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Commit e1c93f59 authored by Lars's avatar Lars
Browse files

Rotation matrices working!!!

parent fc128316
......@@ -80,8 +80,8 @@ from imutils.video import VideoStream
#PARAMS
MARKER_SIZE = 200 #size in mm
CAMERA = 1 #which Port is the Reciever connected to
MARKER_SIZE = 180.0 #size in mm
CAMERA = 0 #which Port is the Reciever connected to
PMKF = True #Do you want a PointMassKalmanFilter
TEXT_OUTPUT = False #Do you want text output of the raw data
......@@ -141,13 +141,19 @@ if PMKF: #PointMassKalmanFilter
Kinf_r = np.matrix([[0.0686292493],[0.0683245284]])
def pmkf(state_old, input, type): #type = True for trans, False for rot
if type = True:
return Ahat_t*state_old_a+ Kinf_t*input
else
return Ahat_r*state_old_a+ Kinf_r*input
if type == True:
return Ahat_t*state_old+ Kinf_t*input
else:
return Ahat_r*state_old+ Kinf_r*input
state_t = [np.matrix([[0],[0]]),np.matrix([[0],[0]]),np.matrix([[0],[0]])]
state_r = [np.matrix([[0],[0]]),np.matrix([[0],[0]]),np.matrix([[0],[0]])]
def fixRot(rot):
if rot<= 0:
rot = rot + math.pi
else:
rot = rot -math.pi
return rot
......@@ -225,20 +231,23 @@ while(cam.isOpened()):
#PointMassKalmanFilter
if PMKF:
print('before: ' + str(rvec[0]))
rvec[0] = fixRot(rvec[0])
print('after: ' + str(rvec[0]))
for i in range(0,3):
state_t[i] = pmkf(state_t[i], tvec[i], True) #translation
state_r[i] = pmkf(state_r[i], tvec[i], False) #rotation
tvec[i] = state_t[i,0]
rvec[i] = state_r[i,0]
state_r[i] = pmkf(state_r[i], rvec[i], False) #rotation
tvec[i] = state_t[i][0]
rvec[i] = state_r[i][0]
if TEXT_OUTPUT:
outt0.write(str(tvec[0]))
outt1.write(str(tvec[1]))
outt2.write(str(tvec[2]))
outr0.write(str(rvec[0]))
outr1.write(str(rvec[1]))
outr2.write(str(rvec[2]))
outt0.write(str(tvec[0]))
outt1.write(str(tvec[1]))
outt2.write(str(tvec[2]))
outr0.write(str(rvec[0]))
outr1.write(str(rvec[1]))
outr2.write(str(rvec[2]))
#publish
cfcamera_pub.publish(rvec[0],rvec[1],rvec[2],tvec[0],tvec[1],tvec[2])
cfcamera_pub.publish(rvec[0],rvec[1],rvec[2],tvec[0]/1100,tvec[1]/1000,tvec[2]/2050)
#print to screen
outputr = 'r: '+str(rvec)
outputt = 't: '+str(tvec)
......@@ -254,19 +263,12 @@ while(cam.isOpened()):
else:
print('Wrong Marker detected at Frame: ' + str(framecount))
mask[0] = 1
break
else:
print('No Marker detected at Frame: ' + str(framecount))
mask[0] = 1
#kalman filter-----------------------------------------------------------------------------------------------------------
masked_data = np.ma.masked_array(data, mask) #mask missing measurements
#filtered, covariance = (kf.filter_update(filtered, covariance, masked_data[0]))
data_out = filtered
output = 'flt' + str(np.round(data_out, decimals = 2))
#cv2.putText(QueryImg, output, (0,50), fontface, fontscale, fontcolor)
# Display our image
cv2.imshow('QueryImage', QueryImg)
# Exit at the end of the video on the 'q' keypress
......
repo: 8a21fd850624c931e448cbcfb38168cb2717c790
node: 323c052e17310984a40dda9426e0435bed7178fa
branch: 3.3
tag: 3.3.7
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project(Eigen3)
cmake_minimum_required(VERSION 2.8.5)
# guard against in-source builds
if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ")
endif()
# Alias Eigen_*_DIR to Eigen3_*_DIR:
set(Eigen_SOURCE_DIR ${Eigen3_SOURCE_DIR})
set(Eigen_BINARY_DIR ${Eigen3_BINARY_DIR})
# guard against bad build-type strings
if (NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE "Release")
endif()
string(TOLOWER "${CMAKE_BUILD_TYPE}" cmake_build_type_tolower)
if( NOT cmake_build_type_tolower STREQUAL "debug"
AND NOT cmake_build_type_tolower STREQUAL "release"
AND NOT cmake_build_type_tolower STREQUAL "relwithdebinfo")
message(FATAL_ERROR "Unknown build type \"${CMAKE_BUILD_TYPE}\". Allowed values are Debug, Release, RelWithDebInfo (case-insensitive).")
endif()
#############################################################################
# retrieve version infomation #
#############################################################################
# automatically parse the version number
file(READ "${PROJECT_SOURCE_DIR}/Eigen/src/Core/util/Macros.h" _eigen_version_header)
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set(EIGEN_WORLD_VERSION "${CMAKE_MATCH_1}")
string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen_major_version_match "${_eigen_version_header}")
set(EIGEN_MAJOR_VERSION "${CMAKE_MATCH_1}")
string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen_minor_version_match "${_eigen_version_header}")
set(EIGEN_MINOR_VERSION "${CMAKE_MATCH_1}")
set(EIGEN_VERSION_NUMBER ${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION})
# if we are not in a mercurial clone
if(IS_DIRECTORY ${CMAKE_SOURCE_DIR}/.hg)
# if the mercurial program is absent or this will leave the EIGEN_HG_CHANGESET string empty,
# but won't stop CMake.
execute_process(COMMAND hg tip -R ${CMAKE_SOURCE_DIR} OUTPUT_VARIABLE EIGEN_HGTIP_OUTPUT)
execute_process(COMMAND hg branch -R ${CMAKE_SOURCE_DIR} OUTPUT_VARIABLE EIGEN_BRANCH_OUTPUT)
endif()
# if this is the default (aka development) branch, extract the mercurial changeset number from the hg tip output...
if(EIGEN_BRANCH_OUTPUT MATCHES "default")
string(REGEX MATCH "^changeset: *[0-9]*:([0-9;a-f]+).*" EIGEN_HG_CHANGESET_MATCH "${EIGEN_HGTIP_OUTPUT}")
set(EIGEN_HG_CHANGESET "${CMAKE_MATCH_1}")
endif(EIGEN_BRANCH_OUTPUT MATCHES "default")
#...and show it next to the version number
if(EIGEN_HG_CHANGESET)
set(EIGEN_VERSION "${EIGEN_VERSION_NUMBER} (mercurial changeset ${EIGEN_HG_CHANGESET})")
else(EIGEN_HG_CHANGESET)
set(EIGEN_VERSION "${EIGEN_VERSION_NUMBER}")
endif(EIGEN_HG_CHANGESET)
include(CheckCXXCompilerFlag)
include(GNUInstallDirs)
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
option(EIGEN_TEST_CXX11 "Enable testing with C++11 and C++11 features (e.g. Tensor module)." OFF)
macro(ei_add_cxx_compiler_flag FLAG)
string(REGEX REPLACE "-" "" SFLAG1 ${FLAG})
string(REGEX REPLACE "\\+" "p" SFLAG ${SFLAG1})
check_cxx_compiler_flag(${FLAG} COMPILER_SUPPORT_${SFLAG})
if(COMPILER_SUPPORT_${SFLAG})
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${FLAG}")
endif()
endmacro(ei_add_cxx_compiler_flag)
check_cxx_compiler_flag("-std=c++11" EIGEN_COMPILER_SUPPORT_CPP11)
if(EIGEN_TEST_CXX11)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_EXTENSIONS OFF)
if(EIGEN_COMPILER_SUPPORT_CPP11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
endif()
else()
#set(CMAKE_CXX_STANDARD 03)
#set(CMAKE_CXX_EXTENSIONS OFF)
ei_add_cxx_compiler_flag("-std=c++03")
endif()
#############################################################################
# find how to link to the standard libraries #
#############################################################################
find_package(StandardMathLibrary)
set(EIGEN_TEST_CUSTOM_LINKER_FLAGS "" CACHE STRING "Additional linker flags when linking unit tests.")
set(EIGEN_TEST_CUSTOM_CXX_FLAGS "" CACHE STRING "Additional compiler flags when compiling unit tests.")
set(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO "")
if(NOT STANDARD_MATH_LIBRARY_FOUND)
message(FATAL_ERROR
"Can't link to the standard math library. Please report to the Eigen developers, telling them about your platform.")
else()
if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO)
set(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO "${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO} ${STANDARD_MATH_LIBRARY}")
else()
set(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO "${STANDARD_MATH_LIBRARY}")
endif()
endif()
if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO)
message(STATUS "Standard libraries to link to explicitly: ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO}")
else()
message(STATUS "Standard libraries to link to explicitly: none")
endif()
option(EIGEN_BUILD_BTL "Build benchmark suite" OFF)
# Disable pkgconfig only for native Windows builds
if(NOT WIN32 OR NOT CMAKE_HOST_SYSTEM_NAME MATCHES Windows)
option(EIGEN_BUILD_PKGCONFIG "Build pkg-config .pc file for Eigen" ON)
endif()
set(CMAKE_INCLUDE_CURRENT_DIR ON)
option(EIGEN_SPLIT_LARGE_TESTS "Split large tests into smaller executables" ON)
option(EIGEN_DEFAULT_TO_ROW_MAJOR "Use row-major as default matrix storage order" OFF)
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add_definitions("-DEIGEN_DEFAULT_TO_ROW_MAJOR")
endif()
set(EIGEN_TEST_MAX_SIZE "320" CACHE STRING "Maximal matrix/vector size, default is 320")
if(NOT MSVC)
# We assume that other compilers are partly compatible with GNUCC
# clang outputs some warnings for unknown flags that are not caught by check_cxx_compiler_flag
# adding -Werror turns such warnings into errors
check_cxx_compiler_flag("-Werror" COMPILER_SUPPORT_WERROR)
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ei_add_cxx_compiler_flag("-pedantic")
ei_add_cxx_compiler_flag("-Wall")
ei_add_cxx_compiler_flag("-Wextra")
#ei_add_cxx_compiler_flag("-Weverything") # clang
ei_add_cxx_compiler_flag("-Wundef")
ei_add_cxx_compiler_flag("-Wcast-align")
ei_add_cxx_compiler_flag("-Wchar-subscripts")
ei_add_cxx_compiler_flag("-Wnon-virtual-dtor")
ei_add_cxx_compiler_flag("-Wunused-local-typedefs")
ei_add_cxx_compiler_flag("-Wpointer-arith")
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ei_add_cxx_compiler_flag("-Wno-long-long")
ei_add_cxx_compiler_flag("-fno-check-new")
ei_add_cxx_compiler_flag("-fno-common")
ei_add_cxx_compiler_flag("-fstrict-aliasing")
ei_add_cxx_compiler_flag("-wd981") # disable ICC's "operands are evaluated in unspecified order" remark
ei_add_cxx_compiler_flag("-wd2304") # disable ICC's "warning #2304: non-explicit constructor with single argument may cause implicit type conversion" produced by -Wnon-virtual-dtor
# The -ansi flag must be added last, otherwise it is also used as a linker flag by check_cxx_compiler_flag making it fails
# Moreover we should not set both -strict-ansi and -ansi
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set(CMAKE_REQUIRED_FLAGS "")
option(EIGEN_TEST_SSE2 "Enable/Disable SSE2 in tests/examples" OFF)
if(EIGEN_TEST_SSE2)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse2")
message(STATUS "Enabling SSE2 in tests/examples")
endif()
option(EIGEN_TEST_SSE3 "Enable/Disable SSE3 in tests/examples" OFF)
if(EIGEN_TEST_SSE3)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse3")
message(STATUS "Enabling SSE3 in tests/examples")
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option(EIGEN_TEST_SSSE3 "Enable/Disable SSSE3 in tests/examples" OFF)
if(EIGEN_TEST_SSSE3)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mssse3")
message(STATUS "Enabling SSSE3 in tests/examples")
endif()
option(EIGEN_TEST_SSE4_1 "Enable/Disable SSE4.1 in tests/examples" OFF)
if(EIGEN_TEST_SSE4_1)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse4.1")
message(STATUS "Enabling SSE4.1 in tests/examples")
endif()
option(EIGEN_TEST_SSE4_2 "Enable/Disable SSE4.2 in tests/examples" OFF)
if(EIGEN_TEST_SSE4_2)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse4.2")
message(STATUS "Enabling SSE4.2 in tests/examples")
endif()
option(EIGEN_TEST_AVX "Enable/Disable AVX in tests/examples" OFF)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mavx")
message(STATUS "Enabling AVX in tests/examples")
endif()
option(EIGEN_TEST_FMA "Enable/Disable FMA in tests/examples" OFF)
if(EIGEN_TEST_FMA AND NOT EIGEN_TEST_NEON)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfma")
message(STATUS "Enabling FMA in tests/examples")
endif()
option(EIGEN_TEST_AVX512 "Enable/Disable AVX512 in tests/examples" OFF)
if(EIGEN_TEST_AVX512)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mavx512f -fabi-version=6 -DEIGEN_ENABLE_AVX512")
message(STATUS "Enabling AVX512 in tests/examples")
endif()
option(EIGEN_TEST_F16C "Enable/Disable F16C in tests/examples" OFF)
if(EIGEN_TEST_F16C)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mf16c")
message(STATUS "Enabling F16C in tests/examples")
endif()
option(EIGEN_TEST_ALTIVEC "Enable/Disable AltiVec in tests/examples" OFF)
if(EIGEN_TEST_ALTIVEC)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -maltivec -mabi=altivec")
message(STATUS "Enabling AltiVec in tests/examples")
endif()
option(EIGEN_TEST_VSX "Enable/Disable VSX in tests/examples" OFF)
if(EIGEN_TEST_VSX)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -m64 -mvsx")
message(STATUS "Enabling VSX in tests/examples")
endif()
option(EIGEN_TEST_NEON "Enable/Disable Neon in tests/examples" OFF)
if(EIGEN_TEST_NEON)
if(EIGEN_TEST_FMA)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon-vfpv4")
else()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon")
endif()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfloat-abi=hard")
message(STATUS "Enabling NEON in tests/examples")
endif()
option(EIGEN_TEST_NEON64 "Enable/Disable Neon in tests/examples" OFF)
if(EIGEN_TEST_NEON64)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
message(STATUS "Enabling NEON in tests/examples")
endif()
option(EIGEN_TEST_ZVECTOR "Enable/Disable S390X(zEC13) ZVECTOR in tests/examples" OFF)
if(EIGEN_TEST_ZVECTOR)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=z13 -mzvector")
message(STATUS "Enabling S390X(zEC13) ZVECTOR in tests/examples")
endif()
check_cxx_compiler_flag("-fopenmp" COMPILER_SUPPORT_OPENMP)
if(COMPILER_SUPPORT_OPENMP)
option(EIGEN_TEST_OPENMP "Enable/Disable OpenMP in tests/examples" OFF)
if(EIGEN_TEST_OPENMP)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
message(STATUS "Enabling OpenMP in tests/examples")
endif()
endif()
else(NOT MSVC)
# C4127 - conditional expression is constant
# C4714 - marked as __forceinline not inlined (I failed to deactivate it selectively)
# We can disable this warning in the unit tests since it is clear that it occurs
# because we are oftentimes returning objects that have a destructor or may
# throw exceptions - in particular in the unit tests we are throwing extra many
# exceptions to cover indexing errors.
# C4505 - unreferenced local function has been removed (impossible to deactive selectively)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /wd4127 /wd4505 /wd4714")
# replace all /Wx by /W4
string(REGEX REPLACE "/W[0-9]" "/W4" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
check_cxx_compiler_flag("/openmp" COMPILER_SUPPORT_OPENMP)
if(COMPILER_SUPPORT_OPENMP)
option(EIGEN_TEST_OPENMP "Enable/Disable OpenMP in tests/examples" OFF)
if(EIGEN_TEST_OPENMP)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp")
message(STATUS "Enabling OpenMP in tests/examples")
endif()
endif()
option(EIGEN_TEST_SSE2 "Enable/Disable SSE2 in tests/examples" OFF)
if(EIGEN_TEST_SSE2)
if(NOT CMAKE_CL_64)
# arch is not supported on 64 bit systems, SSE is enabled automatically.
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE2")
endif(NOT CMAKE_CL_64)
message(STATUS "Enabling SSE2 in tests/examples")
endif(EIGEN_TEST_SSE2)
endif(NOT MSVC)
option(EIGEN_TEST_NO_EXPLICIT_VECTORIZATION "Disable explicit vectorization in tests/examples" OFF)
option(EIGEN_TEST_X87 "Force using X87 instructions. Implies no vectorization." OFF)
option(EIGEN_TEST_32BIT "Force generating 32bit code." OFF)
if(EIGEN_TEST_X87)
set(EIGEN_TEST_NO_EXPLICIT_VECTORIZATION ON)
if(CMAKE_COMPILER_IS_GNUCXX)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpmath=387")
message(STATUS "Forcing use of x87 instructions in tests/examples")
else()
message(STATUS "EIGEN_TEST_X87 ignored on your compiler")
endif()
endif()
if(EIGEN_TEST_32BIT)
if(CMAKE_COMPILER_IS_GNUCXX)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -m32")
message(STATUS "Forcing generation of 32-bit code in tests/examples")
else()
message(STATUS "EIGEN_TEST_32BIT ignored on your compiler")
endif()
endif()
if(EIGEN_TEST_NO_EXPLICIT_VECTORIZATION)
add_definitions(-DEIGEN_DONT_VECTORIZE=1)
message(STATUS "Disabling vectorization in tests/examples")
endif()
option(EIGEN_TEST_NO_EXPLICIT_ALIGNMENT "Disable explicit alignment (hence vectorization) in tests/examples" OFF)
if(EIGEN_TEST_NO_EXPLICIT_ALIGNMENT)
add_definitions(-DEIGEN_DONT_ALIGN=1)
message(STATUS "Disabling alignment in tests/examples")
endif()
option(EIGEN_TEST_NO_EXCEPTIONS "Disables C++ exceptions" OFF)
if(EIGEN_TEST_NO_EXCEPTIONS)
ei_add_cxx_compiler_flag("-fno-exceptions")
message(STATUS "Disabling exceptions in tests/examples")
endif()
set(EIGEN_CUDA_COMPUTE_ARCH 30 CACHE STRING "The CUDA compute architecture level to target when compiling CUDA code")
include_directories(${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR})
# Backward compatibility support for EIGEN_INCLUDE_INSTALL_DIR
if(EIGEN_INCLUDE_INSTALL_DIR)
message(WARNING "EIGEN_INCLUDE_INSTALL_DIR is deprecated. Use INCLUDE_INSTALL_DIR instead.")
endif()
if(EIGEN_INCLUDE_INSTALL_DIR AND NOT INCLUDE_INSTALL_DIR)
set(INCLUDE_INSTALL_DIR ${EIGEN_INCLUDE_INSTALL_DIR}
CACHE PATH "The directory relative to CMAKE_PREFIX_PATH where Eigen header files are installed")
else()
set(INCLUDE_INSTALL_DIR