// if we don't have anything to filter, just use Dead Reckoning
public double[][] estimate() {
// use new velocity estimates to estimate xyzrpy
double[] Exyzrpy = LinAlg.scale(Vxyzrpy, T);
// convert back to RBT
double[][] Erbt = LinAlg.xyzrpyToMatrix(Exyzrpy);
// XXX there is a 2nd version of the function above which one is better
return Erbt;
}
// incorporate new information and return new estimate
public double[][] estimate(double[][] Urbt) {
// what rigid body transformation occured over the last frame
double[] DUxyzrpy = LinAlg.matrixToXyzrpy(Urbt);
// convert to velocity
double[] Uxyzrpy;
if (T != 0) {
Uxyzrpy = LinAlg.scale(DUxyzrpy, 1 / T);
} else {
Uxyzrpy = new double[6];
}
/*
System.out.println("Our observation velocity");
LinAlg.print(Uxyzrpy);
System.out.println("Our best estimate of velocity");
LinAlg.print(Vxyzrpy);
*/
// calculate relative weighting
double[] W = constructW(Uxyzrpy);
/*
System.out.println("Our weighting matrix");
LinAlg.print(W);
*/
// incorporatenew information
Vxyzrpy = weightedSum(Vxyzrpy, Uxyzrpy, W);
/*
System.out.println("After in corporating information");
LinAlg.print(Vxyzrpy);
*/
// use new velocity estimates to estimate xyzrpy
double[] Exyzrpy = LinAlg.scale(Vxyzrpy, T);
// convert back to RBT
double[][] Erbt = LinAlg.xyzrpyToMatrix(Exyzrpy);
// XXX there is a 2nd version of the function above which one is better
return Erbt;
}
/** Call with one or more OFF model paths * */
public static void main(String args[]) {
JFrame f = new JFrame("VzOFF " + args[0]);
f.setLayout(new BorderLayout());
VisWorld vw = new VisWorld();
VisLayer vl = new VisLayer(vw);
VisCanvas vc = new VisCanvas(vl);
VzMesh.Style defaultMeshStyle = new VzMesh.Style(Color.cyan);
ArrayList<VzOFF> models = new ArrayList<VzOFF>();
for (int i = 0; i < args.length; i++) {
if (args[i].endsWith(".off")) {
try {
models.add(new VzOFF(args[i], defaultMeshStyle));
System.out.printf("Loaded: %20s (%5.2f%%)\n", args[i], i * 100.0 / args.length);
} catch (IOException ex) {
System.out.println("ex: " + ex);
}
} else {
System.out.printf("Ignoring file with wrong suffix: " + args[i]);
}
}
if (models.size() == 0) {
System.out.println("No models specified\n");
return;
}
int rows = (int) Math.sqrt(models.size());
int cols = models.size() / rows + 1;
// VzGrid.addGrid(vw);
VisWorld.Buffer vb = vw.getBuffer("models");
for (int y = 0; y < rows; y++) {
for (int x = 0; x < cols; x++) {
int idx = y * cols + x;
if (idx >= models.size()) break;
VzOFF model = models.get(idx);
double mx =
Math.max(
model.xyz_max[2] - model.xyz_min[2],
Math.max(model.xyz_max[1] - model.xyz_min[1], model.xyz_max[0] - model.xyz_min[0]));
vb.addBack(
new VisChain(
LinAlg.translate(x + .5, rows - (y + .5), 0),
new VzRectangle(1, 1, new VzLines.Style(Color.white, 3)),
new VisChain(
LinAlg.translate(0, .4, 0),
new VzText(
VzText.ANCHOR.CENTER,
String.format("<<sansserif-20,scale=.003>>%s", baseName(model.path)))),
LinAlg.scale(.5, .5, .5),
LinAlg.scale(1.0 / mx, 1.0 / mx, 1.0 / mx),
LinAlg.translate(
-(model.xyz_max[0] + model.xyz_min[0]) / 2.0,
-(model.xyz_max[1] + model.xyz_min[1]) / 2.0,
-(model.xyz_max[2] + model.xyz_min[2]) / 2.0),
model));
}
}
vb.swap();
vl.cameraManager.fit2D(new double[] {0, 0, 0}, new double[] {cols, rows, 0}, true);
((DefaultCameraManager) vl.cameraManager).interfaceMode = 3.0;
f.add(vc);
f.setSize(600, 400);
f.setVisible(true);
}