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 è 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);
}
