private static void SetRealVertices(Workspace workspace)
{
Vector<double> fittedPlaneVector = GeometryHelper.FitPlaneToPoints(workspace.PointCloud.ToArray());
if (fittedPlaneVector == null)
{
return;
}
Point3D projectedPoint = GeometryHelper.ProjectPoint3DToPlane(workspace.PointCloud.First(), fittedPlaneVector);
Vector<double> planeNormal = new DenseVector(new[] { fittedPlaneVector[0], fittedPlaneVector[1], fittedPlaneVector[2] });
Point3D[] vertices3D = workspace.Vertices3D;
Point[] vertices = workspace.Vertices.ToArray();
for (int i = 0; i < vertices.Length; i++)
{
Vector<double> pointOnPlane = new DenseVector(new[] { projectedPoint.X, projectedPoint.Y, projectedPoint.Z });
Vector<double> pointOnLine = new DenseVector(new double[] { vertices3D[i].X, vertices3D[i].Y, vertices3D[i].Z });
double d = (pointOnPlane.Subtract(pointOnLine)).DotProduct(planeNormal) / (pointOnLine.DotProduct(planeNormal));
Vector<double> intersection = pointOnLine + pointOnLine.Multiply(d);
workspace.FittedVertices[i] = new Point3D(intersection[0], intersection[1], intersection[2]);
}
workspace.PlaneVector = fittedPlaneVector;
}
/// <summary>
/// Run example.
/// </summary>
/// <seealso cref="http://en.wikipedia.org/wiki/Euclidean_vector#Scalar_multiplication">Multiply vector by scalar</seealso>
/// <seealso cref="http://en.wikipedia.org/wiki/Euclidean_vector#Dot_product">Multiply vector by vector (compute the dot product between two vectors)</seealso>
/// <seealso cref="http://en.wikipedia.org/wiki/Euclidean_vector#Addition_and_subtraction">Vector addition and subtraction</seealso>
/// <seealso cref="http://en.wikipedia.org/wiki/Outer_product">Outer Product of two vectors</seealso>
public void Run()
{
// Initialize IFormatProvider to print matrix/vector data
var formatProvider = (CultureInfo)CultureInfo.InvariantCulture.Clone();
formatProvider.TextInfo.ListSeparator = " ";
// Create vector "X"
var vectorX = new DenseVector(new[] { 1.0, 2.0, 3.0, 4.0, 5.0 });
Console.WriteLine(@"Vector X");
Console.WriteLine(vectorX.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// Create vector "Y"
var vectorY = new DenseVector(new[] { 5.0, 4.0, 3.0, 2.0, 1.0 });
Console.WriteLine(@"Vector Y");
Console.WriteLine(vectorY.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// Multiply vector by scalar
// 1. Using Multiply method and getting result into different vector instance
var resultV = vectorX.Multiply(3.0);
Console.WriteLine(@"Multiply vector by scalar using method Multiply. (result = X.Multiply(3.0))");
Console.WriteLine(resultV.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// 2. Using operator "*"
resultV = 3.0 * vectorX;
Console.WriteLine(@"Multiply vector by scalar using operator *. (result = 3.0 * X)");
Console.WriteLine(resultV.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// 3. Using Multiply method and updating vector itself
vectorX.Multiply(3.0, vectorX);
Console.WriteLine(@"Multiply vector by scalar using method Multiply. (X.Multiply(3.0, X))");
Console.WriteLine(vectorX.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// Multiply vector by vector (compute the dot product between two vectors)
// 1. Using operator "*"
var dotProduct = vectorX * vectorY;
Console.WriteLine(@"Dot product between two vectors using operator *. (result = X * Y)");
Console.WriteLine(dotProduct);
Console.WriteLine();
// 2. Using DotProduct method and getting result into different vector instance
dotProduct = vectorX.DotProduct(vectorY);
Console.WriteLine(@"Dot product between two vectors using method DotProduct. (result = X.DotProduct(Y))");
Console.WriteLine(dotProduct.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// Pointwise multiplies vector with another vector
// 1. Using PointwiseMultiply method and getting result into different vector instance
resultV = vectorX.PointwiseMultiply(vectorY);
Console.WriteLine(@"Pointwise multiplies vector with another vector using method PointwiseMultiply. (result = X.PointwiseMultiply(Y))");
Console.WriteLine(resultV.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// 2. Using PointwiseMultiply method and updating vector itself
vectorX.PointwiseMultiply(vectorY, vectorX);
Console.WriteLine(@"Pointwise multiplies vector with another vector using method PointwiseMultiply. (X.PointwiseMultiply(Y, X))");
Console.WriteLine(vectorX.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// Pointwise divide vector with another vector
// 1. Using PointwiseDivide method and getting result into different vector instance
resultV = vectorX.PointwiseDivide(vectorY);
Console.WriteLine(@"Pointwise divide vector with another vector using method PointwiseDivide. (result = X.PointwiseDivide(Y))");
Console.WriteLine(resultV.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// 2. Using PointwiseDivide method and updating vector itself
vectorX.PointwiseDivide(vectorY, vectorX);
Console.WriteLine(@"Pointwise divide vector with another vector using method PointwiseDivide. (X.PointwiseDivide(Y, X))");
Console.WriteLine(vectorX.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// Addition
// 1. Using operator "+"
resultV = vectorX + vectorY;
Console.WriteLine(@"Add vectors using operator +. (result = X + Y)");
Console.WriteLine(resultV.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// 2. Using Add method and getting result into different vector instance
resultV = vectorX.Add(vectorY);
Console.WriteLine(@"Add vectors using method Add. (result = X.Add(Y))");
Console.WriteLine(resultV.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// 3. Using Add method and updating vector itself
vectorX.Add(vectorY, vectorX);
Console.WriteLine(@"Add vectors using method Add. (X.Add(Y, X))");
Console.WriteLine(vectorX.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// Subtraction
// 1. Using operator "-"
resultV = vectorX - vectorY;
Console.WriteLine(@"Subtract vectors using operator -. (result = X - Y)");
Console.WriteLine(resultV.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// 2. Using Subtract method and getting result into different vector instance
resultV = vectorX.Subtract(vectorY);
Console.WriteLine(@"Subtract vectors using method Subtract. (result = X.Subtract(Y))");
Console.WriteLine(resultV.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// 3. Using Subtract method and updating vector itself
vectorX.Subtract(vectorY, vectorX);
Console.WriteLine(@"Subtract vectors using method Subtract. (X.Subtract(Y, X))");
Console.WriteLine(vectorX.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// Divide by scalar
// 1. Using Divide method and getting result into different vector instance
resultV = vectorX.Divide(3.0);
Console.WriteLine(@"Divide vector by scalar using method Divide. (result = A.Divide(3.0))");
Console.WriteLine(resultV.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// 2. Using Divide method and updating vector itself
vectorX.Divide(3.0, vectorX);
Console.WriteLine(@"Divide vector by scalar using method Divide. (X.Divide(3.0, X))");
Console.WriteLine(vectorX.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// Outer Product of two vectors
// 1. Using instanse method OuterProduct
var resultM = vectorX.OuterProduct(vectorY);
Console.WriteLine(@"Outer Product of two vectors using method OuterProduct. (X.OuterProduct(Y))");
Console.WriteLine(resultM.ToString("#0.00\t", formatProvider));
Console.WriteLine();
// 2. Using static method of the Vector class
resultM = Vector.OuterProduct(vectorX, vectorY);
Console.WriteLine(@"Outer Product of two vectors using method OuterProduct. (Vector.OuterProduct(X,Y))");
Console.WriteLine(resultM.ToString("#0.00\t", formatProvider));
Console.WriteLine();
}
private void solveActuator2CartesianDisp(double[] adisp)
{
bool check = false;
DenseVector cartDisp = new DenseVector(6);
DenseVector newAct = new DenseVector(adisp);
DenseVector actError = (DenseVector)newAct.Subtract(actuatorDisp);
cartesianDisp.CopyTo(cartDisp);
int iterations = 0;
while (check == false)
{
List2String l2s = new List2String();
DenseMatrix JacobianMatrix = new DenseMatrix(6, 6);
for (int i = 0; i < 6; i++)
{
DenseVector DL_Dd = actuators[i].calcNewDiffs(cartDisp.Values);
JacobianMatrix.SetRow(i, DL_Dd);
}
DenseVector diffCart = (DenseVector)JacobianMatrix.LU().Solve(actError);
log.Debug("Cartesian differences " + l2s.ToString(diffCart.Values));
cartDisp = (DenseVector)cartDisp.Add(diffCart);
setCartesianDisp(cartDisp.Values);
log.Debug("New cartesian estimate " + this);
actError = (DenseVector)newAct.Subtract(actuatorDisp);
log.Debug("Actuator error " + l2s.ToString(actError.Values));
check = withinErrorWindow(actError);
if (iterations > 20)
{
check = true;
log.Error("Calculations for " + label + " won't converge with " + this);
}
iterations++;
}
}
public void SetRealVertices(Workspace workspace)
{
Vector<double> fittedPlaneVector = GeometryHelper.FitPlaneToPoints(workspace.PointCloud.ToArray());
if (fittedPlaneVector == null)
{
return;
}
Point3D projectedPoint = GeometryHelper.ProjectPoint3DToPlane(workspace.PointCloud.First(), fittedPlaneVector);
Vector<double> planeNormal = new DenseVector(new[] { fittedPlaneVector[0], fittedPlaneVector[1], fittedPlaneVector[2] });
CameraSpacePoint[] csps = { new CameraSpacePoint() };
Point[] vertices = workspace.Vertices.ToArray();
for (int i = 0; i < vertices.Length; i++)
{
Point vertex = vertices[i];
kinectStreamer.CoordinateMapper.MapDepthPointsToCameraSpace(
new[] {
new DepthSpacePoint {
X = (float)vertex.X,
Y = (float)vertex.Y
}
},
new ushort[] { 1 }, csps);
Vector<double> pointOnPlane = new DenseVector(new[] { projectedPoint.X, projectedPoint.Y, projectedPoint.Z });
Vector<double> pointOnLine = new DenseVector(new double[] { csps[0].X, csps[0].Y, csps[0].Z });
double d = (pointOnPlane.Subtract(pointOnLine)).DotProduct(planeNormal) / (pointOnLine.DotProduct(planeNormal));
Vector<double> intersection = pointOnLine + pointOnLine.Multiply(d);
workspace.FittedVertices[i] = new Point3D(intersection[0], intersection[1], intersection[2]);
}
workspace.PlaneVector = fittedPlaneVector;
}
public static Point3D ProjectPoint3DToPlane(Point3D point, Vector<double> planeVectors)
{
double distance = CalculatePointPlaneDistance(point, planeVectors);
double a = planeVectors[0];
double b = planeVectors[1];
double c = planeVectors[2];
Vector<double> planeNormal = new DenseVector(new[] { a, b, c });
double x = point.X;
double y = point.Y;
double z = point.Z;
Vector<double> pointVector = new DenseVector(new[] { x, y, z });
pointVector.Subtract(planeNormal.Multiply(distance));
return new Point3D
{
X = pointVector[0],
Y = pointVector[1],
Z = pointVector[2]
};
}
