/** * @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); }
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); }
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(); }