const double CMiniVisionToolbox::getTransformationDelta( const Eigen::Isometry3d& p_matTransformationFrom, const Eigen::Isometry3d& p_matTransformationTo )
{
//ds compute pose change
const Eigen::Isometry3d matTransformChange( p_matTransformationTo*p_matTransformationFrom.inverse( ) );
//ds check point
const Eigen::Vector4d vecSamplePoint( 40.2, -1.25, 2.5, 1.0 );
double dNorm( vecSamplePoint.norm( ) );
const Eigen::Vector4d vecDifference( vecSamplePoint-matTransformChange*vecSamplePoint );
dNorm = ( dNorm + vecDifference.norm( ) )/2;
//ds return norm
return ( std::fabs( vecDifference(0) ) + std::fabs( vecDifference(1) ) + std::fabs( vecDifference(2) ) )/dNorm;
}
inline sm::kinematics::Transformation transformationFromPropertyTree(const sm::ConstPropertyTree & config)
{
Eigen::Vector4d q = sm::eigen::quaternionFromPropertyTree( sm::ConstPropertyTree(config, "q_a_b") );
q = q / q.norm();
Eigen::Vector3d t = sm::eigen::vector3FromPropertyTree( sm::ConstPropertyTree(config, "t_a_b_a" ) );
return sm::kinematics::Transformation(q,t);
}
EIGEN_MAKE_ALIGNED_OPERATOR_NEW /* Structures containing
"fixed-sized vectorizable" Eigen classes
need proper memory alignment */
Ray(const Eigen::Vector4d &orig, const Eigen::Vector4d &direction, const int fromObj=ID_AIR) :
origin(orig), dir(direction), fromObj(fromObj) {
BOOST_ASSERT_MSG(orig[3] == 1,
"Origin of ray must have 4th coord equal to 1");
BOOST_ASSERT_MSG(direction[3] == 0,
"Direction of ray must have 4th coord equal to 0");
BOOST_ASSERT_MSG(std::abs(direction.norm() - 1) < EPSILON, "Require unit direction vector!");
}
void randomUnitQuaternion(Eigen::Vector4d &quat) {
static boost::random::mt19937 rng(time(NULL));
static boost::random::normal_distribution<> normal;
do {
quat(0) = normal(rng);
quat(1) = normal(rng);
quat(2) = normal(rng);
quat(3) = normal(rng);
} while (quat.norm() < 0.00001);
quat.normalize();
}
bool WHeadPositionCorrection::checkMovementThreshold( const WLEMDHPI::TransformationT& trans )
{
const Eigen::Vector4d diffTrans = m_transExc.data().col( 3 ) - trans.data().col( 3 );
if( diffTrans.norm() > m_movementThreshold )
{
m_transExc = trans;
return true;
}
// TODO(pieloth): check rotation, e.g. with 1 or more key points
// initial: pick 6 key points from dipoles min/max (x,0,0); (0,y,0); (0,0,z)
// compare max distance
// keyPoint 3x6
// (trans * keyPoints).colwise().norm() - (m_transExc * keyPoints).colwise().norm()).maxCoeff(), mind homog. coord.
return false;
}
TEST(UncertainHomogeneousPointTestSuite, testUav)
{
try {
using namespace sm::kinematics;
Eigen::Vector4d p;
p.setRandom();
p = p/p.norm();
Eigen::Matrix3d U;
U = sm::eigen::randomCovariance<3>();
UncertainHomogeneousPoint uhp(p,U);
sm::eigen::assertNear(U, uhp.U_av_form(), 1e-10, SM_SOURCE_FILE_POS, "Checking that I can recover the av/form point uncertainty");
}
catch(std::exception const & e)
{
FAIL() << e.what();
}
}
/*
* @brief Normalize the given quaternion to unit quaternion.
*/
inline void quaternionNormalize(Eigen::Vector4d& q) {
double norm = q.norm();
q = q / norm;
return;
}
void calculateOverlappingFOV(boost::shared_ptr<CAMERA_1_T> camera1,
boost::shared_ptr<CAMERA_1_T> camera2,
const sm::kinematics::Transformation& T_cam1_cam2,
cameras::ImageMask& outMask1,
cameras::ImageMask& outMask2,
double& outOverlappingRatio1,
double& outOverlappingRatio2,
const Eigen::VectorXi& sampleDistances,
double scale) {
// get dimensions
int width1 = (int) camera1->projection().ru() * scale;
int height1 = (int) camera1->projection().rv() * scale;
int width2 = (int) camera2->projection().ru() * scale;
int height2 = (int) camera2->projection().rv() * scale;
// clear incoming masks
cv::Mat outMask1CV = outMask1.getMask();
cv::Mat outMask2CV = outMask2.getMask();
outMask1CV = cv::Mat::zeros(height1, width1, CV_8UC1);
outMask2CV = cv::Mat::zeros(height2, width2, CV_8UC1);
outMask1.setScale(scale);
outMask2.setScale(scale);
Eigen::Vector4d point;
// build outMask1
outOverlappingRatio1 = 0;
for (int x = 0; x < width1; x++) {
for (int y = 0; y < height1; y++) {
// if visible
// TODO: BB: what about rounding mistakes?
if (camera1->projection().keypointToHomogeneous(
Eigen::Vector2d((int) x / scale, (int) y / scale), point)) {
double norm = point.norm();
int i = 0;
// check points on the beam until one is found or no other points to check
while (i < sampleDistances.size()
&& outMask1CV.at<unsigned char>(y, x) == 0) {
// Send point to distance sampleDistances(i) on the beam
Eigen::Vector4d tempPoint = point;
tempPoint(3) = norm / (norm + sampleDistances(i));
// Project point to other camera frame
tempPoint = T_cam1_cam2.inverse() * tempPoint;
Eigen::Vector2d keypointLocation;
if (camera2->projection().homogeneousToKeypoint(tempPoint,
keypointLocation)) {
outMask1CV.at<unsigned char>(y, x) = 255;
outOverlappingRatio1++;
} // if
i++;
} // while
} // if
} // for
} // for
outOverlappingRatio1 = outOverlappingRatio1 / (width1 * height1);
// build outMask2
outOverlappingRatio2 = 0;
for (int x = 0; x < width2; x++) {
for (int y = 0; y < height2; y++) {
// if visible
// TODO: BB: what about rounding mistakes?
if (camera2->projection().keypointToHomogeneous(
Eigen::Vector2d((int) x / scale, (int) y / scale), point)) {
double norm = point.norm();
int i = 0;
// check points on the beam until one is found or no other points to check
while (i < sampleDistances.size()
&& outMask2CV.at<unsigned char>(y, x) == 0) {
// Send point to distance sampleDistances(i) on the beam
Eigen::Vector4d tempPoint = point;
tempPoint(3) = norm / (norm + sampleDistances(i));
// Project point to other camera frame
tempPoint = T_cam1_cam2 * tempPoint;
Eigen::Vector2d keypointLocation;
if (camera1->projection().homogeneousToKeypoint(tempPoint,
keypointLocation)) {
outMask2CV.at<unsigned char>(y, x) = 255;
outOverlappingRatio2++;
} // if
i++;
} // while
} // if
} // for
} // for
outOverlappingRatio2 = outOverlappingRatio2 / (width2 * height2);
}
