void AnchoredRectangleHandler::initRectangle(const Eigen::VectorXd& Fw,
double lambda, const Eigen::VectorXd& z, Eigen::VectorXd& shapeParamshat,
Eigen::VectorXd& FOhphat, Eigen::VectorXd &FOqhat) {
//Get the points
Eigen::Vector3d m1(z[0], z[1], 1);
Eigen::Vector3d m2(z[2], z[3], 1);
Eigen::Vector3d m3(z[4], z[5], 1);
Eigen::Vector3d m4(z[6], z[7], 1);
Eigen::Vector3d Ft(Fw[0], Fw[1], Fw[2]);
Eigen::Quaterniond Fq(Fw[3], Fw[4], Fw[5], Fw[6]);
//compute normals
double c2 = (m1.cross(m3).transpose() * m4)[0]
/ (m2.cross(m3).transpose() * m4)[0];
double c3 = (m1.cross(m3).transpose() * m2)[0]
/ (m4.cross(m3).transpose() * m2)[0];
Eigen::Vector3d n2 = c2 * m2 - m1;
Eigen::Vector3d n3 = c3 * m4 - m1;
//Compute rotation matrix columns
Eigen::Vector3d R1 = _K.inverse() * n2;
R1 = R1 / R1.norm();
Eigen::Vector3d R2 = _K.inverse() * n3;
R2 = R2 / R2.norm();
Eigen::Vector3d R3 = R1.cross(R2);
//Compute rotation from camera to object
Eigen::Matrix3d R;
R << R1, R2, R3;
Eigen::Quaterniond FOq_e(R);
// and initialize the of the object with respect to the anchor frame
FOqhat << FOq_e.w(), FOq_e.x(), FOq_e.y(), FOq_e.z();
// now initialize lower left corner homogeneous point
FOhphat << z[0], z[1], 1.0;
FOhphat = _K.inverse() * FOhphat;
FOhphat(2) = 1.0 / lambda; // 1/d distance of the plane parallel to the image plane on which features are initialized.
//Compute frame transaltion
Eigen::Matrix3d omega = _K.transpose().inverse() * _K.inverse();
double ff = sqrt(
(n2.transpose() * omega * n2)[0] / (n3.transpose() * omega * n3)[0]);
//compute shape parameters
Eigen::Vector3d X = _K * R1;
Eigen::Vector3d Y = c2 * lambda * m2 - lambda * m1;
double w = ((X.transpose() * X).inverse() * X.transpose() * Y)[0];
//Write the results
shapeParamshat << ff, w / lambda;
}
CompressedG1::CompressedG1(curve_G1 point)
{
if (point.is_zero()) {
throw std::domain_error("curve point is zero");
}
point.to_affine_coordinates();
x = Fq(point.X);
y_lsb = point.Y.as_bigint().data[0] & 1;
}
//=============================== Parton Dissociation ===============================//
Double_t SigmaQuasiQuark(Double_t PJPsi, Double_t T)
{
Double_t PqStep = 0.05;
Double_t PqStart = 0.0;
Double_t PqEnd = 10.0;
int PqN =(int)((PqEnd - PqStart)/PqStep);
Double_t CosThetaStep = 0.1;
Double_t CosThetaStart = 1.0;
Double_t CosThetaEnd = -1.0;
int CosThetaN =(int)((CosThetaStart - CosThetaEnd)/CosThetaStep);
Double_t SumPq=0;
for(int i =0; i <= PqN ; i++) {
Double_t Pq = PqStart + i*PqStep;
Double_t SumCosTheta=0;
Double_t IntCosTheta =0;
for(int k =0; k <= CosThetaN ; k++) {
Double_t CosTheta = CosThetaStart - k*CosThetaStep;
SumCosTheta = SumCosTheta + FuncCosTheta(PJPsi, Pq, CosTheta, T);
//cout<< FuncCosTheta(PJPsi, Pq, CosTheta, T)<<endl;
}//theta
IntCosTheta = SumCosTheta*CosThetaStep;
//cout<<IntCosTheta<<endl;
SumPq = SumPq + Pq*Pq*Fq(Pq,T)*IntCosTheta;
//cout<<SumPq<<endl;
}//Pq
Double_t IntPq = (SumPq*PqStep)/(4.0*pi2);
//cout<<IntPq<<endl;
return (IntPq*1000.0);
}
