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move verification code to a separate class (Verification)
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| Original file line number | Diff line number | Diff line change |
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| // Copyright(c) 2012, 2020 Tel - Aviv University(Israel). | ||
| // All rights reserved. | ||
| // | ||
| // This file is part of CGAL (www.cgal.org). | ||
| // | ||
| // SPDX-License-Identifier: LGPL-3.0-or-later OR LicenseRef-Commercial | ||
| // | ||
| // Author(s): Engin Deniz Diktas <[email protected]> | ||
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| #include "Verification.h" | ||
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| #include <iostream> | ||
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| #include "Kml_reader.h" | ||
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| void Verification::find_minimum_projected_error_on_sphere(float we, Camera& cam, | ||
| int vp_width, int vp_height) | ||
| { | ||
| QRect vp(0, 0, vp_width, vp_height); | ||
| auto proj = cam.get_projection_matrix(); | ||
| auto view = cam.get_view_matrix(); | ||
| QMatrix4x4 model; | ||
| auto model_view = view * model; | ||
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| float max_err = 0; | ||
| float max_theta = -1; | ||
| float max_phi = -1; | ||
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| int num_divs = 200; | ||
| const float dtheta = M_PI_2 / num_divs; | ||
| const float dphi = M_PI_2 / num_divs; | ||
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| const float r1 = 1.f; | ||
| const float r2 = r1 - we; | ||
| for (int i = 0; i <= num_divs; i++) | ||
| { | ||
| const float theta = dtheta * i; | ||
| const float cos_theta = std::cos(theta); | ||
| const float sin_theta = std::sin(theta); | ||
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| for (int j = 0; j <= num_divs; j++) | ||
| { | ||
| QVector3D p1, p2; | ||
| const float phi = dphi * j; | ||
| const float cos_phi = std::cos(phi); | ||
| const float sin_phi = std::sin(phi); | ||
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| // p1 | ||
| const float r1xz = r1 * sin_phi; | ||
| p1.setY(r1 * cos_phi); | ||
| p1.setX(r1xz * cos_theta); | ||
| p1.setZ(r1xz * sin_theta); | ||
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| // p2 | ||
| const float r2xz = r2 * sin_phi; | ||
| p2.setY(r2 * cos_phi); | ||
| p2.setX(r2xz * cos_theta); | ||
| p2.setZ(r2xz * sin_theta); | ||
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| auto wp1 = p1.project(model_view, proj, vp); | ||
| auto wp2 = p2.project(model_view, proj, vp); | ||
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| const auto pe = wp1.distanceToPoint(wp2); | ||
| if (max_err < pe) | ||
| { | ||
| max_err = pe; | ||
| max_theta = theta; | ||
| max_phi = phi; | ||
| } | ||
| } | ||
| } | ||
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| std::cout << "max err = " << max_err << std::endl; | ||
| std::cout << "max phi = " << max_phi * 180 / M_PI << std::endl; | ||
| std::cout << "max theta = " << max_theta * 180 / M_PI << std::endl; | ||
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| auto wp1 = QVector3D(0, r1, 0).project(model_view, proj, vp); | ||
| auto wp2 = QVector3D(0, r2, 0).project(model_view, proj, vp); | ||
| auto pe = wp1.distanceToPoint(wp2); | ||
| std::cout << "polar err = " << pe << std::endl; | ||
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| wp1 = QVector3D(r1, 0, 0).project(model_view, proj, vp); | ||
| wp2 = QVector3D(r2, 0, 0).project(model_view, proj, vp); | ||
| pe = wp1.distanceToPoint(wp2); | ||
| std::cout << "x-axis err = " << pe << std::endl; | ||
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| wp1 = QVector3D(0, 0, 1).project(model_view, proj, vp); | ||
| wp2 = QVector3D(we, 0, 1).project(model_view, proj, vp); | ||
| pe = wp1.distanceToPoint(wp2); | ||
| std::cout << "nearest proj err = " << pe << std::endl; | ||
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| wp1 = QVector3D(0, 0, -1).project(model_view, proj, vp); | ||
| wp2 = QVector3D(we, 0, -1).project(model_view, proj, vp); | ||
| pe = wp1.distanceToPoint(wp2); | ||
| std::cout << "farthest proj err = " << pe << std::endl; | ||
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| // project the origin on the screen (to check if it projects to the mid-vp) | ||
| //std::cout << QVector3D(0, 0, 0).project(model_view, proj, vp) << std::endl; | ||
| } | ||
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| void Verification::verify_antarctica_node_is_redundant() | ||
| { | ||
| Kml::Node n1(178.277211542064, -84.4725179992025), | ||
| n2(180.0, -84.71338), | ||
| n3(-179.942499356179, -84.7214433735525); | ||
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| // 1) check if it is collinear with its neighboring nodes: | ||
| // all of the vectors in 3D must lie in the same plane | ||
| auto v1 = n1.get_coords_3f(); | ||
| auto v2 = n2.get_coords_3f(); | ||
| auto v3 = n3.get_coords_3f(); | ||
| auto n = QVector3D::crossProduct(v1, v3); | ||
| n.normalize(); | ||
| std::cout << "** DOT PRODUCT = " << QVector3D::dotProduct(n, v2) << std::endl; | ||
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| // 2) check if it is between its neighbors (check if r,s > 0) | ||
| auto det = [](float ax, float ay, float bx, float by) | ||
| { return ax * by - ay * bx; }; | ||
| auto D = det(v1.x(), v1.y(), v3.x(), v3.y()); | ||
| auto Dr = det(v2.x(), v2.y(), v3.x(), v3.y()); | ||
| auto Ds = det(v1.x(), v1.y(), v2.x(), v2.y()); | ||
| auto r = Dr / D; | ||
| auto s = Ds / D; | ||
| std::cout << "r = " << r << "\ns=" << s << std::endl; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| // Copyright(c) 2012, 2020 Tel - Aviv University(Israel). | ||
| // All rights reserved. | ||
| // | ||
| // This file is part of CGAL (www.cgal.org). | ||
| // | ||
| // SPDX-License-Identifier: LGPL-3.0-or-later OR LicenseRef-Commercial | ||
| // | ||
| // Author(s): Engin Deniz Diktas <[email protected]> | ||
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| #ifndef VERIFICATION_H | ||
| #define VERIFICATION_H | ||
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| #include <qvector3d.h> | ||
| #include <qmatrix4x4.h> | ||
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| #include "Camera.h" | ||
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| // | ||
| // This class contains code to verify or compute certain hypotheses | ||
| // | ||
| class Verification | ||
| { | ||
| public: | ||
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| // Use this to find the approximate of the true minimum projected error. | ||
| // we are ot using this complicated method, but provide it for completeness. | ||
| static void find_minimum_projected_error_on_sphere(float we, Camera& cam, | ||
| int vp_width, int vp_height); | ||
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| // verify that the node (180.0, -84.71338) in Antarctica is redundant | ||
| static void verify_antarctica_node_is_redundant(); | ||
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| }; | ||
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| #endif |