C++ VRCamera::getModelViewMatrix方法代码示例

Affine3d getPassiveMatrix()
{
    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(Vector3d(0,0,focalDistance)));
    VRCamera camPassive;
    camPassive.init(screenPassive);
    camPassive.setDrySimulation(true);
    camPassive.setEye(eyeRight);
    return ( camPassive.getModelViewMatrix()*objectActiveTransformation );
}

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) ) );
//.........这里部分代码省略.........

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);
}