void apply_planar_homography(float *input, int width, int height, float **H, float bg, int order, float *out, float x0, float y0, int nwidth, int nheight)
{
if (DEBUG) printf("width: %d height: %d ------> nwidth: %d nheight: %d \n", width, height, nwidth, nheight);
/// We compute inverse transformation
if (DEBUG)
{
printf("Matrix: \n");
print_float_matrix(H,3,3);
}
float **V = allocate_float_matrix(3,3);
luinv(H, V, 3);
if (DEBUG)
{
printf("Inverse Matrix: \n");
print_float_matrix(V,3,3);
}
float *coeffs;
float *ref;
float cx[12],cy[12],ak[13];
if (order!=0 && order!=1 && order!=-3 &&
order!=3 && order!=5 && order!=7 && order!=9 && order!=11)
{
printf("unrecognized interpolation order.\n");
exit(-1);
}
if (order>=3) {
coeffs = new float[width*height];
finvspline(input,order,coeffs,width,height);
ref = coeffs;
if (order>3) init_splinen(ak,order);
} else
{
coeffs = NULL;
ref = input;
}
int xi,yi;
float xp,yp;
float res;
int n1,n2;
float p=-0.5;
/// For each point in new image we compute its anti image and interpolate the new value
for(int i=0; i < nwidth; i++)
for(int j=0; j < nheight; j++)
{
float vec[3];
vec[0] = (float) i + x0;
vec[1] = (float) j + y0;
vec[2] = 1.0f;
float vres[3];
float_vector_matrix_product(V, vec ,vres , 3);
if (vres[2] != 0.0f)
{
vres[0] /= vres[2]; vres[1] /= vres[2];
xp = (float) vres[0];
yp = (float) vres[1];
if (order == 0) {
xi = (int)floor((double)xp);
yi = (int)floor((double)yp);
if (xi<0 || xi>=width || yi<0 || yi>=height)
res = bg;
else res = input[yi*width+xi];
} else {
if (xp<0. || xp>=(float)width || yp<0. || yp>=(float)height) res=bg;
else {
//xp -= 0.5; yp -= 0.5;
int xi = (int)floor((double)xp);
int yi = (int)floor((double)yp);
float ux = xp-(float)xi;
float uy = yp-(float)yi;
switch (order)
{
case 1: /* first order interpolation (bilinear) */
n2 = 1;
cx[0]=ux; cx[1]=1.f-ux;
cy[0]=uy; cy[1]=1.f-uy;
break;
case -3: /* third order interpolation (bicubic Keys' function) */
n2 = 2;
keys(cx,ux,p);
keys(cy,uy,p);
break;
case 3: /* spline of order 3 */
n2 = 2;
spline3(cx,ux);
spline3(cy,uy);
break;
default: /* spline of order >3 */
n2 = (1+order)/2;
splinen(cx,ux,ak,order);
splinen(cy,uy,ak,order);
break;
}
res = 0.; n1 = 1-n2;
if (xi+n1>=0 && xi+n2<width && yi+n1>=0 && yi+n2<height) {
int adr = yi*width+xi;
for (int dy=n1;dy<=n2;dy++)
for (int dx=n1;dx<=n2;dx++)
res += cy[n2-dy]*cx[n2-dx]*ref[adr+width*dy+dx];
} else
for (int dy=n1;dy<=n2;dy++)
for (int dx=n1;dx<=n2;dx++)
res += cy[n2-dy]*cx[n2-dx]*v(ref,xi+dx,yi+dy,bg,width,height);
}
}
out[j*nwidth+i] = res;
}
}
}
void Odometry::compute()
{
mutex.wait();
//read the encoders (deg)
ienc->getEncoder(0,&encA);
ienc->getEncoder(1,&encB);
ienc->getEncoder(2,&encC);
//read the speeds (deg/s)
ienc->getEncoderSpeed(0,&velA);
ienc->getEncoderSpeed(1,&velB);
ienc->getEncoderSpeed(2,&velC);
//remove the offset and convert in radians
enc[0]= -(encA - encA_offset) * 0.0174532925;
enc[1]= -(encB - encB_offset) * 0.0174532925;
enc[2]= -(encC - encC_offset) * 0.0174532925;
//estimate the speeds
iCub::ctrl::AWPolyElement el;
el.data=enc;
el.time=Time::now();
encv= encvel_estimator->estimate(el);
// -------------------------------------------------------------------------------------
// The following formulas are adapted from:
// "A New Odometry System to reduce asymmetric Errors for Omnidirectional Mobile Robots"
// -------------------------------------------------------------------------------------
//compute the orientation. odom_theta is expressed in radians
odom_theta = geom_r*(enc[0]+enc[1]+enc[2])/(3*geom_L);
//build the kinematics matrix
yarp::sig::Matrix kin;
kin.resize(3,3);
kin.zero();
kin(0,0) = -sqrt(3.0)/2.0;
kin(0,1) = 0.5;
kin(0,2) = geom_L;
kin(1,0) = sqrt(3.0)/2.0;
kin(1,1) = 0.5;
kin(1,2) = geom_L;
kin(2,0) = 0;
kin(2,1) = -1.0;
kin(2,2) = geom_L;
kin = kin/geom_r;
yarp::sig::Matrix ikin = luinv(kin);
//build the rotation matrix
yarp::sig::Matrix m1;
m1.resize(3,3);
m1.zero();
m1(0,0) = cos (odom_theta);
m1(0,1) = -sin (odom_theta);
m1(1,0) = sin (odom_theta);
m1(1,1) = cos (odom_theta);
m1(2,2) = 1;
yarp::sig::Matrix m2;
m2.resize(3,3);
m2.zero();
m2(0,0) = cos (0.0);
m2(0,1) = -sin (0.0);
m2(1,0) = sin (0.0);
m2(1,1) = cos (0.0);
m2(2,2) = 1;
yarp::sig::Vector odom_cart_vels; //velocities expressed in the world reference frame
yarp::sig::Vector ikart_cart_vels; //velocities expressed in the ikart reference frame
odom_cart_vels = m1*ikin*encv;
ikart_cart_vels = m2*ikin*encv;
ikart_vel_x = ikart_cart_vels[1];
ikart_vel_y = ikart_cart_vels[0];
ikart_vel_theta = ikart_cart_vels[2];
ikart_vel_lin = sqrt(odom_vel_x*odom_vel_x + odom_vel_y*odom_vel_y);
odom_vel_x = odom_cart_vels[1];
odom_vel_y = odom_cart_vels[0];
odom_vel_theta = odom_cart_vels[2];
//these are not currently used
if (ikart_vel_lin<0.001)
{
odom_vel_heading = 0;
ikart_vel_heading = 0;
}
else
{
odom_vel_heading = atan2(odom_vel_x,odom_vel_y)*57.2957795;
ikart_vel_heading = atan2(ikart_vel_x,ikart_vel_y)*57.2957795;
}
//the integration step
odom_x=odom_x + (odom_vel_x * period/1000.0);
odom_y=odom_y + (odom_vel_y * period/1000.0);
//compute traveled distance (odometer)
traveled_distance = traveled_distance + fabs(ikart_vel_lin * period/1000.0);
traveled_angle = traveled_angle + fabs(ikart_vel_theta * period/1000.0);
/* [ -(3^(1/2)*r)/3, (3^(1/2)*r)/3, 0]
[ r/3, r/3, -(2*r)/3]
[ r/(3*L), r/(3*L), r/(3*L)]*/
/*odom_x = -1.73205080*geom_r/3 * encA + 1.73205080*geom_r/3 * encB;
odom_y = geom_r/3 * encA + geom_r/3 * encB - (2*geom_r)/3 * encC;*/
/*
odom_x = geom_r/(3* 0.86602)*
(
(co3p-co3m)*encA +
(-cos(odom_theta)-co3p)*encB +
(cos(odom_theta)+co3m)*encC
);
odom_y = geom_r/(3* 0.86602)*
(
(si3m+si3p)*encA +
(-sin(odom_theta)-si3p)*encB +
(sin(odom_theta)-si3m)*encC
);
*/
//convert from radians back to degrees
odom_theta *= 57.2957795;
ikart_vel_theta *= 57.2957795;
odom_vel_theta *= 57.2957795;
traveled_angle *= 57.2957795;
mutex.post();
timeStamp.update();
if (port_odometry.getOutputCount()>0)
{
port_odometry.setEnvelope(timeStamp);
Bottle &b=port_odometry.prepare();
b.clear();
b.addDouble(odom_x);
b.addDouble(odom_y);
b.addDouble(odom_theta);
b.addDouble(odom_vel_x);
b.addDouble(odom_vel_y);
b.addDouble(odom_vel_theta);
port_odometry.write();
}
if (port_odometer.getOutputCount()>0)
{
port_odometer.setEnvelope(timeStamp);
Bottle &t=port_odometer.prepare();
t.clear();
t.addDouble(traveled_distance);
t.addDouble(traveled_angle);
port_odometer.write();
}
if (port_ikart_vels.getOutputCount()>0)
{
port_ikart_vels.setEnvelope(timeStamp);
Bottle &v=port_ikart_vels.prepare();
v.clear();
v.addDouble(ikart_vel_x);
v.addDouble(ikart_vel_y);
v.addDouble(ikart_vel_theta);
port_ikart_vels.write();
}
}