void HoleFinder::setTranslations(const Eigen::Vector3d &v1,
const Eigen::Vector3d &v2,
const Eigen::Vector3d &v3)
{
Q_D(HoleFinder);
d->v1 = v1;
d->v2 = v2;
d->v3 = v3;
d->cartMat.col(0) = v1;
d->cartMat.col(1) = v2;
d->cartMat.col(2) = v3;
d->fracMat = d->cartMat.inverse();
double v1SqrNorm = v1.squaredNorm();
double v2SqrNorm = v2.squaredNorm();
double v3SqrNorm = v3.squaredNorm();
d->v1Norm = sqrt(v1SqrNorm);
d->v2Norm = sqrt(v2SqrNorm);
d->v3Norm = sqrt(v3SqrNorm);
d->cellVolume = fabs(v1.dot(v2.cross(v3)));
DDEBUGOUT("setTranslations")
QString("Cart matrix:\n %L1 %L2 %L3\n %L4 %L5 %L6\n %L7 %L8 %L9")
.arg(d->cartMat(0,0), 10)
.arg(d->cartMat(0,1), 10)
.arg(d->cartMat(0,2), 10)
.arg(d->cartMat(1,0), 10)
.arg(d->cartMat(1,1), 10)
.arg(d->cartMat(1,2), 10)
.arg(d->cartMat(2,0), 10)
.arg(d->cartMat(2,1), 10)
.arg(d->cartMat(2,2), 10);
DDEBUGOUT("setTranslations")
QString("Frac matrix:\n %L1 %L2 %L3\n %L4 %L5 %L6\n %L7 %L8 %L9")
.arg(d->fracMat(0,0), 10)
.arg(d->fracMat(0,1), 10)
.arg(d->fracMat(0,2), 10)
.arg(d->fracMat(1,0), 10)
.arg(d->fracMat(1,1), 10)
.arg(d->fracMat(1,2), 10)
.arg(d->fracMat(2,0), 10)
.arg(d->fracMat(2,1), 10)
.arg(d->fracMat(2,2), 10);
int numCells = 27;
d->points.reserve(numCells * d->numPoints);
DDEBUGOUT("setTranslations") "VectorLengths:"
<< d->v1Norm << d->v2Norm << d->v3Norm;
DDEBUGOUT("setTranslations") "CellVolume" << d->cellVolume;
DDEBUGOUT("setTranslations") "NumPoints:" << d->numPoints;
DDEBUGOUT("setTranslations") "NumCells:" << numCells;
DDEBUGOUT("setTranslations") "Allocated points:" << d->points.capacity();
}
// return closest point on line segment to the given point, and the distance
// betweeen them.
double mesh_core::closestPointOnLine(
const Eigen::Vector3d& line_a,
const Eigen::Vector3d& line_b,
const Eigen::Vector3d& point,
Eigen::Vector3d& closest_point)
{
Eigen::Vector3d ab = line_b - line_a;
Eigen::Vector3d ab_norm = ab.normalized();
Eigen::Vector3d ap = point - line_a;
Eigen::Vector3d closest_point_rel = ab_norm.dot(ap) * ab_norm;
double dp = ab.dot(closest_point_rel);
if (dp < 0.0)
{
closest_point = line_a;
}
else if (dp > ab.squaredNorm())
{
closest_point = line_b;
}
else
{
closest_point = line_a + closest_point_rel;
}
return (closest_point - point).norm();
}
std::pair<Eigen::Vector3d, double> resolveCenterOfPressure(Eigen::Vector3d torque, Eigen::Vector3d force, Eigen::Vector3d normal, Eigen::Vector3d point_on_contact_plane)
{
// TODO: implement multi-column version
using namespace Eigen;
if (abs(normal.squaredNorm() - 1.0) > 1e-12) {
mexErrMsgIdAndTxt("Drake:resolveCenterOfPressure:BadInputs", "normal should be a unit vector");
}
Vector3d cop;
double normal_torque_at_cop;
double fz = normal.dot(force);
bool cop_exists = abs(fz) > 1e-12;
if (cop_exists) {
auto torque_at_point_on_contact_plane = torque - point_on_contact_plane.cross(force);
double normal_torque_at_point_on_contact_plane = normal.dot(torque_at_point_on_contact_plane);
auto tangential_torque = torque_at_point_on_contact_plane - normal * normal_torque_at_point_on_contact_plane;
cop = normal.cross(tangential_torque) / fz + point_on_contact_plane;
auto torque_at_cop = torque - cop.cross(force);
normal_torque_at_cop = normal.dot(torque_at_cop);
}
else {
cop.setConstant(std::numeric_limits<double>::quiet_NaN());
normal_torque_at_cop = std::numeric_limits<double>::quiet_NaN();
}
return std::pair<Vector3d, double>(cop, normal_torque_at_cop);
}
// converts compact quaternion (3D vector part of quaternion) to a rotation matrix
inline Eigen::Matrix3d fromCompactQuat(const Eigen::Vector3d& v) {
double w = 1-v.squaredNorm();
if (w<0)
return Eigen::Matrix3d::Identity();
else
w=sqrt(w);
return Eigen::Quaterniond(w, v[0], v[1], v[2]).toRotationMatrix();
}
void CylindricalNVecConstr::impl_compute(result_t& res, const argument_t& x) const
{
pgdata_->x(x);
sva::PTransformd pos = surfaceFrame_*pgdata_->mbc().bodyPosW[bodyIndex_];
Eigen::Vector3d vec = (targetFrame_.translation() - pos.translation());
double dot = vec.dot(pos.rotation().row(2));
double sign = std::copysign(1., dot);
res(0) = sign*std::pow(dot, 2) - vec.squaredNorm();
}
bool VSOArray::pointTelescopes(const Eigen::Vector3d& v)
{
if(v.squaredNorm() == 0)
return false;
bool good = true;
for(std::vector<VSOTelescope*>::iterator i = fTelescopes.begin();
i!=fTelescopes.end(); i++)good &= (*i)->pointTelescope(v);
return good;
}
void NormalModeMeanSquareFluctuationCalculator::calculate_hessian_matrix(
const Protein& protein,
const ForceConstantSelector & kk_selector,
const std::shared_ptr<ProteinSegment> &protein_segment) {
LOGD << "calculating hessian matrix";
Eigen::VectorXd ave = protein_segment->displacement_vector();
for (size_t ires=0; ires < this->residue_count; ++ires) {
for (size_t jres=0; jres < ires; ++jres) {
Eigen::Vector3d dr = ave.segment<3>(3 * ires) - ave.segment<3>(3 * jres);
double range1_2 = dr.squaredNorm();
double kk = kk_selector.select_force_constant(
protein.get_secondary_structure_type_of_atom_pair(ires + 1, jres + 1),
ires - jres, range1_2);
// calnmodemfs.f:72
for (size_t ixyz = 0; ixyz < 3; ixyz++) {
for (size_t jxyz = 0; jxyz < 3; jxyz++) {
size_t i = 3 * ires + ixyz;
size_t j = 3 * ires + jxyz;
this->hessian_matrix(i, j) += kk * dr(ixyz) * dr(jxyz) / range1_2;
i = 3 * ires + ixyz;
j = 3 * jres + jxyz;
this->hessian_matrix(i, j) -= kk * dr(ixyz) * dr(jxyz) / range1_2;
i = 3 * jres + ixyz;
j = 3 * ires + jxyz;
this->hessian_matrix(i, j) -= kk * dr(ixyz) * dr(jxyz) / range1_2;
i = 3 * jres + ixyz;
j = 3 * jres + jxyz;
this->hessian_matrix(i, j) += kk * dr(ixyz) * dr(jxyz) / range1_2;
}
}
}
}
// mass weighted
// calmodemsfss.f:200
for (size_t ires = 0; ires < this->residue_count; ++ires) {
for (size_t ixyz = 0; ixyz < 3; ++ixyz) {
size_t i = 3 * ires+ixyz;
for (size_t jres = 0; jres < this->residue_count; ++jres) {
for (size_t jxyz = 0; jxyz < 3; ++jxyz) {
size_t j = 3 * jres + jxyz;
this->hessian_matrix(i,j) /= sqrt(mass(ires) * mass(jres));
}
}
}
}
}
int collideSphereSphere(CollisionObject* o1, CollisionObject* o2, const double& _r0, const Eigen::Isometry3d& c0,
const double& _r1, const Eigen::Isometry3d& c1,
CollisionResult& result)
{
double r0 = _r0;
double r1 = _r1;
double rsum = r0 + r1;
Eigen::Vector3d normal = c0.translation() - c1.translation();
double normal_sqr = normal.squaredNorm();
if ( normal_sqr > rsum * rsum )
{
return 0;
}
r0 /= rsum;
r1 /= rsum;
Eigen::Vector3d point = r1 * c0.translation() + r0 * c1.translation();
double penetration;
if (normal_sqr < DART_COLLISION_EPS)
{
normal.setZero();
penetration = rsum;
Contact contact;
contact.collisionObject1 = o1;
contact.collisionObject2 = o2;
contact.point = point;
contact.normal = normal;
contact.penetrationDepth = penetration;
result.addContact(contact);
return 1;
}
normal_sqr = sqrt(normal_sqr);
normal *= (1.0/normal_sqr);
penetration = rsum - normal_sqr;
Contact contact;
contact.collisionObject1 = o1;
contact.collisionObject2 = o2;
contact.point = point;
contact.normal = normal;
contact.penetrationDepth = penetration;
result.addContact(contact);
return 1;
}
Eigen::Vector3d Circuit::GetFieldFromPoint(
const Eigen::Vector3d& point,
const Eigen::Vector3d& segmentCenter,
const Eigen::Vector3d& flowDirection,
double segmentCoeff
) {
Eigen::Vector3d r = segmentCenter.array()-point.array();
double rLengthSquared = r.squaredNorm(); // distance squared.
Eigen::Vector3d rUnit = r.normalized();
Eigen::Vector3d Vcrossr = flowDirection.cross(rUnit);
Eigen::Vector3d B = segmentCoeff/rLengthSquared*Vcrossr.array();
return B;
}
void IACTDetectorSphereCherenkovPhotonIntersectionFinder::
visit_cherenkov_photon(const calin::simulation::air_cherenkov_tracker::CherenkovPhoton& cherenkov_photon)
{
calin::math::ray::Ray ray(cherenkov_photon.x0, cherenkov_photon.u0,
cherenkov_photon.t0, cherenkov_photon.epsilon);
unsigned scope_id = 0;
bool do_refraction = do_refraction_;
double refraction_safety_margin = refraction_safety_margin_;
for(auto& isphere : visitor_->detector_spheres()) {
Eigen::Vector3d dx = cherenkov_photon.x0 - isphere.r0;
double u0_dot_dx = cherenkov_photon.u0.dot(dx);
double dr2 = dx.squaredNorm() - u0_dot_dx*u0_dot_dx;
if(dr2 < SQR(isphere.radius + refraction_safety_margin)) {
// we have a potential hit !
if(do_refraction) {
// Here we propagate to the observation plane associated with the
// detector sphere then refract the ray then back-propagate to the
// height of the photon emission so absoption can be calculated later
atm_->propagate_ray_with_refraction(ray, isphere.iobs, /* time_reversal_ok = */ false);
double reverse_propagate_dist = (cherenkov_photon.x0.z() - ray.z())/ray.uz();
ray.propagate_dist(reverse_propagate_dist);
do_refraction = false; // don't refract twice if we have overlapping telescopes
refraction_safety_margin = 0.0;
dx = cherenkov_photon.x0 - isphere.r0;
u0_dot_dx = cherenkov_photon.u0.dot(dx);
dr2 = dx.squaredNorm() - u0_dot_dx*u0_dot_dx;
if(dr2<SQR(isphere.radius)) {
visitor_->process_ray(scope_id, ray, /* pe_weight = */ 1.0);
}
} else {
visitor_->process_ray(scope_id, ray, /* pe_weight = */ 1.0);
}
}
++scope_id;
}
}
void CEViewOptionsWidget::updateMillerPlane()
{
// View into a Miller plane
Camera *camera = m_glWidget->camera();
Eigen::Transform3d modelView;
modelView.setIdentity();
// OK, so we want to rotate to look along the normal at the plane
// So we convert <h k l> into a Cartesian normal
Eigen::Matrix3d cellMatrix = m_ext->unconvertLength(m_ext->currentCellMatrix()).transpose();
// Get miller indices:
const Eigen::Vector3d millerIndices
(static_cast<double>(ui.spin_mi_h->value()),
static_cast<double>(ui.spin_mi_k->value()),
static_cast<double>(ui.spin_mi_l->value()));
// Check to see if we have 0,0,0
// in which case, we do nothing
if (millerIndices.squaredNorm() < 0.5)
return;
const Eigen::Vector3d normalVector ((cellMatrix * millerIndices).normalized());
Eigen::Matrix3d rotation;
rotation.row(2) = normalVector;
rotation.row(0) = rotation.row(2).unitOrthogonal();
rotation.row(1) = rotation.row(2).cross(rotation.row(0));
// Translate camera to the center of the cell
const Eigen::Vector3d cellDiagonal =
cellMatrix.col(0) * m_glWidget->aCells() +
cellMatrix.col(1) * m_glWidget->bCells() +
cellMatrix.col(2) * m_glWidget->cCells();
modelView.translate(-cellDiagonal*0.5);
// Prerotate the camera to look down the specified normal
modelView.prerotate(rotation);
// Pretranslate in the negative Z direction
modelView.pretranslate(Eigen::Vector3d(0.0, 0.0,
-1.5 * cellDiagonal.norm()));
camera->setModelview(modelView);
// Call for a redraw
m_glWidget->update();
}
/*!
Returns propagated state and max relative errors in
kinetic energy and magnetic moment of particle.
*/
template<class Stepper> std::tuple<state_t, double, double> trace_trajectory(
state_t state,
const double time_step
) {
using std::fabs;
using std::max;
constexpr double propagation_time = 424.1; // seconds, 1/100 of doi above
Particle_Propagator propagator(proton_charge_mass_ratio);
const double
initial_energy = 0.5 * proton_mass * state[1].squaredNorm(),
initial_magnetic_moment
= proton_mass
* std::pow(state[1][1], 2)
/ (2 * get_earth_dipole(state[0]).norm());
Stepper stepper;
double nrj_error = 0, mom_error = 0;
for (double time = 0; time < propagation_time; time += time_step) {
stepper.do_step(propagator, state, time, time_step);
const Eigen::Vector3d
v(state[1]),
b(get_earth_dipole(state[0])),
v_perp_b(v - (v.dot(b) / b.squaredNorm()) * b);
const double
current_energy
= 0.5 * proton_mass * state[1].squaredNorm(),
current_magnetic_moment
= proton_mass * v_perp_b.squaredNorm() / (2 * b.norm());
nrj_error = max(
nrj_error,
fabs(current_energy - initial_energy) / initial_energy
);
mom_error = max(
mom_error,
fabs(current_magnetic_moment - initial_magnetic_moment)
/ initial_magnetic_moment
);
}
return std::make_tuple(state, nrj_error, mom_error);
}
template <typename PointT> void
pcl::SampleConsensusModelCircle3D<PointT>::getDistancesToModel (const Eigen::VectorXf &model_coefficients, std::vector<double> &distances)
{
// Check if the model is valid given the user constraints
if (!isModelValid (model_coefficients))
{
distances.clear ();
return;
}
distances.resize (indices_->size ());
// Iterate through the 3d points and calculate the distances from them to the sphere
for (size_t i = 0; i < indices_->size (); ++i)
// Calculate the distance from the point to the circle:
// 1. calculate intersection point of the plane in which the circle lies and the
// line from the sample point with the direction of the plane normal (projected point)
// 2. calculate the intersection point of the line from the circle center to the projected point
// with the circle
// 3. calculate distance from corresponding point on the circle to the sample point
{
// what i have:
// P : Sample Point
Eigen::Vector3d P (input_->points[(*indices_)[i]].x, input_->points[(*indices_)[i]].y, input_->points[(*indices_)[i]].z);
// C : Circle Center
Eigen::Vector3d C (model_coefficients[0], model_coefficients[1], model_coefficients[2]);
// N : Circle (Plane) Normal
Eigen::Vector3d N (model_coefficients[4], model_coefficients[5], model_coefficients[6]);
// r : Radius
double r = model_coefficients[3];
Eigen::Vector3d helper_vectorPC = P - C;
// 1.1. get line parameter
double lambda = (helper_vectorPC.dot (N)) / N.squaredNorm ();
// Projected Point on plane
Eigen::Vector3d P_proj = P + lambda * N;
Eigen::Vector3d helper_vectorP_projC = P_proj - C;
// K : Point on Circle
Eigen::Vector3d K = C + r * helper_vectorP_projC.normalized ();
Eigen::Vector3d distanceVector = P - K;
distances[i] = distanceVector.norm ();
}
}
/*
* @brief Convert the vector part of a quaternion to a
* full quaternion.
* @note This function is useful to convert delta quaternion
* which is usually a 3x1 vector to a full quaternion.
* For more details, check Equation (238) and (239) in
* "Indirect Kalman Filter for 3D Attitude Estimation:
* A Tutorial for quaternion Algebra".
*/
inline Eigen::Vector4d smallAngleQuaternion(
const Eigen::Vector3d& dtheta) {
Eigen::Vector3d dq = dtheta / 2.0;
Eigen::Vector4d q;
double dq_square_norm = dq.squaredNorm();
if (dq_square_norm <= 1) {
q.head<3>() = dq;
q(3) = std::sqrt(1-dq_square_norm);
} else {
q.head<3>() = dq;
q(3) = 1;
q = q / std::sqrt(1+dq_square_norm);
}
return q;
}
int ParticleManagerTinkerToy::findClosestParticleIndex( double x, double y, bool fIgnoreLast )
{
double distance = DBL_MAX;
int closestParticleIndex = -1;
Eigen::Vector3d positionCurrent( x, y, 0 );
int lastParticleIndex = fIgnoreLast ? m_particles.size() - 1: m_particles.size();
for (int i = 0; i < lastParticleIndex; i++) //Ignore last added particle
{
Eigen::Vector3d distVector = m_particles[i]->mPosition - positionCurrent;
double distCur = distVector.squaredNorm();
if ( distCur < distance )
{
distance = distCur;
closestParticleIndex = i;
}
}
return closestParticleIndex;
}
PlanarRangeVis2(Pose plane_pose, LegController<n_joints>* controller, double samples_per_unit, double max_range) : controller(controller), point(point), normal(normal) {
double d_r = 1.0/samples_per_unit;
Eigen::Vector3d center = (point.dot(normal) / normal.squaredNorm()) * normal;
/*
double yaw = atan2(normal[1], normal[0]);
double pitch = atan2(normal[2], sqrt(normal[0]*normal[0] + normal[1]*normal[1]));
center_pose = Pose(center[0], center[1], center[2], yaw, pitch, 0);
*/
center_pose = plane_pose;
center_pose.x = center[0];
center_pose.y = center[1];
center_pose.z = center[2];
double angles[n_joints];
for (double x = -max_range; x < max_range; x += d_r) {
for (double y = -max_range; y < max_range; y += d_r) {
Eigen::Vector3d goal = Vector4dTo3d(center_pose.FromFrame(Eigen::Vector4d(0.0, x, y, 1.0)));
plane_query_scores.push_back(controller->GetJointCommands(goal, angles));
plane_query.push_back(goal);
}
}
}
Eigen::Vector3d Atom::CalculateElectricalForce(const Eigen::Vector3d& chargePosition, Real charge, shared_ptr<ForceVectors> forceVectorStorage) {
Eigen::Vector3d forceDirection = chargePosition.array()-m_position.array();
Real rSquared = forceDirection.squaredNorm();
Real forceMagnitude = K_VACUUM*charge*m_effectiveNuclearCharge*Square(ELECTRIC_CHARGE)/rSquared;
// The force is in the direction of the charge.
forceDirection.normalize();
Eigen::Vector3d forceVector = forceDirection.array()*forceMagnitude;
if(forceVectorStorage) {
forceVectorStorage->AddForceVector(GetName(), forceVector);
}
// Add in forces due to sp orbitals.
for(int i=0; i<m_spOrbitals.size(); i++) {
shared_ptr<SpOrbital> orbital = m_spOrbitals[i];
Eigen::Vector3d spForce = orbital->CalculateElectricalForce(chargePosition, charge, forceVectorStorage);
forceVector.array() += spForce.array();
}
return forceVector;
}
void drawWorldPretty(const World& world,
const Camera& camera,
const VisSettings& settings,
SDL_Window* window){
glEnable(GL_DEPTH_TEST);
glFrontFace(GL_CCW);
glEnable(GL_CULL_FACE);
glClearColor(0.2, 0.2, 0.2, 1);
glClear(GL_COLOR_BUFFER_BIT| GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
int windowWidth, windowHeight;
SDL_GetWindowSize(window, &windowWidth, &windowHeight);
gluPerspective(45,static_cast<double>(windowWidth)/windowHeight,
.5, 100);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(camera.position.x(), camera.position.y(), camera.position.z(),
camera.lookAt.x(), camera.lookAt.y(), camera.lookAt.z(),
camera.up.x(), camera.up.y(), camera.up.z());
glEnable (GL_BLEND);
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
//avoid typing world.clusters, world.particles everywhere
const auto& clusters = world.clusters;
const auto& particles = world.particles;
const int which_cluster = settings.which_cluster;
if(!particles.empty()){
glPointSize(10);
if (!settings.drawColoredParticles) {
if (settings.which_cluster == -1) {
glColor4d(1,1,1,0.95);
} else {
glColor4d(1,1,1,0.2);
}
glEnableClientState(GL_VERTEX_ARRAY);
glVertexPointer(3, GL_DOUBLE,
sizeof(Particle),
&(particles[0].position));
glDrawArrays(GL_POINTS, 0, particles.size());
} else {
glBegin(GL_POINTS);
for(auto& p : particles) {
//find nearest cluster
int min_cluster = p.clusters[0];
auto com = clusters[min_cluster].worldCom;//computeNeighborhoodCOM(clusters[min_cluster]);
Eigen::Vector3d dir = p.position - com;
double min_sqdist = dir.squaredNorm();
for (auto& cInd : p.clusters) {
com = clusters[cInd].worldCom;//computeNeighborhoodCOM(clusters[cInd]);
dir = p.position - com;
double dist = dir.squaredNorm();
if (dist < min_sqdist) {
min_sqdist = dist;
min_cluster = cInd;
}
}
RGBColor rgb = HSLColor(2.0*acos(-1)*(min_cluster%12)/12.0, 0.7, 0.7).to_rgb();
//RGBColor rgb = HSLColor(2.0*acos(-1)*min_cluster/clusters.size(), 0.7, 0.7).to_rgb();
if ((which_cluster == -1 || min_cluster == which_cluster) &&
clusters[min_cluster].members.size() > 1) {
// sqrt(min_sqdist) < 0.55*clusters[min_cluster].renderWidth) {
glColor4d(rgb.r, rgb.g, rgb.b, 0.95);
} else {
glColor4d(1,1,1,0.95);
}
//glPushMatrix();
//glTranslated(p.position[0], p.position[1], p.position[2]);
//utils::drawSphere(0.01, 4, 4);
glVertex3dv(p.position.data());
//glPopMatrix();
}
glEnd();
}
/*
glPointSize(3);
glColor3f(0,0,1);
glVertexPointer(3, GL_DOUBLE, sizeof(Particle),
&(particles[0].goalPosition));
glDrawArrays(GL_POINTS, 0, particles.size());
*/
}
drawPlanesPretty(world.planes,
world.movingPlanes,
world.twistingPlanes,
world.tiltingPlanes,
world.elapsedTime);
auto max_t = std::max_element(
clusters.begin(), clusters.end(),
[](const Cluster& a, const Cluster& b){
return a.toughness < b.toughness;
})->toughness;
glEnable(GL_POLYGON_OFFSET_FILL);
glPolygonOffset(1.0,1.0);
//draw cluster spheres
if(settings.drawClusters){
glEnable(GL_CULL_FACE);
glCullFace(GL_BACK);
glMatrixMode(GL_MODELVIEW);
for(auto&& pr : benlib::enumerate(clusters)){
auto& c = pr.second;
const auto i = pr.first;
if (which_cluster == -1 || i == which_cluster) {
glPushMatrix();
//logic:
//c.cg.c = original COM of cluster
//c.worldCom = current COM in world space
//c.restCom = current COM in rest space
//c.worldCom - c.restCom = translation of center of mass rest to world
//trans = location of c in world.
//auto trans = cg.c + c.worldCom - c.restCom;
//auto trans = c.worldCom - c.restCom;
//glTranslated(trans(0), trans(1), trans(2));
/*
//step 3, translate from rest space origin to world
glTranslated(c.worldCom(0), c.worldCom(1), c.worldCom(2));
//step 2, rotate about rest-to-world transform
Eigen::Matrix4d gl_rot = Eigen::Matrix4d::Identity();
//push the rotation onto a 4x4 glMatrix
//gl_rot.block<3,3>(0,0) << c.restToWorldTransform;
auto polar = utils::polarDecomp(c.restToWorldTransform);
gl_rot.block<3,3>(0,0) << polar.first;
glMultMatrixd(gl_rot.data());
//step 1, translate rest com to origin
glTranslated(-c.restCom(0), -c.restCom(1), -c.restCom(2));
*/
Eigen::Matrix4d vis_t = c.getVisTransform();
glMultMatrixd(vis_t.data());
RGBColor rgb = HSLColor(2.0*acos(-1)*(i%12)/12.0, 0.7, 0.7).to_rgb();
//RGBColor rgb = HSLColor(2.0*acos(-1)*i/clusters.size(), 0.7, 0.7).to_rgb();
if (settings.colorByToughness) {
if (c.toughness == std::numeric_limits<double>::infinity()) {
rgb = RGBColor(0.0, 0.0, 0.0);
} else {
auto factor = c.toughness/max_t;
rgb = RGBColor(1.0-factor, factor, factor);
}
}
glPolygonMode(GL_FRONT,GL_FILL);
glColor4d(rgb.r, rgb.g, rgb.b, 0.6);
//utils::drawSphere(c.cg.r, 10, 10);
utils::drawClippedSphere(c.cg.r, 30, 30, c.cg.c, c.cg.planes);
glPolygonMode(GL_FRONT,GL_LINE);
glColor3d(0,0,0);
utils::drawClippedSphere(c.cg.r, 30, 30, c.cg.c, c.cg.planes);
glPopMatrix();
}
}
glDisable(GL_CULL_FACE);
}
//draw fracture planes
glMatrixMode(GL_MODELVIEW);
if(settings.drawFracturePlanes){
//glEnable(GL_CULL_FACE);
//glCullFace(GL_BACK);
for(auto&& pr : benlib::enumerate(clusters)){
auto& c = pr.second;
const auto i = pr.first;
if (which_cluster == -1 || i == which_cluster) {
glPushMatrix();
auto& cg = c.cg;
if (cg.planes.size() > 0) {
//step 3, translate from rest space origin to world
/*
glTranslated(c.worldCom(0), c.worldCom(1), c.worldCom(2));
//step 2, rotate about rest-to-world transform
Eigen::Matrix4d gl_rot = Eigen::Matrix4d::Identity();
//push the rotation onto a 4x4 glMatrix
//gl_rot.block<3,3>(0,0) << c.restToWorldTransform;
auto polar = utils::polarDecomp(c.restToWorldTransform);
gl_rot.block<3,3>(0,0) << polar.first;
glMultMatrixd(gl_rot.data());
//step 1, translate rest com to origin
glTranslated(-c.restCom(0), -c.restCom(1), -c.restCom(2));
*/
if (settings.joshDebugFlag) {
Eigen::Matrix4d vis_t = c.getVisTransform();
glMultMatrixd(vis_t.data());
RGBColor rgb = HSLColor(2.0*acos(-1)*(i%12)/12.0, 0.7, 0.7).to_rgb();
for (auto &p : cg.planes) {
glPolygonMode(GL_FRONT, GL_FILL);
glColor4d(rgb.r, rgb.g, rgb.b, 0.5);
//if rest com translated to origin (step 1 above)
////then we project from c.cg.c to make support point
utils::drawPlane(p.first, p.second, c.cg.r, c.cg.c);
glPolygonMode(GL_FRONT, GL_LINE);
glColor3d(0,0,0);
utils::drawPlane(p.first, p.second, c.cg.r, c.cg.c);
//if rest com translated to origin (step 1 above)
}
} else {
Eigen::Matrix4d vis_t = c.getVisTransform();
//glMultMatrixd(vis_t.data());
RGBColor rgb = HSLColor(2.0*acos(-1)*(i%12)/12.0, 0.7, 0.7).to_rgb();
for (auto &p : cg.planes) {
glPolygonMode(GL_FRONT, GL_FILL);
glColor4d(rgb.r, rgb.g, rgb.b, 0.5);
//if rest com translated to origin (step 1 above)
////then we project from c.cg.c to make support point
Eigen::Vector4d norm4(p.first(0), p.first(1), p.first(2), 0);
Eigen::Vector4d pt4(c.cg.c(0), c.cg.c(1), c.cg.c(2), 1);
double d = norm4.dot(pt4) + p.second;
pt4 = pt4 - d*norm4;
norm4 = vis_t * norm4;
pt4 = vis_t * pt4;
Eigen::Vector3d norm3(norm4(0), norm4(1), norm4(2));
Eigen::Vector3d pt3(pt4(0), pt4(1), pt4(2));
d = norm3.dot(pt3);
utils::drawPlane(norm3, -d, c.cg.r, pt3);
}
//only draw the plane outlines with the transform
glMultMatrixd(vis_t.data());
for (auto &p : cg.planes) {
glPolygonMode(GL_FRONT, GL_LINE);
glColor3d(0,0,0);
utils::drawPlane(p.first, p.second, c.cg.r, c.cg.c);
//if rest com translated to origin (step 1 above)
}
}
}
glPopMatrix();
}
}
//glDisable(GL_CULL_FACE);
}
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
if (settings.which_cluster != -1) {
const auto& c = clusters[which_cluster];
Eigen::Matrix3d Apq = world.computeApq(c);
Eigen::Matrix3d A = Apq*c.aInv;
if (world.nu > 0.0) A = A*c.Fp.inverse(); // plasticity
//do the SVD here so we can handle fracture stuff
Eigen::JacobiSVD<Eigen::Matrix3d> solver(A,
Eigen::ComputeFullU | Eigen::ComputeFullV);
Eigen::Matrix3d U = solver.matrixU(), V = solver.matrixV();
Eigen::Vector3d sigma = solver.singularValues();
std::cout << "sigma: " << sigma << std::endl;
glColor4d(0,0,0, 0.9);
glPointSize(5);
if (!settings.drawColoredParticles) {
glBegin(GL_POINTS);
for(auto &member : c.members){
glVertex3dv(particles[member.index].position.data());
}
glEnd();
}
}
glColor3d(1, 0, 1);
for(auto& projectile : world.projectiles){
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
auto currentPosition = projectile.start + world.elapsedTime*projectile.velocity;
glTranslated(currentPosition.x(), currentPosition.y(), currentPosition.z());
utils::drawSphere(projectile.radius, 10, 10);
glPopMatrix();
}
glColor3d(0,1,0);
for(auto& cylinder : world.cylinders){
utils::drawCylinder(cylinder.supportPoint, cylinder.normal, cylinder.radius);
}
glFlush();
SDL_GL_SwapWindow(window);
}
void HoleFinderPrivate::mergeHoles()
{
// Make copy, clear original, add merged holes back into original
QVector<Hole> holeCopy (this->holes);
const int numHoles = this->holes.size();
this->holes.clear();
this->holes.reserve(numHoles);
// If the bit is on, it has not been merged. If off, it has been.
QBitArray mask (holeCopy.size(), true);
// Check each pair of unmerged holes. If one contains the other, merge them.
QVector<Hole*> toMerge;
toMerge.reserve(256); // Way bigger than we need, but certainly sufficient
// Temp vars
Eigen::Vector3d diffVec;
// "i" indexes the "base" hole
for (int i = 0; i < numHoles; ++i) {
if (!mask.testBit(i))
continue;
mask.clearBit(i);
Hole &hole_i = holeCopy[i];
toMerge.clear();
toMerge.reserve(256);
toMerge.push_back(&hole_i);
// "j" indexes the compared holes
for (int j = i+1; j < numHoles; ++j) {
if (!mask.testBit(j))
continue;
Hole &hole_j = holeCopy[j];
diffVec = hole_j.center - hole_i.center;
// Use the greater of the two radii
const double rad = (hole_i.radius > hole_j.radius)
? hole_i.radius : hole_j.radius;
const double radSq = rad * rad;
// Check periodic conditions
// Convert diffVec to fractional units
this->cartToFrac(&diffVec);
// Adjust each component to range [-0.5, 0.5] (shortest representation)
while (diffVec.x() < -0.5) ++diffVec.x();
while (diffVec.y() < -0.5) ++diffVec.y();
while (diffVec.z() < -0.5) ++diffVec.z();
while (diffVec.x() > 0.5) --diffVec.x();
while (diffVec.y() > 0.5) --diffVec.y();
while (diffVec.z() > 0.5) --diffVec.z();
// Back to cartesian
this->fracToCart(&diffVec);
// if j is within i's radius, add "j" to the merge list
// and mark "j" as merged
if (fabs(diffVec.x()) > rad ||
fabs(diffVec.y()) > rad ||
fabs(diffVec.z()) > rad ||
fabs(diffVec.squaredNorm()) > radSq)
continue; // no match
// match:
// Reset j's position to account for periodic wrap-around
hole_j.center = hole_i.center + diffVec;
mask.clearBit(j);
toMerge.push_back(&hole_j);
}
if (toMerge.size() == 1)
this->holes.push_back(hole_i);
else
this->holes.push_back(reduceHoles(toMerge));
}
}
void mesh_core::findSphereTouching3Points(
Eigen::Vector3d& center,
double& radius,
const Eigen::Vector3d& a,
const Eigen::Vector3d& b,
const Eigen::Vector3d& c)
{
Eigen::Vector3d ab = b - a;
Eigen::Vector3d ac = c - a;
Eigen::Vector3d n = ab.cross(ac);
double ab_lensq = ab.squaredNorm();
double ac_lensq = ac.squaredNorm();
double n_lensq = n.squaredNorm();
// points are colinear?
if (n_lensq <= std::numeric_limits<double>::epsilon())
{
findSphereTouching3PointsColinear(
center,
radius,
a,
b,
c,
ab_lensq,
(c - b).squaredNorm(),
ac_lensq);
if (g_verbose)
{
logInform("findSphereTouching3Points() COLINEAR QQQQ");
logInform(" a = (%7.3f %7.3f %7.3f)",
a.x(),
a.y(),
a.z());
logInform(" b = (%7.3f %7.3f %7.3f)",
b.x(),
b.y(),
b.z());
logInform(" c = (%7.3f %7.3f %7.3f)",
c.x(),
c.y(),
c.z());
logInform(" s = (%7.3f %7.3f %7.3f) r=%7.3f",
center.x(),
center.y(),
center.z(),
radius);
}
return;
}
Eigen::Vector3d rel_center = (ac_lensq * n.cross(ab) +
ab_lensq * ac.cross(n)) /
(2.0 * n_lensq);
radius = rel_center.norm();
center = rel_center + a;
if (g_verbose)
{
logInform("findSphereTouching3Points()");
logInform(" a = (%7.3f %7.3f %7.3f)",
a.x(),
a.y(),
a.z());
logInform(" b = (%7.3f %7.3f %7.3f)",
b.x(),
b.y(),
b.z());
logInform(" c = (%7.3f %7.3f %7.3f)",
c.x(),
c.y(),
c.z());
logInform(" s = (%7.3f %7.3f %7.3f) r=%7.3f",
center.x(),
center.y(),
center.z(),
radius);
}
}
int main()
{
using std::cos;
using std::fabs;
using std::sin;
const Eigen::Vector3d
guiding_center_start{5 * earth_radius, 0, 0},
field_at_start{get_earth_dipole(guiding_center_start)};
const double gyroperiod
= 2 * M_PI / fabs(proton_charge_mass_ratio) / field_at_start.norm();
/*cout <<
"Energy (eV), pitch angle (deg), steps/gyroperiod: "
"order of convergence, max relative error in energy\n";*/
for (auto kinetic_energy: {1e4, 1e7}) { // in eV
for (auto pitch_angle: {90.0, 30.0}) { // V from B, degrees
const double particle_speed
= sqrt(2 * kinetic_energy * proton_charge_mass_ratio);
const Eigen::Vector3d initial_velocity{
0,
sin(pitch_angle / 180 * M_PI) * particle_speed,
cos(pitch_angle / 180 * M_PI) * particle_speed
};
const double gyroradius
= initial_velocity[1]
/ proton_charge_mass_ratio
/ field_at_start.norm();
const Eigen::Vector3d
offset_from_gc{gyroradius, 0, 0},
initial_position{guiding_center_start + offset_from_gc};
const double
initial_energy = 0.5 * proton_mass * initial_velocity.squaredNorm(),
initial_magnetic_moment
= proton_mass
* std::pow(initial_velocity[1], 2)
/ (2 * get_earth_dipole(initial_position).norm());
for (size_t step_divisor = 1; step_divisor <= (1 << 11); step_divisor *= 2) {
state_t state{{initial_position, initial_velocity}};
const double time_step = gyroperiod / step_divisor;
constexpr double propagation_time = 424.1; // seconds, 1/100 of doi above
double
nrj_error = 0,
mom_error = 0;
for (double time = 0; time < propagation_time; time += time_step) {
std::tie(
state[0],
state[1]
) = propagate(
state[0],
state[1],
Vector3d{0, 0, 0},
get_earth_dipole(state[0]),
proton_charge_mass_ratio,
time_step
);
const Eigen::Vector3d
v(state[1]),
b(get_earth_dipole(state[0])),
v_perp_b(v - (v.dot(b) / b.squaredNorm()) * b);
const double
current_energy
= 0.5 * proton_mass * state[1].squaredNorm(),
current_magnetic_moment
= proton_mass * v_perp_b.squaredNorm() / (2 * b.norm());
nrj_error = max(
nrj_error,
fabs(current_energy - initial_energy) / initial_energy
);
mom_error = max(
mom_error,
fabs(current_magnetic_moment - initial_magnetic_moment)
/ initial_magnetic_moment
);
}
/*cout
<< kinetic_energy << " "
<< pitch_angle << " "
<< step_divisor << ": "
<< nrj_error << " "
<< mom_error
<< endl;*/
if (
not check_result(
kinetic_energy,
pitch_angle,
step_divisor,
nrj_error,
mom_error,
state[0]
)
) {
std::cerr << __FILE__ << " (" << __LINE__ << "): "
<< "Unexpected failure in propagator."
<< std::endl;
return EXIT_FAILURE;
}
}
}}
return EXIT_SUCCESS;
}
void CTrackerStereoMotionModel::_trackLandmarks( const cv::Mat& p_matImageLEFT,
const cv::Mat& p_matImageRIGHT,
const Eigen::Isometry3d& p_matTransformationEstimateWORLDtoLEFT,
const Eigen::Isometry3d& p_matTransformationEstimateParallelWORLDtoLEFT,
const CLinearAccelerationIMU& p_vecLinearAcceleration,
const Eigen::Vector3d& p_vecRotationTotal )
{
//ds get images into triple channel mats (display only)
cv::Mat matDisplayLEFT;
cv::Mat matDisplayRIGHT;
//ds get images to triple channel for colored display
cv::cvtColor( p_matImageLEFT, matDisplayLEFT, cv::COLOR_GRAY2BGR );
cv::cvtColor( p_matImageRIGHT, matDisplayRIGHT, cv::COLOR_GRAY2BGR );
//ds get clean copies
const cv::Mat matDisplayLEFTClean( matDisplayLEFT.clone( ) );
const cv::Mat matDisplayRIGHTClean( matDisplayRIGHT.clone( ) );
//ds compute motion scaling
const double dMotionScaling = 1.0+100*p_vecRotationTotal.squaredNorm( );
//ds refresh landmark states
m_cMatcher.resetVisibilityActiveLandmarks( );
//ds initial transformation
Eigen::Isometry3d matTransformationWORLDtoLEFT( p_matTransformationEstimateWORLDtoLEFT );
try
{
//ds get the optimized pose
matTransformationWORLDtoLEFT = m_cMatcher.getPoseOptimizedSTEREO( m_uFrameCount, matDisplayLEFT, matDisplayRIGHT, p_matImageLEFT, p_matImageRIGHT, p_matTransformationEstimateWORLDtoLEFT, p_vecRotationTotal, dMotionScaling );
}
catch( const CExceptionPoseOptimization& p_cException )
{
std::printf( "<CTrackerStereoMotionModel>(_trackLandmarks) pose optimization failed: '%s' trying parallel transform\n", p_cException.what( ) );
try
{
//ds get the optimized pose on constant motion
matTransformationWORLDtoLEFT = m_cMatcher.getPoseOptimizedSTEREO( m_uFrameCount, matDisplayLEFT, matDisplayRIGHT, p_matImageLEFT, p_matImageRIGHT, p_matTransformationEstimateParallelWORLDtoLEFT, p_vecRotationTotal, dMotionScaling );
}
catch( const CExceptionPoseOptimization& p_cException )
{
//ds stick to the last estimate and adopt orientation
std::printf( "<CTrackerStereoMotionModel>(_trackLandmarks) parallel pose optimization failed: '%s'\n", p_cException.what( ) );
matTransformationWORLDtoLEFT = m_matTransformationWORLDtoLEFTLAST;
m_uWaitKeyTimeoutMS = 0;
}
}
//ds respective camera transform
Eigen::Isometry3d matTransformationLEFTtoWORLD( matTransformationWORLDtoLEFT.inverse( ) );
//ds estimate acceleration in current WORLD frame (necessary to filter gravity)
const Eigen::Isometry3d matTransformationIMUtoWORLD( matTransformationLEFTtoWORLD*m_pCameraLEFT->m_matTransformationIMUtoCAMERA );
const CLinearAccelerationWORLD vecLinearAccelerationWORLD( matTransformationIMUtoWORLD.linear( )*p_vecLinearAcceleration );
const CLinearAccelerationWORLD vecLinearAccelerationWORLDFiltered( CIMUInterpolator::getLinearAccelerationFiltered( vecLinearAccelerationWORLD ) );
//ds update acceleration reference
m_vecLinearAccelerationFilteredLAST = matTransformationWORLDtoLEFT.linear( )*vecLinearAccelerationWORLDFiltered;
CLogger::CLogLinearAcceleration::addEntry( m_uFrameCount, vecLinearAccelerationWORLD, vecLinearAccelerationWORLDFiltered );
//ds current translation
m_vecPositionLAST = m_vecPositionCurrent;
m_vecPositionCurrent = matTransformationLEFTtoWORLD.translation( );
CLogger::CLogTrajectory::addEntry( m_uFrameCount, m_vecPositionCurrent, Eigen::Quaterniond( matTransformationLEFTtoWORLD.linear( ) ) );
//ds set visible landmarks (including landmarks already detected in the pose optimization)
const std::shared_ptr< const std::vector< const CMeasurementLandmark* > > vecMeasurements( m_cMatcher.getMeasurementsEpipolar( matDisplayLEFT, matDisplayRIGHT, m_uFrameCount, p_matImageLEFT, p_matImageRIGHT, matTransformationWORLDtoLEFT, matTransformationLEFTtoWORLD, p_vecRotationTotal, dMotionScaling ) );
//ds compute landmark lost since last (negative if we see more landmarks than before)
const UIDLandmark uNumberOfVisibleLandmarks = vecMeasurements->size( );
const int32_t iLandmarksLost = m_uNumberofVisibleLandmarksLAST-uNumberOfVisibleLandmarks;
//ds if we lose more than 75% landmarks in one frame
if( 0.75 < static_cast< double >( iLandmarksLost )/m_uNumberofVisibleLandmarksLAST )
{
std::printf( "<CTrackerStereoMotionModel>(_trackLandmarks) lost track (landmarks lost: %i), total delta: %f (%f %f %f)\n", iLandmarksLost, m_vecVelocityAngularFilteredLAST.squaredNorm( ), m_vecVelocityAngularFilteredLAST.x( ), m_vecVelocityAngularFilteredLAST.y( ), m_vecVelocityAngularFilteredLAST.z( ) );
//m_uWaitKeyTimeoutMS = 0;
}
//ds update reference
m_uNumberofVisibleLandmarksLAST = uNumberOfVisibleLandmarks;
//ds debug
for( const CMeasurementLandmark* pMeasurement: *vecMeasurements )
{
//ds compute green brightness based on depth (further away -> darker)
uint8_t uGreenValue = 255-std::sqrt( pMeasurement->vecPointXYZLEFT.z( ) )*20;
cv::circle( matDisplayLEFT, pMeasurement->ptUVLEFT, 2, CColorCodeBGR( 0, uGreenValue, 0 ), -1 );
cv::circle( matDisplayRIGHT, pMeasurement->ptUVRIGHT, 2, CColorCodeBGR( 0, uGreenValue, 0 ), -1 );
//ds get 3d position in current camera frame
const CPoint3DCAMERA vecXYZLEFT( matTransformationWORLDtoLEFT*pMeasurement->vecPointXYZWORLDOptimized );
//ds also draw reprojections
cv::circle( matDisplayLEFT, m_pCameraLEFT->getProjection( vecXYZLEFT ), 6, CColorCodeBGR( 0, uGreenValue, 0 ), 1 );
cv::circle( matDisplayRIGHT, m_pCameraRIGHT->getProjection( vecXYZLEFT ), 6, CColorCodeBGR( 0, uGreenValue, 0 ), 1 );
}
//ds accumulate orientation
m_vecCameraOrientationAccumulated += p_vecRotationTotal;
//ds position delta
const Eigen::Vector3d vecDelta( m_vecPositionCurrent-m_vecPositionKeyFrameLAST );
//ds get norm
m_dTranslationDeltaSquaredNormCurrent = vecDelta.squaredNorm( );
bool bIsKeyFrameRegular = false;
bool bIsKeyFrameSliding = false;
//ds add a keyframe if translational delta is sufficiently high
if( m_dTranslationDeltaForKeyFrameMetersL2 < m_dTranslationDeltaSquaredNormCurrent ||
m_dAngleDeltaForOptimizationRadiansL2 < m_vecCameraOrientationAccumulated.squaredNorm( ) )
{
bIsKeyFrameRegular = true;
}
//ds check the sliding window
else
{
//ds every nth frame is handled with the sliding window
if( 0 == m_uFrameCount%m_uFrameToWindowRatio )
{
//ds get average position of current and last (ROBUSTNESS)
const CPoint3DWORLD vecPositionAverage( ( m_vecPositionCurrent+m_vecPositionLAST )/2.0 );
m_arrFramesSlidingWindow[m_uIndexSlidingWindow] = std::make_pair( vecPositionAverage, new CKeyFrame( 0, matTransformationLEFTtoWORLD, p_vecLinearAcceleration.normalized( ), *vecMeasurements, m_uFrameCount, 0 ) );
//ds evaluate sliding window
bIsKeyFrameSliding = _containsSlidingWindowKeyFrame( );
//ds current slide index
++m_uIndexSlidingWindow;
}
}
//ds check if set
if( bIsKeyFrameRegular || bIsKeyFrameSliding )
{
//ds register to matcher
m_cMatcher.setKeyFrameToVisibleLandmarks( );
//ds current "id"
const UIDKeyFrame iIDKeyFrameCurrent = m_vecKeyFrames->size( );
//ds add the keyframe depending on selection mode
if( bIsKeyFrameRegular )
{
//ds create new frame
m_vecKeyFrames->push_back( new CKeyFrame( iIDKeyFrameCurrent,
matTransformationLEFTtoWORLD,
p_vecLinearAcceleration.normalized( ),
*vecMeasurements,
m_uFrameCount,
_getLoopClosureKeyFrame( iIDKeyFrameCurrent, matTransformationLEFTtoWORLD, matDisplayLEFT ) ) );
//ds check if optimization is required
if( m_uIDDeltaKeyFrameForOptimization < iIDKeyFrameCurrent-m_uIDProcessedKeyFrameLAST )
{
//ds optimize the segment
m_cOptimizer.optimizeContinuous( m_uIDProcessedKeyFrameLAST, iIDKeyFrameCurrent );
assert( m_vecKeyFrames->back( )->bIsOptimized );
//ds update transformations with optimized ones
m_uIDProcessedKeyFrameLAST = iIDKeyFrameCurrent+1;
matTransformationLEFTtoWORLD = m_vecKeyFrames->back( )->matTransformationLEFTtoWORLD;
m_vecPositionCurrent = matTransformationLEFTtoWORLD.translation( );
matTransformationWORLDtoLEFT = matTransformationLEFTtoWORLD.inverse( );
m_matTransformationWORLDtoLEFTLAST = matTransformationWORLDtoLEFT;
//m_uWaitKeyTimeoutMS = 0;
}
}
else
{
//ds add a copy of the center frame of the window (at position 0,1,2,3,[4],5,6,7,8
m_vecKeyFrames->push_back( new CKeyFrame( iIDKeyFrameCurrent,
m_arrFramesSlidingWindow[m_uIndexSlidingWindow-5].second,
_getLoopClosureKeyFrame( iIDKeyFrameCurrent, m_arrFramesSlidingWindow[m_uIndexSlidingWindow-5].second->matTransformationLEFTtoWORLD, matDisplayLEFT ) ) );
//ds scene viewer
m_bIsFrameAvailableSlidingWindow = true;
}
//ds update references
m_uIDFrameOfKeyFrameLAST = m_vecKeyFrames->back( )->uFrame;
m_vecPositionKeyFrameLAST = m_vecPositionCurrent;
m_vecCameraOrientationAccumulated = Eigen::Vector3d::Zero( );
//ds update scene in viewer
m_prFrameLEFTtoWORLD = std::pair< bool, Eigen::Isometry3d >( bIsKeyFrameRegular, matTransformationLEFTtoWORLD );
m_bIsFrameAvailable = true;
}
else
{
//ds update scene in viewer: no keyframe
m_prFrameLEFTtoWORLD = std::pair< bool, Eigen::Isometry3d >( false, matTransformationLEFTtoWORLD );
m_bIsFrameAvailable = true;
}
//ds check if we have to detect new landmarks
if( m_uVisibleLandmarksMinimum > m_uNumberofVisibleLandmarksLAST )
{
//ds clean the lower display
cv::hconcat( matDisplayLEFTClean, matDisplayRIGHTClean, m_matDisplayLowerReference );
//ds detect landmarks
const std::shared_ptr< std::vector< CLandmark* > > vecNewLandmarks( _getNewLandmarks( m_uFrameCount, m_matDisplayLowerReference, p_matImageLEFT, p_matImageRIGHT, matTransformationWORLDtoLEFT, matTransformationLEFTtoWORLD, p_vecRotationTotal ) );
//ds all visible in this frame
m_uNumberofVisibleLandmarksLAST += vecNewLandmarks->size( );
//ds add to permanent reference holder
m_vecLandmarks->insert( m_vecLandmarks->end( ), vecNewLandmarks->begin( ), vecNewLandmarks->end( ) );
//ds add this measurement point to the epipolar matcher
m_cMatcher.addDetectionPoint( matTransformationLEFTtoWORLD, vecNewLandmarks );
}
//ds build display mat
cv::Mat matDisplayUpper = cv::Mat( m_pCameraSTEREO->m_uPixelHeight, 2*m_pCameraSTEREO->m_uPixelWidth, CV_8UC3 );
cv::hconcat( matDisplayLEFT, matDisplayRIGHT, matDisplayUpper );
_drawInfoBox( matDisplayUpper );
cv::Mat matDisplayComplete = cv::Mat( 2*m_pCameraSTEREO->m_uPixelHeight, 2*m_pCameraSTEREO->m_uPixelWidth, CV_8UC3 );
cv::vconcat( matDisplayUpper, m_matDisplayLowerReference, matDisplayComplete );
//ds display
cv::imshow( "stereo matching", matDisplayComplete );
//ds if there was a keystroke
int iLastKeyStroke( cv::waitKey( m_uWaitKeyTimeoutMS ) );
if( -1 != iLastKeyStroke )
{
//ds user input - reset frame rate counting
m_uFramesCurrentCycle = 0;
//ds evaluate keystroke
switch( iLastKeyStroke )
{
case CConfigurationOpenCV::KeyStroke::iEscape:
{
_shutDown( );
return;
}
case CConfigurationOpenCV::KeyStroke::iBackspace:
{
if( 0 < m_uWaitKeyTimeoutMS )
{
//ds switch to stepwise mode
m_uWaitKeyTimeoutMS = 0;
std::printf( "<CTrackerStereoMotionModel>(_trackLandmarks) switched to stepwise mode\n" );
}
else
{
//ds switch to benchmark mode
m_uWaitKeyTimeoutMS = 1;
std::printf( "<CTrackerStereoMotionModel>(_trackLandmarks) switched back to benchmark mode\n" );
}
break;
}
default:
{
break;
}
}
}
else
{
_updateFrameRateForInfoBox( );
}
//ds update references
++m_uFrameCount;
m_matTransformationLEFTLASTtoLEFTNOW = matTransformationWORLDtoLEFT*m_matTransformationWORLDtoLEFTLAST.inverse( );
m_matTransformationWORLDtoLEFTLAST = matTransformationWORLDtoLEFT;
}
