public void SetUp3DDisplays()
{
// Set display virtual camera parameters to match those of the real camera
// being used in MonoSLAM
Partially_Initialised_Feature_Measurement_Model default_pifmm =
monoslaminterface.GetDefaultFeatureTypeForInitialisation();
if (default_pifmm != null)
{
Line_Init_Wide_Point_Feature_Measurement_Model default_wide_pifmm =
(Line_Init_Wide_Point_Feature_Measurement_Model)default_pifmm;
Graphics_Fku = default_wide_pifmm.get_camera().Fku();
Graphics_Fkv = default_wide_pifmm.get_camera().Fkv();
Graphics_U0 = default_wide_pifmm.get_camera().U0();
Graphics_V0 = default_wide_pifmm.get_camera().V0();
Graphics_Kd1 = default_wide_pifmm.get_camera().Kd1();
// First display for external 3D view
/*
threedtool = new ThreeDToolGlowWidget(this,
controlpanel1->Width() + controlpanel2->Width(), 0,
monoslaminterface->GetCameraWidth(),
monoslaminterface->GetCameraHeight());
threedtool->DrawEvent.Attach(this, &MonoSLAMGlow::Draw3D);
threedtool->ProcessHitsEvent.Attach(this, &MonoSLAMGlow::ProcessHits);
threedtool->SetCameraParameters(Graphics_Fku, Graphics_Fkv,
Graphics_U0, Graphics_V0);
*/
// Set start position for GL camera in 3D tool
// This is x, y, z position
Vector rthreed = new Vector(0.0f, 0.2f, -1.5f);
// This is camera orientation in my normal coordinate system
// (z forward, y up, x left)
Quaternion qWRthreed = new Quaternion(0.0f, 0.0f, 0.0f, 1.0f);
// We need to adjust by this rotation to fit GL coordinate frame
// (z backward, y up, x right)
// So rotate by pi about y axis
Quaternion qROthreed = new Quaternion(0.0f, 1.0f, 0.0f, 0.0f);
Quaternion qWOthreed = qWRthreed.Multiply(qROthreed);
//threedtool.SetCameraPositionOrientation(rthreed, qWOthreed);
// Second 3D display for images and augmented reality
/*
image_threedtool = new ThreeDToolGlowWidget(this,
controlpanel1->Width() + controlpanel2->Width(), threedtool->Height(),
monoslaminterface->GetCameraWidth(), monoslaminterface->GetCameraHeight());
image_threedtool.DrawEvent.Attach(this, &MonoSLAMGlow::ImageDraw3D);
image_threedtool.ProcessHitsEvent.Attach(this, &MonoSLAMGlow::ImageProcessHits);
image_threedtool.SetCameraParameters(Graphics_Fku, Graphics_Fkv, Graphics_U0, Graphics_V0);
*/
// Set up initial state of virtual camera for image display to match
// state vector
Scene_Single scene = monoslaminterface.GetScene();
if (scene != null)
{
Vector v = scene.get_xv();
if (v != null)
{
scene.get_motion_model().func_xp(v);
ThreeD_Motion_Model threed_motion_model = (ThreeD_Motion_Model)scene.get_motion_model();
Vector3D r = threed_motion_model.get_rRES();
Quaternion qWR = threed_motion_model.get_qRES();
// q is qWR between world frame and Scene robot frame
// We need to adjust by this rotation to fit GL coordinate frame
// (z backward, y up, x right)
// So rotate by pi about y axis
Quaternion qRO = new Quaternion(0.0f, 1.0f, 0.0f, 0.0f);
Quaternion qWO = qWR.Multiply(qRO);
//image_threedtool.SetCameraPositionOrientation(r, qWO);
}
else
{
Debug.WriteLine("Scene xp not defined");
}
}
else
{
Debug.WriteLine("No scene object defined");
}
}
else
{
Debug.WriteLine("No partially initialised feature measurement model found");
}
}
/// <summary>
///
/// </summary>
/// <param name="xv">position and orientation of the camera</param>
/// <param name="u">Control vector of accelerations</param>
/// <param name="delta_t">time step in seconds</param>
public override void func_fv_and_dfv_by_dxv(Vector xv, Vector u, float delta_t)
{
Vector3D rold, vold, omegaold, rnew, vnew, omeganew;
Quaternion qold, qnew;
// Separate things out to make it clearer
rold = new Vector3D(0, 0, 0);
vold = new Vector3D(0, 0, 0);
omegaold = new Vector3D(0, 0, 0);
qold = new Quaternion();
extract_r_q_v_omega(xv, rold, qold, vold, omegaold);
Vector3D acceleration = new Vector3D(u);
// rnew = r + v * delta_t
//rnew = (Vector3D)((Point3D)rold + (Point3D)vold * delta_t);
rnew = new Vector3D(rold + vold * delta_t);
// qnew = q x q(omega * delta_t)
// Keep qwt ( = q(omega * delta_t)) for later use
Quaternion qwt = new Quaternion(omegaold * delta_t);
qnew = qold.Multiply(qwt);
// vnew = v
vnew = new Vector3D(vold + acceleration * delta_t);
// omeganew = omega
omeganew = omegaold;
// Put it all together
compose_xv(ref rnew, ref qnew, ref vnew, ref omeganew, ref fvRES);
// cout << "rold qold vold omegaold" << rold << qold
// << vold << omegaold;
// cout << "rnew qnew vnew omeganew" << rnew << qnew
// << vnew << omeganew;
// Now on to the Jacobian...
// Identity is a good place to start since overall structure is like this
// I 0 I * delta_t 0
// 0 dqnew_by_dq 0 dqnew_by_domega
// 0 0 I 0
// 0 0 0 I
dfv_by_dxvRES.SetIdentity();
// Fill in dxnew_by_dv = I * delta_t
MatrixFixed Temp33A = new MatrixFixed(3,3);
Temp33A.SetIdentity();
Temp33A *= delta_t;
dfv_by_dxvRES.Update(Temp33A, 0, 7);
// Fill in dqnew_by_dq
// qnew = qold x qwt ( = q3 = q2 x q1 in Scene/newbits.cc language)
MatrixFixed Temp44A = MatrixFixed.dq3_by_dq2(qwt); //4,4
dfv_by_dxvRES.Update(Temp44A, 3, 3);
// Fill in dqnew_by_domega = d(q x qwt)_by_dqwt . dqwt_by_domega
Temp44A = MatrixFixed.dq3_by_dq1(qold); // Temp44A is d(q x qwt) by dqwt
// Use function below for dqwt_by_domega
MatrixFixed Temp43A = new MatrixFixed(4,3);
dqomegadt_by_domega(omegaold, delta_t, Temp43A);
// Multiply them together
MatrixFixed Temp43B = Temp44A * Temp43A;
// And plug it in
dfv_by_dxvRES.Update(Temp43B, 3, 10);
// cout << "dfv_by_dxvRES" << dfv_by_dxvRES;
}
// Combine two rotations (this is VERY costly).
// @param aa the inner rotation
// @returns the resulting rotation (like this*q for matrices)
public AngleAxis Multiply (AngleAxis aa)
{
// This is best done as quaternions
Quaternion q1 = new Quaternion(this);
Quaternion q2 = new Quaternion(aa);
return new AngleAxis(q1.Multiply(q2));
}
