eyeLeft = headEyeCoords.getLeftEye().p; eyeRight = headEyeCoords.getRightEye().p; cyclopeanEye = (eyeLeft+eyeRight)/2.0; projPointEyeRight = getEyeProjectionPoint(); checkBounds(nOscillationsFixation, eyeRight.x(), trialMode, headCalibrationDone, minOscTime, maxOscTime, maxXOscillation, translationTimer, beepOk, tweeter, woofer,tweeter); if ( trialMode == STIMULUSMODE ) deltaT+=TIMER_MS; else deltaT=0; if (headCalibrationDone == 3 && trialMode != PROBEMODE ) { // Questo rende conto del fatto che lo stimolo appare solo quando l'occhio รจ quasi in centro int actualTrialMode = trialMode; if ( trialMode == STIMULUSMODE && ( eyeRight.x()) > centerTolerance ) actualTrialMode=FIXATIONMODE; markersFile << fixed << trialNumber << " " << actualTrialMode << " " ; markersFile << fixed << setprecision(3) << eyeRight.transpose() << " " << eyeLeft.transpose() << " " << toDegrees(headEyeCoords.getPitch()) << " " << toDegrees(headEyeCoords.getYaw()) << " " << toDegrees(headEyeCoords.getRoll()) << " " ; markersFile << fixed << setprecision(0)<< factors["OmegaY"] << " " << factors["Binocular"] << " " << factors["Tilt"] << " " << factors["Slant"] << " " << totalTimer.getElapsedTimeInMilliSec() << endl; //objectPassiveTransformation.setIdentity(); if ( actualTrialMode == STIMULUSMODE ) { objectPassiveTransformation = getPassiveMatrix(); matrixFile << setw(6) << left << trialNumber << " " ; for ( int i=0; i<3; i++) matrixFile << objectPassiveTransformation.matrix().row(i) << " " ; matrixFile << endl; } if ( actualTrialMode == STIMULUSMODE ) { vector< Vector3d> projPoints = stimDrawer.projectStimulusPoints(objectActiveTransformation,headEyeCoords.getRigidStart().getFullTransformation(),cam,focalDistance,screen,Vector3d(0,0,0),false,false); MatrixXd a1toa6 = stimDrawer.computeOpticFlow(projPoints, focalDistance, elapsedFrameTime/1000); flowsFile << trialNumber << " " << a1toa6.transpose() << endl; } } writeContinuosDataFile(); }
void display() { using namespace igl; using namespace std; using namespace Eigen; const float back[4] = {30.0/255.0,30.0/255.0,50.0/255.0,0}; glClearColor(back[0],back[1],back[2],0); glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); if(is_animating) { double t = (get_seconds() - animation_start_time)/ANIMATION_DURATION; if(t > 1) { t = 1; is_animating = false; } Quaterniond q = animation_from_quat.slerp(t,animation_to_quat).normalized(); auto & camera = s.camera; camera.orbit(q.conjugate()); } glEnable(GL_DEPTH_TEST); glEnable(GL_NORMALIZE); lights(); push_scene(); // Draw a nice floor glEnable(GL_DEPTH_TEST); glPushMatrix(); const double floor_offset = -2./bbd*(V.col(1).maxCoeff()-Vmid(1)); glTranslated(0,floor_offset,0); const float GREY[4] = {0.5,0.5,0.6,1.0}; const float DARK_GREY[4] = {0.2,0.2,0.3,1.0}; glPolygonMode(GL_FRONT_AND_BACK,GL_FILL); draw_floor(GREY,DARK_GREY); glPopMatrix(); push_object(); // Set material properties glDisable(GL_COLOR_MATERIAL); glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, SILVER_AMBIENT); glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, SILVER_DIFFUSE ); glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, SILVER_SPECULAR); glMaterialf (GL_FRONT_AND_BACK, GL_SHININESS, 128); typedef std::vector< Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > RotationList; RotationList dQ(BE.rows(),Quaterniond::Identity()),vQ; vector<Vector3d> vT; Matrix3d A = Matrix3d::Identity(); for(int e = 0;e<BE.rows();e++) { dQ[e] = AngleAxisd((sin(get_seconds()+e))*0.06*PI,A.col(e%3)); } forward_kinematics(C,BE,P,dQ,vQ,vT); const int dim = C.cols(); MatrixXd T(BE.rows()*(dim+1),dim); for(int e = 0;e<BE.rows();e++) { Affine3d a = Affine3d::Identity(); a.translate(vT[e]); a.rotate(vQ[e]); T.block(e*(dim+1),0,dim+1,dim) = a.matrix().transpose().block(0,0,dim+1,dim); } if(wireframe) { glPolygonMode(GL_FRONT_AND_BACK,GL_LINE); } glLineWidth(1.0); MatrixXd U = M*T; per_face_normals(U,F,N); draw_mesh(U,F,N); glPolygonMode(GL_FRONT_AND_BACK,GL_FILL); if(skeleton_on_top) { glDisable(GL_DEPTH_TEST); } switch(skel_style) { default: case SKEL_STYLE_TYPE_3D: draw_skeleton_3d(C,BE,T,MAYA_VIOLET,bbd*0.5); break; case SKEL_STYLE_TYPE_VECTOR_GRAPHICS: draw_skeleton_vector_graphics(C,BE,T); break; } pop_object(); pop_scene(); report_gl_error(); TwDraw(); glutSwapBuffers(); glutPostRedisplay(); }
void update(int value) { // Conta i cicli di presentazione dello stimolo if ( (sumOutside > str2num<int>(parameters.find("StimulusCycles")) ) && (trialMode == STIMULUSMODE) ) { sumOutside=0; trialMode++; trialMode=trialMode%4; } if (conditionInside && (sumOutside*2 > str2num<int>(parameters.find("FixationCycles"))) && (trialMode ==FIXATIONMODE ) ) { sumOutside=0; trialMode++; trialMode=trialMode%4; stimulusDuration.start(); } if ( trialMode == STIMULUSMODE ) stimulusFrames++; if ( trialMode == FIXATIONMODE ) stimulusFrames=0; Screen screenPassive; screenPassive.setWidthHeight(SCREEN_WIDE_SIZE, SCREEN_WIDE_SIZE*SCREEN_HEIGHT/SCREEN_WIDTH); screenPassive.setOffset(alignmentX,alignmentY); screenPassive.setFocalDistance(0); screenPassive.transform(headEyeCoords.getRigidStart().getFullTransformation()*Translation3d(center)); camPassive.init(screenPassive); camPassive.setDrySimulation(true); camPassive.setEye(eyeRight); objectPassiveTransformation = ( camPassive.getModelViewMatrix()*objectActiveTransformation ); // Coordinates picker markers = optotrak.getAllPoints(); if ( isVisible(markers[1]) && isVisible(markers[2]) && isVisible(markers[3]) ) headEyeCoords.update(markers[1],markers[2],markers[3]); Affine3d active = headEyeCoords.getRigidStart().getFullTransformation(); eulerAngles.init( headEyeCoords.getRigidStart().getFullTransformation().rotation() ); eyeLeft = headEyeCoords.getLeftEye(); eyeRight = headEyeCoords.getRightEye(); cyclopeanEye = (eyeLeft+eyeRight)/2.0; // Projection of view normal on the focal plane Vector3d directionOfSight = (active.rotation()*Vector3d(0,0,-1)).normalized(); Eigen::ParametrizedLine<double,3> lineOfSightRight = Eigen::ParametrizedLine<double,3>::Through( eyeRight , eyeRight+directionOfSight ); Eigen::ParametrizedLine<double,3> lineOfSightLeft = Eigen::ParametrizedLine<double,3>::Through( eyeLeft, eyeLeft+directionOfSight ); double lineOfSightRightDistanceToFocalPlane = lineOfSightRight.intersection(focalPlane); double lineOfSightLeftDistanceToFocalPlane = lineOfSightLeft.intersection(focalPlane); //double lenghtOnZ = (active*(center-eyeCalibration )+eyeRight).z(); projPointEyeRight = lineOfSightRightDistanceToFocalPlane *(directionOfSight)+ (eyeRight); projPointEyeLeft= lineOfSightLeftDistanceToFocalPlane * (directionOfSight) + (eyeLeft); // second projection the fixation point computed with z non constant but perfectly parallel to projPointEyeRight lineOfSightRightDistanceToFocalPlane= (( active.rotation()*(center)) - eyeRight).norm(); Vector3d secondProjection = lineOfSightRightDistanceToFocalPlane *(directionOfSight)+ (eyeRight); if ( !zOnFocalPlane ) projPointEyeRight=secondProjection ; // Compute the translation to move the eye in order to avoid shear components Vector3d posAlongLineOfSight = (headEyeCoords.getRigidStart().getFullTransformation().rotation())*(eyeRight -eyeCalibration); switch ( (int)factors["Translation"] ) { case -1: case -2: translationFactor.setZero(); if ( trialMode == STIMULUSMODE ) projPointEyeRight=center; break; case 0: translationFactor.setZero(); break; case 1: translationFactor = factors["TranslationConstant"]*Vector3d(posAlongLineOfSight.z(),0,0); break; case 2: translationFactor = factors["TranslationConstant"]*Vector3d(0,posAlongLineOfSight.z(),0); break; } if ( passiveMode ) initProjectionScreen(0,headEyeCoords.getRigidStart().getFullTransformation()*Translation3d(Vector3d(0,0,focalDistance))); else initProjectionScreen(focalDistance,Affine3d::Identity()); checkBounds(); /**** Save to file part ****/ // Markers file save the used markers and time-depending experimental variable to a file // (Make sure that in passive experiment the list of variables has the same order) markersFile << trialNumber << " " << headCalibrationDone << " " << trialMode << " " ; markersFile <<markers[1].transpose() << " " << markers[2].transpose() << " " << markers[3].transpose() << " " << markers[17].transpose() << " " << markers[18].transpose() << " " ; markersFile << factors["Tilt"] << " " << factors["Slant"] << " " << factors["Translation"] << " " << factors["Onset"] << " " << factors["TranslationConstant"] << endl; ofstream outputfile; outputfile.open("data.dat"); outputfile << "Subject Name: " << parameters.find("SubjectName") << endl; outputfile << "Passive matrix:" << endl << objectPassiveTransformation.matrix() << endl; outputfile << "Yaw: " << toDegrees(eulerAngles.getYaw()) << endl <<"Pitch: " << toDegrees(eulerAngles.getPitch()) << endl; outputfile << "EyeLeft: " << headEyeCoords.getLeftEye().transpose() << endl; outputfile << "EyeRight: " << headEyeCoords.getRightEye().transpose() << endl << endl; outputfile << "Slant: " << instantPlaneSlant << endl; outputfile << "(Width,Height) [px]: " << getPlaneDimensions().transpose() << " " << endl; outputfile << "Factors:" << endl; for (map<string,double>::iterator iter=factors.begin(); iter!=factors.end(); ++iter) { outputfile << "\t\t" << iter->first << "= " << iter->second << endl; } outputfile << "Trial remaining: " << trial.getRemainingTrials()+1 << endl; outputfile << "Last response: " << probeAngle << endl; // Here we save plane projected width and height // now rewind the file outputfile.clear(); outputfile.seekp(0,ios::beg); // Write down frame by frame the trajectories and angles of eyes and head if ( trialMode == STIMULUSMODE && headCalibrationDone > 2 ) { trajFile << setw(6) << left << trialNumber << " " << stimulusFrames << " " << eyeRight.transpose() << endl; anglesFile << setw(6) << left << trialNumber << " " << stimulusFrames << " " << toDegrees(eulerAngles.getPitch()) << " " << toDegrees(eulerAngles.getRoll()) << " " << toDegrees(eulerAngles.getYaw()) << " " << instantPlaneSlant << endl; matrixFile << setw(6) << left << trialNumber << " " << stimulusFrames << " " ; for (int i=0; i<3; i++) matrixFile << objectPassiveTransformation.matrix().row(i) << " " ; matrixFile << endl; // Write the 13 special extremal points on stimFile stimFile << setw(6) << left << trialNumber << " " << stimulusFrames << " " ; double winx=0,winy=0,winz=0; for (PointsRandIterator iRand = redDotsPlane.specialPointsRand.begin(); iRand!=redDotsPlane.specialPointsRand.end(); ++iRand) { Point3D *p=(*iRand); Vector3d v = objectActiveTransformation*Vector3d( p->x, p->y, p->z); gluProject(v.x(),v.y(),v.z(), (&cam)->getModelViewMatrix().data(), (&cam)->getProjectiveMatrix().data(), (&cam)->getViewport().data(), &winx,&winy,&winz); stimFile << winx << " " << winy << " " << winz << " "; } stimFile << endl; } glutPostRedisplay(); glutTimerFunc(TIMER_MS, update, 0); }
void update(int value) { // Read the experiment from file, if the file is finished exit suddenly if ( inputStream.eof() ) { cleanup(); exit(0); } if ( isReading ) { // This reads a line (frame) in inputStream readline(inputStream, trialNumber, headCalibration, trialMode, pointMatrix ); headEyeCoords.update(pointMatrix.col(0),pointMatrix.col(1),pointMatrix.col(2)); Affine3d active = headEyeCoords.getRigidStart().getFullTransformation(); eulerAngles.init( headEyeCoords.getRigidStart().getFullTransformation().rotation() ); eyeLeft = headEyeCoords.getLeftEye(); eyeRight= headEyeCoords.getRightEye(); cyclopeanEye = (eyeLeft+eyeRight)/2.0; if ( trialMode == STIMULUSMODE ) stimulusFrames++; if ( trialMode == FIXATIONMODE ) stimulusFrames=0; // Projection of view normal on the focal plane Vector3d directionOfSight = (active.rotation()*Vector3d(0,0,-1)).normalized(); Eigen::ParametrizedLine<double,3> lineOfSightRight = Eigen::ParametrizedLine<double,3>::Through( eyeRight , eyeRight+directionOfSight ); Eigen::ParametrizedLine<double,3> lineOfSightLeft = Eigen::ParametrizedLine<double,3>::Through( eyeLeft, eyeLeft+directionOfSight ); double lineOfSightRightDistanceToFocalPlane = lineOfSightRight.intersection(focalPlane); double lineOfSightLeftDistanceToFocalPlane = lineOfSightLeft.intersection(focalPlane); //double lenghtOnZ = (active*(center-eyeCalibration )+eyeRight).z(); projPointEyeRight = lineOfSightRightDistanceToFocalPlane *(directionOfSight)+ (eyeRight); projPointEyeLeft= lineOfSightLeftDistanceToFocalPlane * (directionOfSight) + (eyeLeft); // second projection the fixation point computed with z non constant but perfectly parallel to projPointEyeRight lineOfSightRightDistanceToFocalPlane= (( active.rotation()*(center)) - eyeRight).norm(); Vector3d secondProjection = lineOfSightRightDistanceToFocalPlane *(directionOfSight)+ (eyeRight); if ( !zOnFocalPlane ) projPointEyeRight=secondProjection ; // Compute the translation to move the eye in order to avoid share components Vector3d posAlongLineOfSight = (headEyeCoords.getRigidStart().getFullTransformation().rotation())*(eyeRight -eyeCalibration); // GENERATION OF PASSIVE MODE. // HERE WE MOVE THE SCREEN TO FACE THE OBSERVER's EYE if ( passiveMode ) { initProjectionScreen(0, headEyeCoords.getRigidStart().getFullTransformation()*Translation3d(center)); } else initProjectionScreen(focalDistance, Affine3d::Identity()); objectPassiveTransformation = ( cam.getModelViewMatrix()*objectActiveTransformation ); ofstream outputfile; outputfile.open("data.dat"); outputfile << "Subject Name: " << parameters.find("SubjectName") << endl; outputfile << "Passive matrix:" << endl << objectPassiveTransformation.matrix() << endl; outputfile << "Yaw: " << toDegrees(eulerAngles.getYaw()) << endl <<"Pitch: " << toDegrees(eulerAngles.getPitch()) << endl; outputfile << "EyeLeft: " << headEyeCoords.getLeftEye().transpose() << endl; outputfile << "EyeRight: " << headEyeCoords.getRightEye().transpose() << endl << endl; outputfile << "Slant: " << instantPlaneSlant << endl; outputfile << "Factors:" << endl; for (map<string,double>::iterator iter=factors.begin(); iter!=factors.end(); ++iter) { outputfile << "\t\t" << iter->first << "= " << iter->second << endl; } } if ( trialMode == PROBEMODE ) isReading=false; glutPostRedisplay(); glutTimerFunc(TIMER_MS, update, 0); }