void SceneGenerator::generateRandomPoses(int frameCount, std::vector<Eigen::Matrix3fr> &posesR, std::vector<Eigen::Vector3f> &posesCenter)
{
posesR.push_back(Eigen::Matrix3fr::Identity());
posesCenter.push_back(Eigen::Vector3f(0, 0, -1));
std::uniform_real_distribution<float> uniformTarget(-0.5f, +0.5f);
std::uniform_real_distribution<float> uniformCenterXY(-0.8f, +0.8f);
std::uniform_real_distribution<float> uniformCenterZ(-1.0f, -0.5f);
std::uniform_real_distribution<float> uniformAngle(0.0f, 2*M_PI);
for (int i = 0; i < frameCount; i++)
{
//Choose a point to look at
Eigen::Vector3f lookTarget(uniformTarget(mRandomDevice), uniformTarget(mRandomDevice), 0);
//Point to define up vector
Eigen::Vector3f upTarget(uniformTarget(mRandomDevice), uniformTarget(mRandomDevice), 0);
//Choose camera center
Eigen::Vector3f center(uniformCenterXY(mRandomDevice), uniformCenterXY(mRandomDevice), uniformCenterZ(mRandomDevice));
//Build rotation
Eigen::Matrix3fr R;
Eigen::Vector3f a, b, c;
c = (lookTarget - center).normalized();
eutils::GetBasis(c, a, b);
Eigen::AngleAxisf aa(uniformAngle(mRandomDevice), c);
a = (aa*a).normalized();
b = (aa*b).normalized();
R.col(0) = a;
R.col(1) = b;
R.col(2) = c;
//R.col(1) = (lookTarget - R.col(2).dot(lookTarget)*R.col(2)).normalized();
assert(abs(R.col(2).dot(R.col(1))) < 1e-6);
assert(abs(R.col(2).dot(R.col(0))) < 1e-6);
assert(abs(R.col(1).dot(R.col(0))) < 1e-6);
//R.col(0) = R.col(1).cross(R.col(2));
posesR.push_back(R.transpose());
posesCenter.push_back(center);
}
}
int main(int argc, char* argv[])
{
AttSharedData _data;
AttBehavior _behavior(&_data);
AttBHand hand;
AttBTarget target;
AttBEgoMap egoMap;
AttBHandPrediction prediction;
AttBSimpleInput lookHand(YBVAttentionLookHand);
AttBSimpleInput lookTarget(YBVAttentionLookTarget);
AttBSimpleInput lookHPrediction(YBVAttentionLookPrediction);
AttBSimpleInput lookEgoMap(YBVAttentionLookEgoMap);
_behavior.setInitialState(&target);
_behavior.add(&lookHand, &target, &hand);
_behavior.add(&lookHPrediction, &target, &prediction);
_behavior.add(&lookEgoMap, &target, &egoMap);
_behavior.add(NULL, &target, &target);
_behavior.add(&lookTarget, &hand, &target);
_behavior.add(&lookHPrediction, &hand, &prediction);
_behavior.add(&lookEgoMap, &hand, &egoMap);
_behavior.add(NULL, &hand, &hand);
_behavior.add(&lookHand, &prediction, &hand);
_behavior.add(&lookTarget, &prediction, &target);
_behavior.add(&lookEgoMap, &prediction, &egoMap);
_behavior.add(NULL, &prediction, &prediction);
_behavior.add(&lookHand, &egoMap, &hand);
_behavior.add(&lookTarget, &egoMap, &target);
_behavior.add(&lookHPrediction, &egoMap, &prediction);
_behavior.add(NULL, &egoMap, &egoMap);
// start behavior
_behavior.Begin();
_behavior.loop();
return 0;
}
