void triangulateQuadrilateral(vector<Vector3d> fourpoints, vector<Triangle> &triangles)
{
assert(fourpoints.size()==4);
vector<Triangle> tr(2);
double SMALL = 0.01;
// find diagonals
double dist = dist3D_Segment_to_Segment(fourpoints[0],fourpoints[2],
fourpoints[1],fourpoints[3],
SMALL*SMALL);
if (dist < SMALL)
{ // found -> divide at shorter diagonal
if ((fourpoints[0]-fourpoints[2]).squared_length()
< (fourpoints[1]-fourpoints[3]).squared_length()) {
tr[0] = Triangle(fourpoints[0],fourpoints[1],fourpoints[2]);
tr[1] = Triangle(fourpoints[2],fourpoints[3],fourpoints[0]);
} else {
tr[0] = Triangle(fourpoints[0],fourpoints[1],fourpoints[3]);
tr[1] = Triangle(fourpoints[1],fourpoints[2],fourpoints[3]);
}
}
else
{ // take other 2
double dist = dist3D_Segment_to_Segment(fourpoints[1],fourpoints[2],
fourpoints[0],fourpoints[3],
SMALL*SMALL);
if (dist < SMALL)
{
if ((fourpoints[1]-fourpoints[2]).squared_length()
< (fourpoints[0]-fourpoints[3]).squared_length()) {
tr[0] = Triangle(fourpoints[1],fourpoints[2],fourpoints[3]);
tr[1] = Triangle(fourpoints[0],fourpoints[1],fourpoints[2]);
} else {
tr[0] = Triangle(fourpoints[1],fourpoints[0],fourpoints[3]);
tr[1] = Triangle(fourpoints[0],fourpoints[2],fourpoints[3]);
}
}
else
{ // take 3rd possibility, not the case here, because 2-3 is cut line
double dist = dist3D_Segment_to_Segment(fourpoints[0],fourpoints[1],
fourpoints[2],fourpoints[3],
SMALL*SMALL);
if (dist < SMALL)
{
tr[0] = Triangle(fourpoints[0],fourpoints[2],fourpoints[3]);
tr[1] = Triangle(fourpoints[2],fourpoints[1],fourpoints[3]);
}
else {
//cerr << dist << " cannot find diagonals" << endl;
return;
}
}
}
triangles.insert(triangles.end(), tr.begin(), tr.end());
}
OSG_BASE_DLLMAPPING
bool intersect(const CylinderVolume &cyl1,
const CylinderVolume &cyl2)
{
Pnt3f p1, p2;
Vec3f v1, v2;
cyl1.getAxis(p1, v1);
cyl2.getAxis(p2, v2);
return dist3D_Segment_to_Segment(p1, v1, p2, v2) <=
(cyl1.getRadius() + cyl2.getRadius());
}
bool Localization::Calculate(vector<LineSegment> &clusteredLines,
bool circleDetected, const Point2f &FieldHullRealCenter,
const vector<cv::Point2f> &FieldHullReal,
const Point2d &resultCircleRotated, const vector<Point2f> &goalPosition,
const bool &confiused, vector<LineContainer> &AllLines,
vector<FeatureContainer> &AllFeatures)
{
if (_cameraProjections == NULL)
{
ROS_ERROR("Error in programming");
return false;
}
AllLines.reserve(clusteredLines.size());
AllFeatures.reserve(5);
const double MAX_FASHER = 200.;
atLeastOneObservation = false;
double UPDATENORMAL = params.loc->UPDATENORMAL()
* params.loc->TOTALGAIN();
double UPDATESTRONG = params.loc->UPDATESTRONG()
* params.loc->TOTALGAIN();
double UPDATEWEAK = params.loc->UPDATEWEAK() * params.loc->TOTALGAIN();
LineSegment HorLine(cv::Point(0, -10), cv::Point(0, 10));
LineSegment VerLine(cv::Point(10, 0), cv::Point(-10, 0));
for (size_t i = 0; i < clusteredLines.size(); i++)
{
LineSegment lineSeg = clusteredLines[i];
if (lineSeg.GetLength() > params.loc->minLineLen())
{
cv::Point2d mid = lineSeg.GetMiddle();
if (lineSeg.GetAbsMinAngleDegree(VerLine) < 45)
{
LineType thisType = VerUndef;
double angleDiffVer = lineSeg.GetExteriorAngleDegree(VerLine);
if (angleDiffVer < -90)
angleDiffVer += 180;
if (angleDiffVer > 90)
angleDiffVer += -180;
if (lineSeg.DistanceFromLine(cv::Point(0, 0))
> params.loc->VerLineMinDistanceToUpdate())
{
LandmarkType ltype = CenterL;
double estimatedY = 0;
if (mid.y > 0)
{
thisType = VerLeft;
estimatedY = B2 - mid.y;
ltype = LeftL;
}
else
{
thisType = VerRight;
estimatedY = -B2 + abs(mid.y);
ltype = RightL;
}
addObservation(Point2d(0, estimatedY), 0,
MAX_FASHER * getUpdateCoef(UPDATENORMAL, lineSeg),
ltype);
}
else if (lineSeg.DistanceFromLine(FieldHullRealCenter)
> (params.loc->VerLineMinDistanceToUpdate() / 2.)
&& cv::contourArea(FieldHullReal) > 4)
{
LandmarkType ltype = CenterL;
LineSegment l2Test = lineSeg;
if (lineSeg.P1.x > lineSeg.P2.x)
{
l2Test.P1 = lineSeg.P2;
l2Test.P2 = lineSeg.P1;
}
double estimatedY = 0;
if (l2Test.GetSide(FieldHullRealCenter) < 0)
{
thisType = VerLeftNear;
estimatedY = B2 - mid.y;
ltype = LeftL;
}
else
{
thisType = VerRightNear;
estimatedY = -B2 + abs(mid.y);
ltype = RightL;
}
addObservation(Point2d(0, estimatedY), 0,
MAX_FASHER * getUpdateCoef(UPDATENORMAL, lineSeg),
ltype);
}
AllLines.push_back(LineContainer(lineSeg, thisType));
}
else
{
LineType thisType = HorUndef;
double angleDiffHor = lineSeg.GetExteriorAngleDegree(HorLine);
if (angleDiffHor < -90)
angleDiffHor += 180;
if (angleDiffHor > 90)
angleDiffHor += -180;
if (circleDetected
&& DistanceFromLineSegment(lineSeg, resultCircleRotated)
< 1)
{
thisType = HorCenter;
double estimatedX = -mid.x;
addObservation(Point2d(estimatedX, 0),
MAX_FASHER * UPDATENORMAL, 0, CenterL);
}
if (goalPosition.size() >= 2
&& lineSeg.DistanceFromLine(goalPosition[0]) < 0.5
&& lineSeg.DistanceFromLine(goalPosition[1]) < 0.5)
{
LandmarkType typel = CenterL;
double estimatedX = 0;
if (mid.x > 0)
{
typel = FrontL;
estimatedX = A2 - mid.x;
}
else
{
typel = BackL;
estimatedX = -A2 + abs(mid.x);
}
double lowPC = getUpdateCoef(
(goalPosition.size() == 2 ?
UPDATESTRONG : UPDATENORMAL), lineSeg);
addObservation(Point2d(estimatedX, 0), MAX_FASHER * lowPC,
0, typel);
thisType = HorGoal;
}
AllLines.push_back(LineContainer(lineSeg, thisType));
}
}
}
for (size_t i = 0; i < AllLines.size(); i++)
{
LineContainer hI = AllLines[i];
if (hI.type != HorUndef)
continue;
for (size_t j = i; j < AllLines.size(); j++)
{
LineContainer hJ = AllLines[j];
if (hJ.type != HorUndef)
continue;
cv::Point2d midI = hI.lineTransformed.GetMiddle();
cv::Point2d midJ = hJ.lineTransformed.GetMiddle();
double distanceToEachOther = dist3D_Segment_to_Segment(
hI.lineTransformed, hJ.lineTransformed);
double midPointsLSAngleToOne =
hI.lineTransformed.GetAbsMinAngleDegree(
LineSegment(midI, midJ));
if (distanceToEachOther < E * 1.5 && distanceToEachOther > E * 0.5
&& hI.lineTransformed.GetAbsMinAngleDegree(
hJ.lineTransformed) < 30
&& midPointsLSAngleToOne > 25)
{
bool hJ_Is_Goal_Line = hJ.lineTransformed.DistanceFromLine(
cv::Point(0, 0))
> hI.lineTransformed.DistanceFromLine(cv::Point(0, 0));
cv::Point2d mid = hJ_Is_Goal_Line ? midJ : midI;
double estimatedX = 0;
if ((hJ_Is_Goal_Line ? hJ.lineTransformed : hI.lineTransformed).DistanceFromLine(
cv::Point(0, 0)) > 1.2)
{
LandmarkType typel = CenterL;
if (mid.x > 0)
{
estimatedX = A2 - mid.x;
typel = FrontL;
}
else
{
estimatedX = -A2 + abs(mid.x);
typel = BackL;
}
double lowPC = getUpdateCoef(UPDATESTRONG,
hJ_Is_Goal_Line ?
hJ.lineTransformed : hI.lineTransformed);
addObservation(Point2d(estimatedX, 0), MAX_FASHER * lowPC,
0, typel);
}
}
}
}
if (circleDetected)
{
double estimatedX = -resultCircleRotated.x;
double estimatedY = -resultCircleRotated.y;
addObservation(Point2d(estimatedX, estimatedY),
MAX_FASHER * UPDATEWEAK, MAX_FASHER * UPDATEWEAK, CenterL);
}
if (atLeastOneObservation)
{
updateVertexIdx();
if ((nodeCounter % 30 == 0) && PreviousVertexId > 0)
{
optimizer.initializeOptimization();
optimizer.optimize(1);
Vector3d tmpV;
optimizer.vertex(PreviousVertexId)->getEstimateData(tmpV.data());
location.x = tmpV(0);
location.y = tmpV(1);
}
}
return true;
}
