//==============================================================================
void Inertia::setSpatialTensor(const Eigen::Matrix6d& _spatial)
{
if(!verifySpatialTensor(_spatial, true))
dtwarn << "[Inertia::setSpatialTensor] Passing in an invalid spatial "
<< "inertia tensor. Results might not be physically accurate or "
<< "meaningful.\n";
mSpatialTensor = _spatial;
computeParameters();
}
int CProxyCamera::init(const Matrix3d &K, int w, int h, const Matrix3d &R, const Vector3d &T)
{
m_cameraK = K;
m_cameraR = R;
m_cameraT = T;
m_width = w;
m_height = h;
computeParameters();
return 1;
}
// the function set3Points computes the plane's normal and distance to origin using 3 points on the plane
// Note that the order of the points will affect the normal direction of the plane.
void Plane::set3Points(point3 p1, point3 p2, point3 p3) {
vec3 vec1, vec2;
vec1 = p1 - p2;
vec2 = p3 - p2;
this->normal = cross(vec2, vec1);
this->point = p2;
computeParameters();
};
void CProxyCamera::defaultInit()
{
Matrix3d K,R;
Vector3d T;
K<<5.1930334103339817e+02f, 0.f,3.2850951551345941e+02f,
0.f, 5.1816401430246583e+02f, 2.5282555217253503e+02f,
0.f, 0.f, 1.f;
R.setIdentity();
T.setZero();
m_cameraK = K;
m_cameraR = R;
m_cameraT = T;
m_width = 640;
m_height = 480;
computeParameters();
}
bool CProxyCamera::load(FILE *fp)
{
int i;
for (i=0;i<9;i++)
{
fread((double*)&m_cameraK(i),sizeof(double),1,fp);
}
for (i=0;i<9;i++)
{
fread((double*)&m_cameraR(i),sizeof(double),1,fp);
}
for (i=0;i<3;i++)
{
fread((double*)&m_cameraT(i),sizeof(double),1,fp);
}
fread(&m_width,sizeof(int),1,fp);
fread(&m_height,sizeof(int),1,fp);
computeParameters();
return true;
}
void SubPixelFunction::initialize(URI &uri, URI &funcUri, PointingDevice *input, DisplayDevice *output)
{
debugLevel = 0 ;
URI::getQueryArg(uri.query, "debugLevel", &debugLevel) ;
func = TransferFunction::create(funcUri, input, output);
isOn = true;
cardinality = widgetSize = lastTime = 0;
URI::getQueryArg(uri.query, "isOn", &isOn);
URI::getQueryArg(uri.query, "cardinality", &cardinality);
if (!URI::getQueryArg(uri.query, "widgetsize", &widgetSize))
URI::getQueryArg(uri.query, "widgetSize", &widgetSize);
this->input = input;
this->output = output;
minGainAndVelocity();
int resHuman = DEFAULT_RESOLUTION_HUMAN;
URI::getQueryArg(uri.query, "resHuman", &resHuman);
setHumanResolution(resHuman);
computeParameters();
}
void SubPixelFunction::setCardinalitySize(int cardinality, int size)
{
this->cardinality = cardinality;
this->widgetSize = size;
computeParameters();
}
