// ============================================================================ void VideoProcessor::get_robot_pos() { // detect the markers this->m_markers = this->m_detector.detect(this->m_image_input, this->m_cam_param, this->m_marker_size); // no markers found if (this->m_markers.size() == 0) { this->m_flag_robot_found = false; return; } // if found, check if id match the robot marker id // cv::Mat t_output_image; // this->m_image_input.copyTo(t_output_image); this->m_flag_robot_found = false; for (int i = 0; i < this->m_markers.size(); i++) { if (this->m_markers[i].id == this->m_marker_id_robot) { // found robot this->m_flag_robot_found = true; // // draw cube // this->m_markers[i].draw(t_output_image, cv::Scalar(0, 0, 255), 1); // aruco::CvDrawingUtils::draw3dCube(t_output_image, this->m_markers[i], this->m_cam_param); // aruco::CvDrawingUtils::draw3dAxis(t_output_image, this->m_markers[i], this->m_cam_param); // obtain position information geometry_msgs::Pose2D t_pose; t_pose.x = this->m_markers[i].Tvec.at<float>(0, 0); t_pose.y = this->m_markers[i].Tvec.at<float>(1, 0); // calculate orientation using Euler angle Eigen::Vector3d t_angle_axis; t_angle_axis << this->m_markers[i].Rvec.at<float>(0, 0), this->m_markers[i].Rvec.at<float>(1, 0), this->m_markers[i].Rvec.at<float>(2, 0); Eigen::Matrix3d t_rot; t_rot = Eigen::AngleAxisd(t_angle_axis.norm(), t_angle_axis.normalized()); // reverse the y and z axis for (int i = 0; i < 3; i++) { for (int j = 1; j < 3; j++) { t_rot(i, j) = -t_rot(i, j); } } Eigen::Vector3d ea = t_rot.eulerAngles(0, 1, 2); t_pose.theta = ea[2]; // convert to [0 2*pi] if (t_pose.theta < 0) { t_pose.theta += 2 * PI; } else if (t_pose.theta > 2 * PI) { t_pose.theta -= 2 * PI; } // write to file double t = (double) (this->m_frame_count - 1) / (double) this->m_frame_rate; this->m_robot_data << t << ", " << t_pose.x << ", " << t_pose.y << ", " << t_pose.theta << std::endl; break; } } // cv::Mat t_display; // cv::resize(t_output_image, t_display, cv::Size(), 0.5, 0.5); // cv::imshow("test", t_display); // cv::waitKey(5); }
void Polyhedra::Initialize(){ if (init) return; bool isRandom = false; //get vertices int N = (int) v.size(); if (N==0) { //generate randomly while ((int) v.size()<4) GenerateRandomGeometry(); N = (int) v.size(); isRandom = true; } //compute convex hull of vertices std::vector<CGALpoint> points; points.resize(v.size()); for(int i=0;i<N;i++) { points[i] = CGALpoint(v[i][0],v[i][1],v[i][2]); } CGAL::convex_hull_3(points.begin(), points.end(), P); //connect triagular facets if possible std::transform(P.facets_begin(), P.facets_end(), P.planes_begin(),Plane_equation()); P = Simplify(P, 1E-9); //modify order of v according to CGAl polyhedron int i = 0; v.clear(); for (Polyhedron::Vertex_iterator vIter = P.vertices_begin(); vIter != P.vertices_end(); ++vIter, i++){ v.push_back(Vector3r(vIter->point().x(),vIter->point().y(),vIter->point().z())); } //list surface triangles for plotting faceTri.clear(); std::transform(P.facets_begin(), P.facets_end(), P.planes_begin(),Plane_equation()); for (Polyhedron::Facet_iterator fIter = P.facets_begin(); fIter != P.facets_end(); fIter++){ Polyhedron::Halfedge_around_facet_circulator hfc0; int n = fIter->facet_degree(); hfc0 = fIter->facet_begin(); int a = std::distance(P.vertices_begin(), hfc0->vertex()); for (int i=2; i<n; i++){ ++hfc0; faceTri.push_back(a); faceTri.push_back(std::distance(P.vertices_begin(), hfc0->vertex())); faceTri.push_back(std::distance(P.vertices_begin(), hfc0->next()->vertex())); } } //compute centroid and volume P_volume_centroid(P, &volume, ¢roid); //check vierd behavior of CGAL in tessalation if(isRandom && volume*1.75<4./3.*3.14*size[0]/2.*size[1]/2.*size[2]/2.) { v.clear(); seed = rand(); Initialize(); } Vector3r translation((-1)*centroid); //set centroid to be [0,0,0] for(int i=0;i<N;i++) { v[i] = v[i]-centroid; } if(isRandom) centroid = Vector3r::Zero(); Vector3r origin(0,0,0); //move and rotate also the CGAL structure Polyhedron Transformation t_trans(1.,0.,0.,translation[0],0.,1.,0.,translation[1],0.,0.,1.,translation[2],1.); std::transform( P.points_begin(), P.points_end(), P.points_begin(), t_trans); //compute inertia Real vtet; Vector3r ctet; Matrix3r Itet1, Itet2; Matrix3r inertia_tensor(Matrix3r::Zero()); for(int i=0; i<(int) faceTri.size(); i+=3){ vtet = std::abs((origin-v[faceTri[i+2]]).dot((v[faceTri[i]]-v[faceTri[i+2]]).cross(v[faceTri[i+1]]-v[faceTri[i+2]]))/6.); ctet = (origin+v[faceTri[i]]+v[faceTri[i+1]]+v[faceTri[i+2]]) / 4.; Itet1 = TetraInertiaTensor(origin-ctet, v[faceTri[i]]-ctet, v[faceTri[i+1]]-ctet, v[faceTri[i+2]]-ctet); ctet = ctet-origin; Itet2<< ctet[1]*ctet[1]+ctet[2]*ctet[2], -ctet[0]*ctet[1], -ctet[0]*ctet[2], -ctet[0]*ctet[1], ctet[0]*ctet[0]+ctet[2]*ctet[2], -ctet[2]*ctet[1], -ctet[0]*ctet[2], -ctet[2]*ctet[1], ctet[1]*ctet[1]+ctet[0]*ctet[0]; inertia_tensor = inertia_tensor + Itet1 + Itet2*vtet; } if(std::abs(inertia_tensor(0,1))+std::abs(inertia_tensor(0,2))+std::abs(inertia_tensor(1,2)) < 1E-13){ // no need to rotate, inertia already diagonal orientation = Quaternionr::Identity(); inertia = Vector3r(inertia_tensor(0,0),inertia_tensor(1,1),inertia_tensor(2,2)); }else{ // calculate eigenvectors of I Vector3r rot; Matrix3r I_rot(Matrix3r::Zero()), I_new(Matrix3r::Zero()); matrixEigenDecomposition(inertia_tensor,I_rot,I_new); // I_rot = eigenvectors of inertia_tensors in columns // I_new = eigenvalues on diagonal // set positove direction of vectors - otherwise reloading does not work Matrix3r sign(Matrix3r::Zero()); Real max_v_signed = I_rot(0,0); Real max_v = std::abs(I_rot(0,0)); if (max_v < std::abs(I_rot(1,0))) {max_v_signed = I_rot(1,0); max_v = std::abs(I_rot(1,0));} if (max_v < std::abs(I_rot(2,0))) {max_v_signed = I_rot(2,0); max_v = std::abs(I_rot(2,0));} sign(0,0) = max_v_signed/max_v; max_v_signed = I_rot(0,1); max_v = std::abs(I_rot(0,1)); if (max_v < std::abs(I_rot(1,1))) {max_v_signed = I_rot(1,1); max_v = std::abs(I_rot(1,1));} if (max_v < std::abs(I_rot(2,1))) {max_v_signed = I_rot(2,1); max_v = std::abs(I_rot(2,1));} sign(1,1) = max_v_signed/max_v; sign(2,2) = 1.; I_rot = I_rot*sign; // force the eigenvectors to be right-hand oriented Vector3r third = (I_rot.col(0)).cross(I_rot.col(1)); I_rot(0,2) = third[0]; I_rot(1,2) = third[1]; I_rot(2,2) = third[2]; inertia = Vector3r(I_new(0,0),I_new(1,1),I_new(2,2)); orientation = Quaternionr(I_rot); //rotate the voronoi cell so that x - is maximal inertia axis and z - is minimal inertia axis //orientation.normalize(); //not needed for(int i=0; i< (int) v.size();i++) { v[i] = orientation.conjugate()*v[i]; } //rotate also the CGAL structure Polyhedron Matrix3r rot_mat = (orientation.conjugate()).toRotationMatrix(); Transformation t_rot(rot_mat(0,0),rot_mat(0,1),rot_mat(0,2),rot_mat(1,0),rot_mat(1,1),rot_mat(1,2),rot_mat(2,0),rot_mat(2,1),rot_mat(2,2),1.); std::transform( P.points_begin(), P.points_end(), P.points_begin(), t_rot); } //initialization done init = 1; }
//********************************************************************************** //generate "packing" of non-overlapping balls vector<Vector3r> fillBoxByBalls_cpp(Vector3r minCoord, Vector3r maxCoord, Vector3r sizemin, Vector3r sizemax, Vector3r ratio, int seed, shared_ptr<Material> mat, int NumPoints){ vector<Vector3r> v; Polyhedra trialP; Polyhedron trial, trial_moved; srand(seed); int it = 0; vector<Polyhedron> polyhedrons; vector<vector<Vector3r> > vv; Vector3r position; bool intersection; int count = 0; Vector3r radii; bool fixed_ratio = 0; if (ratio[0] > 0 && ratio[1] > 0 && ratio[2]>0){ fixed_ratio = 1; sizemax[0] = min(min(sizemax[0]/ratio[0], sizemax[1]/ratio[1]), sizemax[2]/ratio[2]); sizemin[0] = max(max(sizemin[0]/ratio[0], sizemin[1]/ratio[1]), sizemin[2]/ratio[2]); } fixed_ratio = 1; //force spherical //it - number of trials to make packing possibly more/less dense Vector3r random_size; while (it<1000){ it = it+1; if (it == 1){ if (fixed_ratio) { double rrr = (rand()*(sizemax[0]-sizemin[0])/RAND_MAX + sizemin[0])/2.; radii = Vector3r(rrr,rrr,rrr); }else { radii = Vector3r(rand()*(sizemax[0]-sizemin[0])/2.,rand()*(sizemax[1]-sizemin[1])/2.,rand()*(sizemax[2]-sizemin[2])/2.)/RAND_MAX + sizemin/2.; } trialP.v = BallPoints(radii,NumPoints,rand()); trialP.Initialize(); trial = trialP.GetPolyhedron(); Matrix3r rot_mat = (trialP.GetOri()).toRotationMatrix(); Transformation t_rot(rot_mat(0,0),rot_mat(0,1),rot_mat(0,2),rot_mat(1,0),rot_mat(1,1),rot_mat(1,2),rot_mat(2,0),rot_mat(2,1),rot_mat(2,2),1.); std::transform( trial.points_begin(), trial.points_end(), trial.points_begin(), t_rot); } position = Vector3r(rand()*(maxCoord[0]-minCoord[0]),rand()*(maxCoord[1]-minCoord[1]),rand()*(maxCoord[2]-minCoord[2]))/RAND_MAX + minCoord; //move CGAL structure Polyhedron Transformation transl(CGAL::TRANSLATION, ToCGALVector(position)); trial_moved = trial; std::transform( trial_moved.points_begin(), trial_moved.points_end(), trial_moved.points_begin(), transl); //calculate plane equations std::transform( trial_moved.facets_begin(), trial_moved.facets_end(), trial_moved.planes_begin(),Plane_equation()); intersection = false; //call test with boundary for(Polyhedron::Vertex_iterator vi = trial_moved.vertices_begin(); (vi != trial_moved.vertices_end()) && (!intersection); vi++){ intersection = (vi->point().x()<minCoord[0]) || (vi->point().x()>maxCoord[0]) || (vi->point().y()<minCoord[1]) || (vi->point().y()>maxCoord[1]) || (vi->point().z()<minCoord[2]) || (vi->point().z()>maxCoord[2]); } //call test with other polyhedrons for(vector<Polyhedron>::iterator a = polyhedrons.begin(); (a != polyhedrons.end()) && (!intersection); a++){ intersection = do_intersect(*a,trial_moved); if (intersection) break; } if (!intersection){ polyhedrons.push_back(trial_moved); v.clear(); for(Polyhedron::Vertex_iterator vi = trial_moved.vertices_begin(); vi != trial_moved.vertices_end(); vi++){ v.push_back(FromCGALPoint(vi->point())); } vv.push_back(v); it = 0; count ++; } } cout << "generated " << count << " polyhedrons"<< endl; //can't be used - no information about material Scene* scene=Omega::instance().getScene().get(); for(vector<vector<Vector3r> >::iterator p=vv.begin(); p!=vv.end(); ++p){ shared_ptr<Body> BP = NewPolyhedra(*p, mat); BP->shape->color = Vector3r(double(rand())/RAND_MAX,double(rand())/RAND_MAX,double(rand())/RAND_MAX); scene->bodies->insert(BP); } return v; }