static void discretise( double step, double tolerance )
{
BOOST_STATIC_ASSERT( sizeof( Eigen::Vector3d ) == sizeof( double ) * 3 );
comma::csv::input_stream< Eigen::Vector3d > istream( std::cin, csv );
boost::optional< Eigen::Vector3d > previous_point;
while( istream.ready() || ( std::cin.good() && !std::cin.eof() ) )
{
const Eigen::Vector3d* current_point = istream.read();
if( !current_point ) { break; }
if( previous_point )
{
output_points( *previous_point, *previous_point );
double distance = ( *previous_point - *current_point ).norm();
if( comma::math::less( step, distance ) )
{
Eigen::ParametrizedLine< double, 3 > line = Eigen::ParametrizedLine< double, 3 >::Through( *previous_point, *current_point );
for( double t = step; comma::math::less( t + tolerance, distance ); t += step )
{
Eigen::Vector3d point = line.pointAt( t );
output_points( *previous_point, point );
}
}
}
previous_point.reset( *current_point );
}
output_points( *previous_point, *previous_point );
}
/**
* @brief The 'regression2D' method can be used to fit a line to a given point set.
* @param points_begin set begin iterator
* @param points_end set end iterator
* @param fit_start the start of the line fit
* @param fit_end the set termintating iterator position
* @param line the parameterized line to work with
*/
inline void regression2D(const std::vector<LaserBeam>::const_iterator &points_begin, const std::vector<LaserBeam>::const_iterator &points_end,
Eigen::ParametrizedLine<double, 2> &line)
{
std::vector<LaserBeam>::const_iterator back_it = points_end;
--back_it;
Eigen::Vector2d front (points_begin->posX(), points_end->posY());
Eigen::Vector2d back (back_it->posX(), back_it->posY());
unsigned int size = std::distance(points_begin, points_end);
Eigen::MatrixXd A(size, 2);
Eigen::VectorXd b(size);
A.setOnes();
Eigen::Vector2d dxy = (front - back).cwiseAbs();
bool solve_for_x = dxy.x() > dxy.y();
if(solve_for_x) {
/// SOLVE FOR X
int i = 0;
for(std::vector<LaserBeam>::const_iterator it = points_begin ; it != points_end ; ++it, ++i)
{
A(i,1) = it->posX();
b(i) = it->posY();
}
} else {
/// SOLVE FOR Y
int i = 0;
for(std::vector<LaserBeam>::const_iterator it = points_begin ; it != points_end ; ++it, ++i)
{
A(i,1) = it->posY();
b(i) = it->posX();
}
}
Eigen::VectorXd weights = A.jacobiSvd(Eigen::ComputeThinU | Eigen::ComputeThinV).solve(b);
double alpha = weights(0);
double beta = weights(1);
Eigen::Vector2d from;
Eigen::Vector2d to;
if(solve_for_x) {
from(0) = 0.0;
from(1) = alpha;
to(0) = 1.0;
to(1) = alpha + beta;
} else {
from(0) = alpha;
from(1) = 0.0;
to(0) = alpha + beta;
to(1) = 1.0;
}
Eigen::Vector2d fit_start;
Eigen::Vector2d fit_end;
line = Eigen::ParametrizedLine<double, 2>(from, (to - from).normalized());
fit_start = line.projection(front);
fit_end = line.projection(back);
line = Eigen::ParametrizedLine<double, 2>(fit_start, (fit_end - fit_start));
}
/**
* @brief drawFixation
*/
void drawFixation()
{
double circleRadius = parameters.get("MaxCircleRadius"); // millimeters
double zBoundary = parameters.get("MaxZOscillation"); // millimeters
// Projection of view normal on the focal plane
Vector3d directionOfSight = (headEyeCoords.getRigidStart().getFullTransformation().linear()*Vector3d(0,0,-1)).normalized();
Eigen::ParametrizedLine<double,3> lineOfSightRight = Eigen::ParametrizedLine<double,3>::Through( headEyeCoords.getRightEye() , headEyeCoords.getRightEye()+directionOfSight );
Eigen::Hyperplane<double,3> focalPlane = Eigen::Hyperplane<double,3>::Through( Vector3d(1,0,focalDistance), Vector3d(0,1,focalDistance),Vector3d(0,0,focalDistance) );
double lineOfSightRightDistanceToFocalPlane = lineOfSightRight.intersection(focalPlane);
Vector3d opticalAxisToFocalPlaneIntersection = lineOfSightRightDistanceToFocalPlane *(directionOfSight)+ (headEyeCoords.getRightEye());
switch ( headCalibrationDone )
{
case 1:
{
// STIM_FIXED stimulus at (0,0,focalDistance)
glPushAttrib(GL_POINT_BIT);
glColor3fv(glRed);
glPointSize(5);
glBegin(GL_POINTS);
glVertex3d(0,0,focalDistance);
glVertex3d(headEyeCoords.getRightEye().x(),headEyeCoords.getRightEye().y(),focalDistance);
glEnd();
glPopAttrib();
break;
}
case 2:
{
// STIM_FIXED stimulus + projected points
glPushAttrib( GL_ALL_ATTRIB_BITS );
glPointSize(5);
glLineWidth(2);
glBegin(GL_POINTS);
glColor3fv(glRed);
glVertex3d(0,0,focalDistance);
glColor3fv(glBlue);
glVertex3dv(opticalAxisToFocalPlaneIntersection.data());
glColor3fv(glWhite);
glVertex3d(headEyeCoords.getRightEye().x(),headEyeCoords.getRightEye().y(),focalDistance);
glEnd();
double r2EyeRight = pow(headEyeCoords.getRightEye().x(),2)+pow(headEyeCoords.getRightEye().y(),2);
// Draw the calibration circle
if ( pow(opticalAxisToFocalPlaneIntersection.x(),2)+pow(opticalAxisToFocalPlaneIntersection.y(),2) <= circleRadius*circleRadius && abs(headEyeCoords.getRightEye().z()) < zBoundary && r2EyeRight<circleRadius*circleRadius )
{
readyToStart=true;
drawCircle(circleRadius,0,0,focalDistance,glGreen);
}
else
{
drawCircle(circleRadius,0,0,focalDistance,glRed);
}
glPopAttrib();
break;
}
}
}
Vector3d getEyeProjectionPoint()
{
Eigen::Hyperplane<double,3> focalPlane = Eigen::Hyperplane<double,3>::Through ( Vector3d(1,0,focalDistance), Vector3d(0,1,focalDistance),Vector3d(0,0,focalDistance) );
// Projection of view normal on the focal plane
Vector3d directionOfSight = (headEyeCoords.getRigidStart().getFullTransformation().rotation()*Vector3d(0,0,-1)).normalized();
Eigen::ParametrizedLine<double,3> lineOfSightRight = Eigen::ParametrizedLine<double,3>::Through( eyeRight , eyeRight+directionOfSight );
double dist = lineOfSightRight.intersection(focalPlane);
return (dist*(directionOfSight)+ (eyeRight));
}
void idle()
{
Timer frameTimer; frameTimer.start();
// Timing things
timeFrame+=1;
double oscillationPeriod = factors.at("StimulusDuration")*TIMER_MS;
switch (stimMotion)
{
case SAWTOOTH_MOTION:
periodicValue = oscillationAmplitude*mathcommon::sawtooth(timeFrame,oscillationPeriod);
break;
case TRIANGLE_MOTION:
periodicValue = oscillationAmplitude*mathcommon::trianglewave(timeFrame,oscillationPeriod);
break;
case SINUSOIDAL_MOTION:
periodicValue = oscillationAmplitude*sin(3.14*timeFrame/(oscillationPeriod));
break;
default:
SAWTOOTH_MOTION;
}
timingFile << totalTimer.getElapsedTimeInMilliSec() << " " << periodicValue << endl;
// Simulate head translation
// Coordinates picker
markers[1] = Vector3d(0,0,0);
markers[2] = Vector3d(0,10,0);
markers[3] = Vector3d(0,0,10);
headEyeCoords.update(markers[1],markers[2],markers[3]);
eyeLeft = headEyeCoords.getLeftEye();
eyeRight = headEyeCoords.getRightEye();
Vector3d fixationPoint = (headEyeCoords.getRigidStart().getFullTransformation() * ( Vector3d(0,0,focalDistance) ) );
// Projection of view normal on the focal plane
Eigen::ParametrizedLine<double,3> pline = Eigen::ParametrizedLine<double,3>::Through(eyeRight,fixationPoint);
projPoint = pline.intersection(focalPlane)*((fixationPoint - eyeRight).normalized()) + eyeRight;
stimTransformation.matrix().setIdentity();
stimTransformation.translation() <<0,0,focalDistance;
Timer sleepTimer;
sleepTimer.sleep((TIMER_MS - frameTimer.getElapsedTimeInMilliSec())/2);
}
/**
* @brief Check if all points between first and second are close enough to the fitted line.
* @param first start iterator of point set
* @param second end iterator of point set
* @param line the fitted line
* @param sigma the maximum distance to consider a point an inlyer
* @return
*/
inline bool withinLineFit(const std::vector<LaserBeam>::const_iterator &first, const std::vector<LaserBeam>::const_iterator &second,
const Eigen::ParametrizedLine<double, 2> &line, const double sigma)
{
assert(std::distance(first, second) > 0);
bool fitting = true;
for(std::vector<LaserBeam>::const_iterator it = first; it != second ; ++it) {
fitting &= (line.distance(Eigen::Vector2d(it->posX(), it->posY())) < sigma);
}
return fitting;
}
void update(int value)
{
frameTimer.start();
// Read the experiment from file, if the file is finished exit suddenly
if ( inputStream.eof() )
{ exit(0);
}
if ( isReading )
{ // This reads a line (frame) in inputStream
readline(inputStream, trialNumber, headCalibration, trialMode, pointMatrix );
headEyeCoords.update(pointMatrix.col(0),pointMatrix.col(1),pointMatrix.col(2));
Affine3d active = headEyeCoords.getRigidStart().getFullTransformation();
eulerAngles.init( headEyeCoords.getRigidStart().getFullTransformation().rotation() );
eyeLeft = headEyeCoords.getLeftEye();
eyeRight= headEyeCoords.getRightEye();
//cerr << eyeRight.transpose() << endl;
cyclopeanEye = (eyeLeft+eyeRight)/2.0;
if ( trialMode == STIMULUSMODE )
stimulusFrames++;
if ( trialMode == FIXATIONMODE )
stimulusFrames=0;
// Projection of view normal on the focal plane
Vector3d directionOfSight = (active.rotation()*Vector3d(0,0,-1)).normalized();
Eigen::ParametrizedLine<double,3> lineOfSightRight = Eigen::ParametrizedLine<double,3>::Through( eyeRight , eyeRight+directionOfSight );
double lineOfSightRightDistanceToFocalPlane = lineOfSightRight.intersection(focalPlane);
//double lenghtOnZ = (active*(center-eyeCalibration )+eyeRight).z();
projPointEyeRight = lineOfSightRightDistanceToFocalPlane *(directionOfSight)+ (eyeRight);
// second projection the fixation point computed with z non constant but perfectly parallel to projPointEyeRight
lineOfSightRightDistanceToFocalPlane= (( active.rotation()*(center)) - eyeRight).norm();
Vector3d secondProjection = lineOfSightRightDistanceToFocalPlane *(directionOfSight)+ (eyeRight);
projPointEyeRight=secondProjection ;
// Compute the translation to move the eye in order to avoid share components
Vector3d posAlongLineOfSight = (headEyeCoords.getRigidStart().getFullTransformation().rotation())*(eyeRight -eyeCalibration);
// GENERATION OF PASSIVE MODE.
// HERE WE MOVE THE SCREEN TO FACE THE OBSERVER's EYE
if ( passiveMode )
{ initProjectionScreen(0, headEyeCoords.getRigidStart().getFullTransformation()*Translation3d(center));
}
else
initProjectionScreen(focalDistance, Affine3d::Identity());
if ( trialMode == STIMULUSMODE )
{
// IMPORTANT Reset the previous status of transformations
objectActiveTransformation[0].setIdentity();
objectActiveTransformation[1].setIdentity();
// PLANE 0 Transformation QUELLO CHE STA SOTTO
alpha = atan( eyeRight.x()/abs(projPointEyeRight.z()) );
if ( overallTilt )
{
instantPlaneSlant = alphaMultiplier*alpha+toRadians(-factors.at("DeltaSlant")-factors.at("StillPlaneSlant"));
AngleAxis<double> aa0( instantPlaneSlant,Vector3d::UnitY());
objectActiveTransformation[0]*=aa0;
double planesYOffset = factors.at("PlanesCentersYDistance")*(whichPlaneDrawUp ? 1 : -1);
objectActiveTransformation[0].translation() = Vector3d(0,planesYOffset,focalDistance);
// PLANE 1 Transformation QUELLO CHE STA SOPRA
AngleAxis<double> aa1(-toRadians(factors.at("StillPlaneSlant")),Vector3d::UnitY());
objectActiveTransformation[1]*=aa1;
objectActiveTransformation[1].translation() = Vector3d(0,-planesYOffset,focalDistance);
}
else
{
instantPlaneSlant = alphaMultiplier*alpha+toRadians(factors.at("DeltaSlant")+factors.at("StillPlaneSlant"));
AngleAxis<double> aa0( instantPlaneSlant,Vector3d::UnitY());
objectActiveTransformation[0]*=aa0;
double planesYOffset = factors.at("PlanesCentersYDistance")*(whichPlaneDrawUp ? 1 : -1);
objectActiveTransformation[0].translation() = Vector3d(0,planesYOffset,focalDistance);
// PLANE 1 Transformation QUELLO CHE STA SOPRA
AngleAxis<double> aa1(toRadians(factors.at("StillPlaneSlant")),Vector3d::UnitY());
objectActiveTransformation[1]*=aa1;
objectActiveTransformation[1].translation() = Vector3d(0,-planesYOffset,focalDistance);
}
objectPassiveTransformation[0] = ( cam.getModelViewMatrix()*objectActiveTransformation[0] );
objectPassiveTransformation[1] = ( cam.getModelViewMatrix()*objectActiveTransformation[1] );
//cout << toDegrees(instantPlaneSlant) << endl;
// **************** COMPUTE THE OPTIC FLOWS **************************
// 1) Project the points to screen by computing their coordinates on focalPlane in passive (quite complicate, see the specific method)
// *********** FOR THE MOVING PLANE *************
vector<Vector3d> projPointsMovingPlane = stimDrawer[0].projectStimulusPoints(objectActiveTransformation[0],headEyeCoords.getRigidStart().getFullTransformation(),cam,focalDistance, screen, eyeCalibration,passiveMode,false);
// 2) Get the angles formed by stimulus and observer
// updating with the latest values
Vector3d oldAlphaMoving = flowsAnglesAlphaMoving,oldBetaMoving=flowsAnglesBetaMoving;
// alpha is the "pitch" angle, beta is the "yaw" angle
// Here me must use the points 4,5,8 of the stimulus
flowsAnglesAlphaMoving(0) = ( atan2(projPointsMovingPlane[4].x(), abs(focalDistance) ) );
flowsAnglesAlphaMoving(1) = ( atan2(projPointsMovingPlane[5].x(), abs(focalDistance) ) );
flowsAnglesAlphaMoving(2) = ( atan2(projPointsMovingPlane[8].x(), abs(focalDistance) ) );
flowsAnglesBetaMoving(0) = ( atan2(projPointsMovingPlane[4].y(), abs(focalDistance) ) );
flowsAnglesBetaMoving(1) = ( atan2(projPointsMovingPlane[5].y(), abs(focalDistance) ) );
flowsAnglesBetaMoving(2) = ( atan2(projPointsMovingPlane[8].y(), abs(focalDistance) ) );
// 3) Fill the matrix of derivatives
MatrixXd angVelocitiesMoving(6,1);
angVelocitiesMoving(0) = flowsAnglesAlphaMoving(0)-oldAlphaMoving(0);
angVelocitiesMoving(1) = flowsAnglesBetaMoving(0)-oldBetaMoving(0);
angVelocitiesMoving(2) = flowsAnglesAlphaMoving(1)-oldAlphaMoving(1);
angVelocitiesMoving(3) = flowsAnglesBetaMoving(1)-oldBetaMoving(1);
angVelocitiesMoving(4) = flowsAnglesAlphaMoving(2)-oldAlphaMoving(2);
angVelocitiesMoving(5) = flowsAnglesBetaMoving(2)-oldBetaMoving(2);
angVelocitiesMoving /= ((double)TIMER_MS/(double)1000);
// 4) Fill the coefficient matrix, to solve the linear system
MatrixXd coeffMatrixMoving(6,6);
coeffMatrixMoving <<
1, flowsAnglesAlphaMoving(0), flowsAnglesBetaMoving(0), 0, 0, 0,
0, 0, 0, 1,flowsAnglesAlphaMoving(0),flowsAnglesBetaMoving(0),
1, flowsAnglesAlphaMoving(1), flowsAnglesBetaMoving(1), 0, 0, 0,
0, 0, 0, 1,flowsAnglesAlphaMoving(1),flowsAnglesBetaMoving(1),
1, flowsAnglesAlphaMoving(2), flowsAnglesBetaMoving(2), 0, 0, 0,
0, 0, 0, 1,flowsAnglesAlphaMoving(2),flowsAnglesBetaMoving(2)
;
// 5) Solve the linear system by robust fullPivHouseholderQR decomposition (see Eigen for details http://eigen.tuxfamily.org/dox/TutorialLinearAlgebra.html )
MatrixXd velocitiesMoving = coeffMatrixMoving.colPivHouseholderQr().solve(angVelocitiesMoving);
// 6) Write the output to file flowsFileMoving
flowsFileMoving << fixed << trialNumber << "\t" << //1
stimulusFrames << " " <<
factors.at("DeltaSlant")<< " " <<
factors.at("StillPlaneSlant") << " " <<
overallTilt << " " <<
projPointsMovingPlane[4].transpose() << " " <<
projPointsMovingPlane[5].transpose() << " " <<
projPointsMovingPlane[8].transpose() << " " <<
angVelocitiesMoving.transpose() << " " <<
velocitiesMoving.transpose() << endl;
// ********************* FLOWS FOR THE STILL PLANE **************
// Here we must repeat the same things for the still plane
vector<Vector3d> projPointsStillPlane = stimDrawer[1].projectStimulusPoints(objectActiveTransformation[1],headEyeCoords.getRigidStart().getFullTransformation(),cam,focalDistance, screen, eyeCalibration,passiveMode,false);
// 2) Get the angles formed by stimulus and observer
// updating with the latest values
Vector3d oldAlphaStill = flowsAnglesAlphaStill,oldBetaStill=flowsAnglesBetaStill;
// alpha is the "pitch" angle, beta is the "yaw" angle
// Here me must use the points 4,5,8 of the stimulus
flowsAnglesAlphaStill(0) = ( atan2(projPointsStillPlane[4].x(), abs(focalDistance) ) );
flowsAnglesAlphaStill(1) = ( atan2(projPointsStillPlane[5].x(), abs(focalDistance) ) );
flowsAnglesAlphaStill(2) = ( atan2(projPointsStillPlane[8].x(), abs(focalDistance) ) );
flowsAnglesBetaStill(0) = ( atan2(projPointsStillPlane[4].y(), abs(focalDistance) ) );
flowsAnglesBetaStill(1) = ( atan2(projPointsStillPlane[5].y(), abs(focalDistance) ) );
flowsAnglesBetaStill(2) = ( atan2(projPointsStillPlane[8].y(), abs(focalDistance) ) );
// 3) Fill the matrix of derivatives
MatrixXd angVelocitiesStill(6,1);
angVelocitiesStill(0) = flowsAnglesAlphaStill(0)-oldAlphaStill(0);
angVelocitiesStill(1) = flowsAnglesBetaStill(0)-oldBetaStill(0);
angVelocitiesStill(2) = flowsAnglesAlphaStill(1)-oldAlphaStill(1);
angVelocitiesStill(3) = flowsAnglesBetaStill(1)-oldBetaStill(1);
angVelocitiesStill(4) = flowsAnglesAlphaStill(2)-oldAlphaStill(2);
angVelocitiesStill(5) = flowsAnglesBetaStill(2)-oldBetaStill(2);
angVelocitiesStill /= ((double)TIMER_MS/(double)1000);
// 4) Fill the coefficient matrix, to solve the linear system
MatrixXd coeffMatrixStill(6,6);
coeffMatrixStill <<
1, flowsAnglesAlphaStill(0), flowsAnglesBetaStill(0), 0, 0, 0,
0, 0, 0, 1,flowsAnglesAlphaStill(0),flowsAnglesBetaStill(0),
1, flowsAnglesAlphaStill(1), flowsAnglesBetaStill(1), 0, 0, 0,
0, 0, 0, 1,flowsAnglesAlphaStill(1),flowsAnglesBetaStill(1),
1, flowsAnglesAlphaStill(2), flowsAnglesBetaStill(2), 0, 0, 0,
0, 0, 0, 1,flowsAnglesAlphaStill(2),flowsAnglesBetaStill(2)
;
// 5) Solve the linear system by robust fullPivHouseholderQR decomposition (see Eigen for details http://eigen.tuxfamily.org/dox/TutorialLinearAlgebra.html )
MatrixXd velocitiesStill = coeffMatrixStill.colPivHouseholderQr().solve(angVelocitiesStill);
// 6) Write the output to file flowsFileStill
flowsFileStill << fixed << trialNumber << "\t" << // 1
stimulusFrames << " " << // 2
factors.at("DeltaSlant")<< " " << // 3
factors.at("StillPlaneSlant") << " " << // 4
overallTilt << " " <<
projPointsStillPlane[4].transpose() << " " << // 5,6,7
projPointsStillPlane[5].transpose() << " " << // 8,9,10
projPointsStillPlane[8].transpose() << " " << // 11,12,13
angVelocitiesStill.transpose() << " " << // 14, 15, 16, 17, 18, 19
velocitiesStill.transpose() << endl; // 20, 21, 22, 23, 24, 25
// **************** END OF OPTIC FLOWS COMPUTATION
}
/*
ofstream outputfile;
outputfile.open("data.dat");
outputfile << "Subject Name: " << parameters.find("SubjectName") << endl;
outputfile << "Passive matrix:" << endl << objectPassiveTransformation.matrix() << endl;
outputfile << "Yaw: " << toDegrees(eulerAngles.getYaw()) << endl <<"Pitch: " << toDegrees(eulerAngles.getPitch()) << endl;
outputfile << "EyeLeft: " << headEyeCoords.getLeftEye().transpose() << endl;
outputfile << "EyeRight: " << headEyeCoords.getRightEye().transpose() << endl << endl;
outputfile << "Factors:" << endl;
for (map<string,double>::iterator iter=factors.begin(); iter!=factors.end(); ++iter)
{ outputfile << "\t\t" << iter->first << "= " << iter->second << endl;
}
*/
}
if ( trialMode == PROBEMODE )
isReading=false;
glutPostRedisplay();
glutTimerFunc(TIMER_MS, update, 0);
}
void update(int value)
{
// Conta i cicli di presentazione dello stimolo
if ( (sumOutside > str2num<int>(parameters.find("StimulusCycles")) ) && (trialMode == STIMULUSMODE) )
{
sumOutside=0;
trialMode++;
trialMode=trialMode%4;
}
if (conditionInside && (sumOutside*2 > str2num<int>(parameters.find("FixationCycles"))) && (trialMode ==FIXATIONMODE ) )
{
sumOutside=0;
trialMode++;
trialMode=trialMode%4;
stimulusDuration.start();
}
if ( trialMode == STIMULUSMODE )
stimulusFrames++;
if ( trialMode == FIXATIONMODE )
stimulusFrames=0;
Screen screenPassive;
screenPassive.setWidthHeight(SCREEN_WIDE_SIZE, SCREEN_WIDE_SIZE*SCREEN_HEIGHT/SCREEN_WIDTH);
screenPassive.setOffset(alignmentX,alignmentY);
screenPassive.setFocalDistance(0);
screenPassive.transform(headEyeCoords.getRigidStart().getFullTransformation()*Translation3d(center));
camPassive.init(screenPassive);
camPassive.setDrySimulation(true);
camPassive.setEye(eyeRight);
objectPassiveTransformation = ( camPassive.getModelViewMatrix()*objectActiveTransformation );
// Coordinates picker
markers = optotrak.getAllPoints();
if ( isVisible(markers[1]) && isVisible(markers[2]) && isVisible(markers[3]) )
headEyeCoords.update(markers[1],markers[2],markers[3]);
Affine3d active = headEyeCoords.getRigidStart().getFullTransformation();
eulerAngles.init( headEyeCoords.getRigidStart().getFullTransformation().rotation() );
eyeLeft = headEyeCoords.getLeftEye();
eyeRight = headEyeCoords.getRightEye();
cyclopeanEye = (eyeLeft+eyeRight)/2.0;
// Projection of view normal on the focal plane
Vector3d directionOfSight = (active.rotation()*Vector3d(0,0,-1)).normalized();
Eigen::ParametrizedLine<double,3> lineOfSightRight = Eigen::ParametrizedLine<double,3>::Through( eyeRight , eyeRight+directionOfSight );
Eigen::ParametrizedLine<double,3> lineOfSightLeft = Eigen::ParametrizedLine<double,3>::Through( eyeLeft, eyeLeft+directionOfSight );
double lineOfSightRightDistanceToFocalPlane = lineOfSightRight.intersection(focalPlane);
double lineOfSightLeftDistanceToFocalPlane = lineOfSightLeft.intersection(focalPlane);
//double lenghtOnZ = (active*(center-eyeCalibration )+eyeRight).z();
projPointEyeRight = lineOfSightRightDistanceToFocalPlane *(directionOfSight)+ (eyeRight);
projPointEyeLeft= lineOfSightLeftDistanceToFocalPlane * (directionOfSight) + (eyeLeft);
// second projection the fixation point computed with z non constant but perfectly parallel to projPointEyeRight
lineOfSightRightDistanceToFocalPlane= (( active.rotation()*(center)) - eyeRight).norm();
Vector3d secondProjection = lineOfSightRightDistanceToFocalPlane *(directionOfSight)+ (eyeRight);
if ( !zOnFocalPlane )
projPointEyeRight=secondProjection ;
// Compute the translation to move the eye in order to avoid shear components
Vector3d posAlongLineOfSight = (headEyeCoords.getRigidStart().getFullTransformation().rotation())*(eyeRight -eyeCalibration);
switch ( (int)factors["Translation"] )
{
case -1:
case -2:
translationFactor.setZero();
if ( trialMode == STIMULUSMODE )
projPointEyeRight=center;
break;
case 0:
translationFactor.setZero();
break;
case 1:
translationFactor = factors["TranslationConstant"]*Vector3d(posAlongLineOfSight.z(),0,0);
break;
case 2:
translationFactor = factors["TranslationConstant"]*Vector3d(0,posAlongLineOfSight.z(),0);
break;
}
if ( passiveMode )
initProjectionScreen(0,headEyeCoords.getRigidStart().getFullTransformation()*Translation3d(Vector3d(0,0,focalDistance)));
else
initProjectionScreen(focalDistance,Affine3d::Identity());
checkBounds();
/**** Save to file part ****/
// Markers file save the used markers and time-depending experimental variable to a file
// (Make sure that in passive experiment the list of variables has the same order)
markersFile << trialNumber << " " << headCalibrationDone << " " << trialMode << " " ;
markersFile <<markers[1].transpose() << " " << markers[2].transpose() << " " << markers[3].transpose() << " " << markers[17].transpose() << " " << markers[18].transpose() << " " ;
markersFile << factors["Tilt"] << " " <<
factors["Slant"] << " " <<
factors["Translation"] << " " <<
factors["Onset"] << " " <<
factors["TranslationConstant"] <<
endl;
ofstream outputfile;
outputfile.open("data.dat");
outputfile << "Subject Name: " << parameters.find("SubjectName") << endl;
outputfile << "Passive matrix:" << endl << objectPassiveTransformation.matrix() << endl;
outputfile << "Yaw: " << toDegrees(eulerAngles.getYaw()) << endl <<"Pitch: " << toDegrees(eulerAngles.getPitch()) << endl;
outputfile << "EyeLeft: " << headEyeCoords.getLeftEye().transpose() << endl;
outputfile << "EyeRight: " << headEyeCoords.getRightEye().transpose() << endl << endl;
outputfile << "Slant: " << instantPlaneSlant << endl;
outputfile << "(Width,Height) [px]: " << getPlaneDimensions().transpose() << " " << endl;
outputfile << "Factors:" << endl;
for (map<string,double>::iterator iter=factors.begin(); iter!=factors.end(); ++iter)
{
outputfile << "\t\t" << iter->first << "= " << iter->second << endl;
}
outputfile << "Trial remaining: " << trial.getRemainingTrials()+1 << endl;
outputfile << "Last response: " << probeAngle << endl;
// Here we save plane projected width and height
// now rewind the file
outputfile.clear();
outputfile.seekp(0,ios::beg);
// Write down frame by frame the trajectories and angles of eyes and head
if ( trialMode == STIMULUSMODE && headCalibrationDone > 2 )
{
trajFile << setw(6) << left <<
trialNumber << " " <<
stimulusFrames << " " <<
eyeRight.transpose() << endl;
anglesFile << setw(6) << left <<
trialNumber << " " <<
stimulusFrames << " " <<
toDegrees(eulerAngles.getPitch()) << " " <<
toDegrees(eulerAngles.getRoll()) << " " <<
toDegrees(eulerAngles.getYaw()) << " " <<
instantPlaneSlant << endl;
matrixFile << setw(6) << left <<
trialNumber << " " <<
stimulusFrames << " " ;
for (int i=0; i<3; i++)
matrixFile << objectPassiveTransformation.matrix().row(i) << " " ;
matrixFile << endl;
// Write the 13 special extremal points on stimFile
stimFile << setw(6) << left <<
trialNumber << " " <<
stimulusFrames << " " ;
double winx=0,winy=0,winz=0;
for (PointsRandIterator iRand = redDotsPlane.specialPointsRand.begin(); iRand!=redDotsPlane.specialPointsRand.end(); ++iRand)
{ Point3D *p=(*iRand);
Vector3d v = objectActiveTransformation*Vector3d( p->x, p->y, p->z);
gluProject(v.x(),v.y(),v.z(), (&cam)->getModelViewMatrix().data(), (&cam)->getProjectiveMatrix().data(), (&cam)->getViewport().data(), &winx,&winy,&winz);
stimFile << winx << " " << winy << " " << winz << " ";
}
stimFile << endl;
}
glutPostRedisplay();
glutTimerFunc(TIMER_MS, update, 0);
}
void update(int value)
{
// Timing things
if ( trialMode != PROBEMODE )
{
oldvariable = variable;
variable = -factors["Onset"]*mathcommon::trianglewave( timeFrame , factors["StimulusDuration"]/(TIMER_MS*factors["FollowingSpeed"]) );
timeFrame+=1;
bool isInside = ((projPoint - Vector3d(0,0,focalDistance) ).norm()) <= (circleRadius);
// permette di avanzare se siamo in stimulusMode e lo stimolo ha fatto un semiciclo ( una passata da dx a sx o da su a giù )
bool nextMode = ( sumOutside == 0 ) && (trialMode==STIMULUSMODE);
if ( isInside && ( sumOutside > stimulusEmiCycles ) || (nextMode) )
{
sumOutside=-1;
advanceTrial();
//cerr << "stim time= " << stimulusTimer.getElapsedTimeInMilliSec() << endl;
}
}
// Simulate head translation
// Coordinates picker
markers[1] = Vector3d(0,0,0);
markers[2] = Vector3d(0,10,0);
markers[3] = Vector3d(0,0,10);
Vector3d translation(0,0,0);
switch ( (int) factors["Anchored"] )
{
case 0:
translation = Vector3d((circleRadius+1)*variable,0,0);
break;
case 1:
translation = Vector3d((circleRadius+1)*variable,0,0);
break;
case 2:
translation = Vector3d(0,(circleRadius+1)*variable,0);
break;
}
markers[1]+=translation;
markers[2]+=translation;
markers[3]+=translation;
headEyeCoords.update(markers[1],markers[2],markers[3]);
eyeLeft = headEyeCoords.getLeftEye();
eyeRight = headEyeCoords.getRightEye();
fixationPoint = (headEyeCoords.getRigidStart().getFullTransformation() * ( Vector3d(0,0,focalDistance) ) );
// Projection of view normal on the focal plane
pline = Eigen::ParametrizedLine<double,3>::Through(eyeRight,fixationPoint);
projPoint = pline.intersection(focalPlane)*((fixationPoint - eyeRight).normalized()) + eyeRight;
checkBounds();
glutPostRedisplay();
glutTimerFunc(TIMER_MS, update, 0);
}
void update(int value)
{ // Read the experiment from file, if the file is finished exit suddenly
if ( inputStream.eof() )
{ cleanup();
exit(0);
}
if ( isReading )
{ // This reads a line (frame) in inputStream
readline(inputStream, trialNumber, headCalibration, trialMode, pointMatrix );
headEyeCoords.update(pointMatrix.col(0),pointMatrix.col(1),pointMatrix.col(2));
Affine3d active = headEyeCoords.getRigidStart().getFullTransformation();
eulerAngles.init( headEyeCoords.getRigidStart().getFullTransformation().rotation() );
eyeLeft = headEyeCoords.getLeftEye();
eyeRight= headEyeCoords.getRightEye();
cyclopeanEye = (eyeLeft+eyeRight)/2.0;
if ( trialMode == STIMULUSMODE )
stimulusFrames++;
if ( trialMode == FIXATIONMODE )
stimulusFrames=0;
// Projection of view normal on the focal plane
Vector3d directionOfSight = (active.rotation()*Vector3d(0,0,-1)).normalized();
Eigen::ParametrizedLine<double,3> lineOfSightRight = Eigen::ParametrizedLine<double,3>::Through( eyeRight , eyeRight+directionOfSight );
Eigen::ParametrizedLine<double,3> lineOfSightLeft = Eigen::ParametrizedLine<double,3>::Through( eyeLeft, eyeLeft+directionOfSight );
double lineOfSightRightDistanceToFocalPlane = lineOfSightRight.intersection(focalPlane);
double lineOfSightLeftDistanceToFocalPlane = lineOfSightLeft.intersection(focalPlane);
//double lenghtOnZ = (active*(center-eyeCalibration )+eyeRight).z();
projPointEyeRight = lineOfSightRightDistanceToFocalPlane *(directionOfSight)+ (eyeRight);
projPointEyeLeft= lineOfSightLeftDistanceToFocalPlane * (directionOfSight) + (eyeLeft);
// second projection the fixation point computed with z non constant but perfectly parallel to projPointEyeRight
lineOfSightRightDistanceToFocalPlane= (( active.rotation()*(center)) - eyeRight).norm();
Vector3d secondProjection = lineOfSightRightDistanceToFocalPlane *(directionOfSight)+ (eyeRight);
if ( !zOnFocalPlane )
projPointEyeRight=secondProjection ;
// Compute the translation to move the eye in order to avoid share components
Vector3d posAlongLineOfSight = (headEyeCoords.getRigidStart().getFullTransformation().rotation())*(eyeRight -eyeCalibration);
// GENERATION OF PASSIVE MODE.
// HERE WE MOVE THE SCREEN TO FACE THE OBSERVER's EYE
if ( passiveMode )
{
initProjectionScreen(0, headEyeCoords.getRigidStart().getFullTransformation()*Translation3d(center));
}
else
initProjectionScreen(focalDistance, Affine3d::Identity());
objectPassiveTransformation = ( cam.getModelViewMatrix()*objectActiveTransformation );
ofstream outputfile;
outputfile.open("data.dat");
outputfile << "Subject Name: " << parameters.find("SubjectName") << endl;
outputfile << "Passive matrix:" << endl << objectPassiveTransformation.matrix() << endl;
outputfile << "Yaw: " << toDegrees(eulerAngles.getYaw()) << endl <<"Pitch: " << toDegrees(eulerAngles.getPitch()) << endl;
outputfile << "EyeLeft: " << headEyeCoords.getLeftEye().transpose() << endl;
outputfile << "EyeRight: " << headEyeCoords.getRightEye().transpose() << endl << endl;
outputfile << "Slant: " << instantPlaneSlant << endl;
outputfile << "Factors:" << endl;
for (map<string,double>::iterator iter=factors.begin(); iter!=factors.end(); ++iter)
{
outputfile << "\t\t" << iter->first << "= " << iter->second << endl;
}
}
if ( trialMode == PROBEMODE )
isReading=false;
glutPostRedisplay();
glutTimerFunc(TIMER_MS, update, 0);
}
int main( int argc, char** argv )
{
// for( unsigned int i = 0; i < boost::lexical_cast< unsigned int >( argv[1] ); ++i )
// {
// double x = r() * 20 - 10;
// double y = r() * 20 - 10;
// double z = r() * 20 - 10;
// std::cout << x << ',' << y << ',' << z << ',' << int( std::max( std::abs( x ), std::max( std::abs( y ), std::abs( z ) ) ) ) << std::endl;
// }
// return 0;
try
{
std::string normal_string;
std::string points_string;
std::string point_outside;
boost::program_options::options_description description( "options" );
description.add_options()
( "help,h", "display help message" )
( "points,p", boost::program_options::value< std::string >( &points_string )->default_value( "0,0,0" ), "point(s) belonging to the plane, either 3 points, or 1 point, if --normal defined" )
( "point-outside", boost::program_options::value< std::string >( &point_outside ), "point on the side of the plane where the normal would point, a convenience option; 3 points are enough" )
( "normal,n", boost::program_options::value< std::string >( &normal_string ), "normal to the plane" )
( "intersections", "assume the input represents a trajectory, find all its intersections with the plane")
( "threshold", boost::program_options::value< double >(), "if --intersections present, any separation between contiguous points of trajectory greater than threshold will be treated as a gap in the trajectory (no intersections will lie in the gaps)");
description.add( comma::csv::program_options::description( "x,y,z" ) );
boost::program_options::variables_map vm;
boost::program_options::store( boost::program_options::parse_command_line( argc, argv, description), vm );
boost::program_options::notify( vm );
if ( vm.count( "help" ) )
{
std::cerr << std::endl;
std::cerr << "take points on stdin, append distance from a given plane" << std::endl;
std::cerr << std::endl;
std::cerr << "if --intersections is specified, assume the input represents a trajectory, find its intersections with the plane," << std::endl;
std::cerr << "for each intersection, output adjacent points between which it occurs, the intersection point, and the direction of intersection (-1,0,+1)," << std::endl;
std::cerr << "where 0 indicates that both adjacent points are in the plane, +1 if the trajectory's direction is the same as normal of the plane, and -1 otherwise" << std::endl;
std::cerr << std::endl;
std::cerr << "usage: " << std::endl;
std::cerr << " cat points.csv | points-slice [options] > points_with_distance.csv" << std::endl;
std::cerr << " cat trajectory.csv | points-slice [options] --intersections > intersections.csv" << std::endl;
std::cerr << std::endl;
std::cerr << description << std::endl;
std::cerr << std::endl;
std::cerr << "defining the plane" << std::endl;
std::cerr << " --points x1,y1,z1,x2,y2,z2,x3,y3,x3" << std::endl;
std::cerr << " --points x1,y1,z1,x2,y2,z2,x3,y3,x3 --point-outside x4,y4,z4" << std::endl;
std::cerr << " --points x,y,z --normal n1,n2,n3" << std::endl;
std::cerr << " --normal n1,n2,n3 (the plane passes through 0,0,0)" << std::endl;
std::cerr << std::endl;
std::cerr << "output" << std::endl;
std::cerr << " default: " << std::endl;
std::cerr << " x,y,z,distance, where distance is signed distance to the plane" << std::endl;
std::cerr << std::endl;
std::cerr << " if --intersections is specified:" << std::endl;
std::cerr << " previous_input_line,input_line,intersection,direction" << std::endl;
std::cerr << std::endl;
std::cerr << "examples:" << std::endl;
std::cerr << " echo -e \"0,0,-1\\n0,0,0\\n0,0,1\" | points-slice --points 0,0,0,0,1,0,1,0,0" << std::endl;
std::cerr << " echo -e \"0,0,-1\\n0,0,0\\n0,0,1\" | points-slice --points 0,0,0,0,1,0,1,0,0 --point-outside 0,0,1" << std::endl;
std::cerr << " echo -e \"0,0,-1\\n0,0,0\\n0,0,1\" | points-slice --points 0,0,0 --normal 0,0,1" << std::endl;
std::cerr << " echo -e \"0,0,-1\\n0,0,0\\n0,0,1\" | points-slice --normal 0,0,1" << std::endl;
std::cerr << " echo -e \"0,0,-1\\n0,0,0\\n0,0,1\" | points-slice --normal 0,0,1 --intersections" << std::endl;
std::cerr << " echo -e \"0,0,-1\\n0,0,-0.5\\n0,0,0\\n0,0,1\\n0,0,1.5\" | points-slice --normal 0,0,1 --intersections --threshold=0.5" << std::endl;
std::cerr << std::endl;
return 1;
}
if( vm.count( "points" ) == 0 ) { std::cerr << "points-slice: please specify --points" << std::endl; return 1; }
comma::csv::options csv = comma::csv::program_options::get( vm );
Eigen::Vector3d normal;
Eigen::Vector3d point;
if( vm.count( "normal" ) )
{
normal = comma::csv::ascii< Eigen::Vector3d >( "x,y,z", ',' ).get( normal_string );
point = comma::csv::ascii< Eigen::Vector3d >( "x,y,z", ',' ).get( points_string );
}
else
{
boost::array< Eigen::Vector3d, 3 > points; // quick and dirty
std::vector< std::string > v = comma::split( points_string, ',' );
if( v.size() != 9 ) { std::cerr << "points-slice: expected 3 points, got: \"" << points_string << "\"" << std::endl; return 1; }
point = comma::csv::ascii< Eigen::Vector3d >( "x,y,z", ',' ).get( v[0] + ',' + v[1] + ',' + v[2] ); // quick and dirty
Eigen::Vector3d a = comma::csv::ascii< Eigen::Vector3d >( "x,y,z", ',' ).get( v[3] + ',' + v[4] + ',' + v[5] ); // quick and dirty
Eigen::Vector3d b = comma::csv::ascii< Eigen::Vector3d >( "x,y,z", ',' ).get( v[6] + ',' + v[7] + ',' + v[8] ); // quick and dirty
a -= point;
b -= point;
if( comma::math::equal( std::abs( a.dot( b ) ), a.norm() * b.norm() ) ) { std::cerr << "points-slice: given points are not corners or a triangle: \"" << points_string << "\"" << std::endl; }
normal = a.cross( b );
if( vm.count( "point-outside" ) )
{
Eigen::Vector3d p = comma::csv::ascii< Eigen::Vector3d >( "x,y,z", ',' ).get( point_outside );
if( comma::math::equal( ( p - point ).dot( normal ), 0 ) ) { std::cerr << "points-slice: expected a point outside of the plane, got: " << point_outside << ", which belongs to the plane" << std::endl; return 1; }
normal *= normal.dot( p - point ) > 0 ? 1 : -1;
}
}
normal.normalize();
#ifdef WIN32
_setmode( _fileno( stdout ), _O_BINARY ); /// @todo move to a library
#endif
comma::csv::input_stream< Eigen::Vector3d > istream( std::cin, csv, Eigen::Vector3d::Zero() );
comma::signal_flag is_shutdown;
comma::csv::ascii< Eigen::Vector3d > ascii( "x,y,z", csv.delimiter );
comma::csv::binary< Eigen::Vector3d > binary( "3d", "x,y,z" );
if( vm.count("intersections") )
{
Eigen::Hyperplane< double, 3 > plane( normal, point );
boost::optional< Eigen::Vector3d > last;
double d_last = 0;
boost::optional< double > threshold;
if( vm.count("threshold") ) { threshold.reset( vm["threshold"].as< double >() ); }
std::string previous_line_ascii;
std::vector< char > previous_data_binary;
while( !is_shutdown && ( istream.ready() || ( !std::cin.eof() && std::cin.good() ) ) )
{
const Eigen::Vector3d* p = istream.read();
if( !p ) { break; }
double d = ( *p - point ).dot( normal );
bool valid_intersection = false;
if( last )
{
bool intersects = d * d_last <= 0;
bool interval_within_threshold = !threshold || ( threshold && ( *p - *last ).norm() <= *threshold );
valid_intersection = intersects && interval_within_threshold;
}
if( valid_intersection )
{
Eigen::Vector3d intersection_point;
BOOST_STATIC_ASSERT( sizeof( Eigen::Vector3d ) == sizeof( double ) * 3 );
bool lies_on_plane = ( d == 0 && d_last == 0 );
if( lies_on_plane )
{
intersection_point = *last;
}
else
{
Eigen::ParametrizedLine< double, 3 > line = Eigen::ParametrizedLine< double, 3 >::Through( *last, *p );
intersection_point = line.intersectionPoint( plane );
}
comma::int32 direction;
if( d_last != 0 ) { direction = ( d_last < 0 ) ? 1 : -1; }
else if( d != 0 ) { direction = ( d > 0 ) ? 1 : -1; }
else { direction = 0; }
if( csv.binary() )
{
std::cout.write( &previous_data_binary[0], previous_data_binary.size() );
std::cout.write( istream.binary().last(), istream.binary().binary().format().size() );
std::cout.write( reinterpret_cast< const char* >( &intersection_point ), sizeof( double ) * 3 );
std::cout.write( reinterpret_cast< const char* >( &direction ), sizeof( comma::int32 ) );
}
else
{
std::cout << previous_line_ascii << csv.delimiter << comma::join( istream.ascii().last(), csv.delimiter ) << csv.delimiter
<< ascii.put( intersection_point ) << csv.delimiter << direction << std::endl;
}
}
last = *p;
d_last = d;
if( csv.binary() )
{
if( previous_data_binary.size() != istream.binary().binary().format().size() )
{
previous_data_binary.resize( istream.binary().binary().format().size() );
}
::memcpy( &previous_data_binary[0], istream.binary().last(), previous_data_binary.size() );
}
else
{
previous_line_ascii = comma::join( istream.ascii().last(), csv.delimiter );
}
}
}
else
{
while( !is_shutdown && ( istream.ready() || ( !std::cin.eof() && std::cin.good() ) ) )
{
const Eigen::Vector3d* p = istream.read();
if( !p ) { break; }
double d = ( *p - point ).dot( normal );
if( csv.binary() )
{
std::cout.write( istream.binary().last(), istream.binary().binary().format().size() );
std::cout.write( reinterpret_cast< const char* >( &d ), sizeof( double ) );
}
else
{
std::cout << comma::join( istream.ascii().last(), csv.delimiter ) << csv.delimiter << d << std::endl;
}
}
}
return 0;
}
catch( std::exception& ex )
{
std::cerr << "points-slice: " << ex.what() << std::endl;
}
catch( ... )
{
std::cerr << "points-slice: unknown exception" << std::endl;
}
return 1;
}
void drawGeneratedPlanes()
{
Hyperplane<double,3> screenPlane,mirrorPlane;
//mirror[3] = Vector3d(mirror[1].x(),mirror[2].y(),mirror[1].z());
screen[3] = Vector3d(screen[1].x(), screen[2].y(),screen[1].z());
screenPlane = Hyperplane<double,3>::Through( screen[0], screen[1],screen[2] );
mirrorPlane = Hyperplane<double,3>::Through(mirror[1], mirror[0], mirror[2] );
screenNormal = screenPlane.normal();
mirrorNormal = mirrorPlane.normal();
Eigen::ParametrizedLine<double,3> line = Eigen::ParametrizedLine<double,3>::Through( screenCenter , screenCenter + screenNormal*10);
// Calcola il punto proiezione della normale uscente dallo schermo sullo specchio
double p = line.intersection(mirrorPlane);
screenProjectionOnMirror = p*((screenNormal).normalized()) + screenCenter;
planesIntersectionBase = -getPlaneIntersection(mirrorPlane,screenPlane,0);
planesIntersectionDirection = mirrorPlane.normal().cross(screenPlane.normal());
planesIntersecEnd = planesIntersectionBase - 200*planesIntersectionDirection;
// Draw the planes intersection
glPushMatrix();
glColor3fv(glBlue);
glBegin(GL_LINES);
glVertex3dv(planesIntersectionBase.data());
glVertex3dv(planesIntersecEnd.data());
glEnd();
glPopMatrix();
// Draw the mirror plane (only if calibrationPhase==0)
if ( calibrationPhase==0 )
{
glPushMatrix();
Grid gridMirror;
gridMirror.setRowsAndCols(20,20);
gridMirror.init(mirror[1],mirror[0],mirror[2],mirror[3]); // invert the order to have 45 degrees yaw and 90 degree pitch when correct
glColor3fv(glRed);
gridMirror.draw();
glPopMatrix();
// Draw the mirror normal
mirrorCenter = (mirror[0]+mirror[1]+mirror[2]+mirror[3])/4.0;
Vector3d mirrorCenterDirection = mirrorCenter + 20*mirrorNormal;
glPushMatrix();
glColor3fv(glRed);
glBegin(GL_LINES);
glVertex3dv(mirrorCenter.data());
glVertex3dv(mirrorCenterDirection.data());
glEnd();
glPopMatrix();
}
// Draw the screen plane
if ( calibrationPhase!=0)
{
glPushMatrix();
Grid gridScreen;
gridScreen.setRowsAndCols(20,20);
gridScreen.init(screen[0],screen[1],screen[2],screen[3]);
glColor3fv(glGreen);
gridScreen.draw();
glPopMatrix();
// Draw the screen normal
screenCenter = (screen[0]+screen[1]+screen[2]+screen[3])/4.0;
Vector3d screenCenterDirection = screenCenter + 20*screenNormal;
glPushMatrix();
glBegin(GL_LINES);
glVertex3dv(screenCenter.data());
glVertex3dv(screenCenterDirection.data());
glEnd();
glPopMatrix();
}
// Draw the vector from screen center to mirror center
glPushMatrix();
glColor3fv(glRed);
glBegin(GL_LINES);
glVertex3dv(screenCenter.data());
glVertex3dv(mirrorCenter.data());
glEnd();
glPopMatrix();
// Draw the vector from mirror center to X axis
Vector3d orthoProjMirrorCenter(mirrorCenter);
glPushMatrix();
glColor3fv(glRed);
glBegin(GL_LINES);
glVertex3dv(mirrorCenter.data());
glVertex3d(mirrorCenter.x(),mirrorCenter.y(),0);
glEnd();
glPopMatrix();
// draw mirror saved center
if ( calibrationPhase == 1)
{
glPushMatrix();
glTranslatef(mirrorSavedCenter.x(),mirrorSavedCenter.y(),mirrorSavedCenter.z());
glutSolidSphere(1,10,20);
glPopMatrix();
}
mirrorYaw = mathcommon::toDegrees(acos(mirrorNormal.z()));
mirrorPitch = mathcommon::toDegrees(acos(mirrorNormal.y()));
screenYaw = mathcommon::toDegrees(acos(screenNormal.z()));
screenPitch = mathcommon::toDegrees(acos(screenNormal.y()));
glColor3fv(glWhite);
double tolerance = 0.5; //degrees
bool mirrorYawOK = abs(mirrorYaw - 45) <= tolerance;
bool screenYawOK = abs(screenYaw - 90) <= tolerance;
bool mirrorPitchOK = abs(mirrorPitch-90) <= tolerance;
bool screenPitchOK = abs(screenPitch-90) <= tolerance;
GLText text;
text.init(SCREEN_WIDTH,SCREEN_HEIGHT,glWhite,GLUT_BITMAP_HELVETICA_18);
text.enterTextInputMode();
switch( calibrationPhase )
{
case 0:
text.draw("==== INSTRUCTIONS ====");
text.draw("Put the markers on the mirror vertices, try to keep them aligned. Press SPACEBAR to save their coordinates");
text.draw("Press 2/8 to zoom out/in. Press '+/-' to go forward or backward");
break;
case 1:
{
text.draw("Now remove the mirror, mirror coordinates are saved to calibrationCoordinates.txt");
text.draw("Now you must put the markers on the screen");
text.draw("");
text.draw("");
text.draw("Mirror current center= " + util::stringify< Eigen::Matrix<double,1,3> >(mirrorSavedCenter.transpose() ) );
text.draw("Distance from mirror center to screen center " + util::stringify<double>( (mirrorSavedCenter - screenCenter).norm() ));
text.draw("Projection error of screen normal on mirror center " + util::stringify<Eigen::Matrix<double,1,3> >( screenProjectionOnMirror.transpose() ) );
}
break;
case 2:
break;
}
text.draw("==== MIRROR INFO ====");
mirrorPitchOK ? glColor3fv(glGreen) : glColor3fv(glRed);
text.draw("Mirror Pitch= " + util::stringify<double>(mirrorPitch) );
mirrorYawOK ? glColor3fv(glGreen) : glColor3fv(glRed);
text.draw("Mirror Yaw=" + util::stringify<double>(mirrorYaw));
glColor3fv(glWhite);
text.draw("==== SCREEN INFO ====");
screenPitchOK ? glColor3fv(glGreen) : glColor3fv(glRed);
text.draw("Screen Pitch=" + util::stringify<double>(screenPitch));
screenYawOK ? glColor3fv(glGreen) : glColor3fv(glRed);
text.draw("Screen Yaw=" + util::stringify<double>(screenYaw));
// Here print the relative orientation of screen and mirror
if ( calibrationPhase==0)
{ text.draw("Total distance (norm)= " + util::stringify<double>(abs(mirrorCenter.z())+(mirrorCenter - screenCenter).norm()) );
text.draw("Total distance (only x+z)= " + util::stringify<double>( abs(mirrorCenter.x()-screenCenter.x()) + abs(mirrorCenter.z()) ));
}
else
{
text.draw("Total distance (norm)= " + util::stringify<double>(abs(mirrorSavedCenter.z())+(mirrorSavedCenter - screenCenter).norm()) );
text.draw("Total distance (ignore y offset)= " + util::stringify<double>( abs(mirrorSavedCenter.x()-screenCenter.x()) + abs(mirrorSavedCenter.z()) ));
}
text.draw("Intersection of planes" + util::stringify<Eigen::Matrix<int,1,3> >(planesIntersectionBase.cast<int>()));
text.leaveTextInputMode();
}
