// We hard-code many of the parameters.
static std::tuple<EllipseGeometry, Eigen::MatrixX2f> generate_problem(size_t n, float sigma)
{
using Eigen::Vector2f;
auto g = get_ellipse_generator(Vector2f(MAX_SIZE/4, MAX_SIZE-MAX_SIZE/4), Vector2f(50, MAX_RADIUS), 0.1, 2*M_PI/32, sigma);
Eigen::MatrixX2f ret(n, 2);
for (size_t i = 0; i < n; ++i)
ret.row(i) = g();
return std::make_tuple(g.geometry(), ret);
}
static std::tuple<EllipseGeometry, Eigen::MatrixX2f> generate_cv_fail()
{
using Eigen::Vector2f;
EllipseGeometry geom{Vector2f(1094.5, 1225.16), Vector2f(567.041, 365.318), 0.245385};
Eigen::MatrixX2f data(10, 2);
data <<
924.784, 764.160,
928.388, 615.903,
847.4 , 888.014,
929.406, 741.675,
904.564, 825.605,
926.742, 760.746,
863.479, 873.406,
910.987, 808.863,
929.145, 744.976,
917.474, 791.823;
return std::make_tuple(geom, data);
}
void Camera::rotate2D(float x, float y) {
Vector2f rot = Vector2f(x, y);
AngleAxis<float> rotX(rot.x(), Vector3f::UnitY()); // look left right
AngleAxis<float> rotY(rot.y(), Vector3f::UnitX()); // look up down
rotation_future_ = (rotX * rotY) * rotation_current_;
if(roll_correction_){
rotation_future_ = rollcorrect(rotation_future_);
}
emit modified();
}
/**
* Load the vertex and normal information from a obj file
* - Clears current information from model
* - Currently only supports objs that have one mesh and ignore material of mesh (must be set up somewhere else
* - Currently loads face based normals
* @param filename (name of obj file)
* @param Model (model to load information);
* @return bool (if file exists)
**/
bool init_model_from_obj(const wchar_t *filename, Model *model){
// Is the model init'd?
if (model == NULL)
return false;
std::ifstream obj_file(filename);
//Check if file exists
if (!obj_file) {
return false;
}
std::vector<Vector2f> vertex_texture;
std::vector<Vector4f> vertex_normal;
float x, y, z, w;
int a, b, c, d, e, f, g, h, i;
std::string line;
while (getline(obj_file, line)){
// Found new vertex
if (line[0] == 'v' && line[1] == ' '){
sscanf_s(&line[0], "v %f %f %f", &x, &y, &z);
model->verts.push_back({ x, y, z * -1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f });
}
// Found new texture mapping coord
else if (line[0] == 'v' && line[1] == 't'){
sscanf_s(&line[0], "vt %f %f", &x, &y);
vertex_texture.push_back(Vector2f( x, 1.0f - y ));
}
// Found new normal
else if (line[0] == 'v' && line[1] == 'n'){
sscanf_s(&line[0], "vn %f %f %f %f", &x, &y, &z, &w);
vertex_normal.push_back(Vector4f( x, y, z * -1.0f, w ));
}
// Found new face
else if (line[0] == 'f'){
sscanf_s(&line[0], "f %d/%d/%d %d/%d/%d %d/%d/%d", &a, &d, &g, &b, &e, &h, &c, &f, &i);
model->indices.push_back((a - 1));
model->verts[(a - 1)].tU = vertex_texture[(d - 1)](0);
model->verts[(a - 1)].tV = vertex_texture[(d - 1)](1);
model->verts[(a - 1)].nX = vertex_normal[(g - 1)](0);
model->verts[(a - 1)].nY = vertex_normal[(g - 1)](1);
model->verts[(a - 1)].nZ = vertex_normal[(g - 1)](2);
model->verts[(a - 1)].nW = vertex_normal[(g - 1)](3);
model->indices.push_back((c - 1));
model->verts[(c - 1)].tU = vertex_texture[(f - 1)](0);
model->verts[(c - 1)].tV = vertex_texture[(f - 1)](1);
model->verts[(c - 1)].nX = vertex_normal[(i - 1)](0);
model->verts[(c - 1)].nY = vertex_normal[(i - 1)](1);
model->verts[(c - 1)].nZ = vertex_normal[(i - 1)](2);
model->verts[(c - 1)].nW = vertex_normal[(i - 1)](3);
model->indices.push_back((b - 1));
model->verts[(b - 1)].tU = vertex_texture[(e - 1)](0);
model->verts[(b - 1)].tV = vertex_texture[(e - 1)](1);
model->verts[(b - 1)].nX = vertex_normal[(h - 1)](0);
model->verts[(b - 1)].nY = vertex_normal[(h - 1)](1);
model->verts[(b - 1)].nZ = vertex_normal[(h - 1)](2);
model->verts[(b - 1)].nW = vertex_normal[(h - 1)](3);
}
}
return true;
}
