I have data from a 2D laser range finder, in the form of 360-elements float arrays, each element representing a distance for an angle. So for example, if the 10th element of the array is the value 2.5 that means that at 10 degrees angle, the distance to an obstacle is 2.5 meters.
Given these points expressed in polar coordinates (angle, distance), what's the best way of creating a PointCloud instance? I see PointCloud is a templated class, so it depends on the type of PointT it contains. Reviewing these types, it seems they are all in cartesian coordinates (x, y, z), sometimes with added info on top. But I couldn't find any native polar coordinate point type. Am I missing it? Is it expected the transformation from whatever coordinates to cartesian to be done outside the library?
Transforming polar to cartesian is straightforward, I just want to know if there's a native, probably more efficient way of doing it within the PCL library (maybe keeping it in polar avoiding conversions altogether, etc.)
Thanks!
As far as known, there is no native way to represent a point in polar coordinates.But Why don't you create your own PointType?
Here is the help doc:https://pcl.readthedocs.io/projects/tutorials/en/latest/adding_custom_ptype.html#adding-custom-ptype
Related
First off, I am not sure if this is the right place so I apologize if this belongs elsewhere - please let me know if it does. I am currently doing some prototyping with this in VB so that's why I come here first.
My Goal
I am trying to make a program to be able to log different types of information for a video game that I play. I would like to be able to map out the entire game with my program and add locations for mobs, resources, etc.
What I have
The in game map can be downloaded so I have literally just stuck this in as a background image on the form (just for now). The map that I get downloaded though is not exactly as the map appears in the game though since the game will add extra water around everything when scrolling around. This makes it a bit tricky to match up where the origin for the map is in game compared to where it would be on the downloaded map.
The nice thing though is that while I am in the game I can print my current coordinates to the screen. So I thought that maybe I can somehow use this to get the right calculation for the rest of the points on the map.
Here is an example image I will refer to now:
In the above map you will see a dotted bounding box. This is an invisible box in the game where once you move your mouse out of the longitude and latitude points will no longer show. This is what I refer to above when I mean I can't find the exact point of origin for the in game map.
You will also see 2 points: A and B. In the game there are teleporters. This is what I would use to get the most accurate position possible. I am thinking I can find the position (in game) of point A and point B and then somehow calculate that into a conversion for my mouse drag event in VB.
In VB the screen starts at top-left and is 0,0. I did already try to get the 2 points like this and just add or subtract the number to the x and y pixel position of the mouse, but it didn't quite line up right.
So with all this information does anyone know if it is possible to write a lon/lat conversion to pixels based on this kind of data?
I appreciate any thoughts and suggestions and if you need any clarification of any information I have posted please let me know and I will be happy to expand on it. I am really hoping I can get this solved!
Thanks!
EDIT:
I also want to mention I am not sure if there is an exact pixel to lat/lon point for the in game map. I.e. the in game map could be 1 pixel = 100 latitude or something. So I might also need to figure out what that conversion number is?
Some clarifications about conversion between the pixel location to 'latitude and longitude'.
First the map in your game is in a geometry coordinate system, which means everything lies in 2D and you can measure the distance between two points by calculate the pixel position.
But when we talk about longitude and latitude, we are actually talking about a geography coordinate system, which is a '3D' model of the sphere oabout the surface of the earth. All the maps on earth are abstracted from 3D to 2D through one step called projection. Like google maps or your GPS. In this projection process, the 3D model converted to 2D model but there is always some part of the map will be tortured, so that same distance in pixels on a map could be different in length in reality.
So if you don't care about the accuracy then you can consider the geometry point as geography point. Otherwise, you need to implement some GIS library to handle the geodesic distance and calculate the geography point based on the projection coordinate system.
I'm making a rendering engine (mostly for personal use). I already know which way the polygons are and all that, but what I want to ask is which way is better? It seems that counterclockwise ordering is the most common, but clockwise is also used. Personally I prefer clockwise, because it just makes more sense when I am visualizing it in my head, but are there any sort of advantages to counterclockwise?
Polygon orientation/direction (clockwise vs counterclockwise) is totally dependent on the display software's configuration - specifically whether it uses a positive Y axis (Y values increasing upwards) or a negative Y axis. Reversing the display's Y axis will change clockwise polygon orientation to counterclockwise and vice versa.
What's much more important to polygon rendering is to define one or more filling rules. The 2 most widely used filling rules are EvenOdd (sometimes called Alternate) and NonZero (sometimes called Winding).
Here's a link to an explanation on polygon filling using SVG, and another link to polygon filling using OpenGL, and yet another using Quartz 2D.
I've managed to implement the Marching Cubes algorithm in C#. Up to now I've tried the algorithm to render a sphere. That's an easy one because the density function is not very complex to code.
But now I want to get the algorithm to go further and render some interesting terrains for games. So I would need proper density functions for this task.
First thing that comes to my head is a Volumetric Perlin Noise. That's ok but I am looking for a terrain without convex shapes, I mean, no caves and similar geometries by the moment.
Ok, I know that for that a simple height map can do the job, but I want a voxel-generated terrain. What type of density function o pseudocode would I need to implement them?
You can easily convert a heightmap into voxel terrain. Each pixel in your heightmap corresponds to a column of voxels in your voxel world. For a given pixel in the heightmap read the height. Then iterate over each voxel in the corresponding column and set it to 'solid' if it is less than your reference height or 'empty' if it is more than your reference height.
Here is some sample code using the PolyVox library.
I'm creating heightmaps using Fractal Brownian Motion. I'm then coloring it based on the heights and mapping it to a sphere. My problem is that the heightmap doesn't wrap seamlessly. I've used the Diamond Square algorithm and it's pretty easy to make things seamless using it, but I can't seem to figure out how to do it with fBm and I seem to be having trouble finding an explanation for it on the web.
To clarify, by "seamless", I mean that when I map it to a sphere, it creates a seamless map on the sphere.
Instead of calculating the heightmap per pixel on the heightmap, calculate the heightmap in 3D space based on each point on the sphere and then map that to an image pixel. You're going to have trouble wrapping a 2D, rectangular heightmap like that onto a sphere without getting ugly results at the poles unless you start your calculations from the sphere.
fBM generalizes to 3 dimensions, so given a point on the sphere you can get the height at that point, and then you can do the math to map that value to where it should be stored in the heightmap image.
Or you could use one of the traditional map projections. A cylindrical projection (x, y)->(x, sin y) would give you a seam of just one meridian, which you could rotate to the back. Or you could "antialias" the edge by one or another means.
With a stereographic projection (x,y,z)->(x/(z+1),y/(z+1)), there's only one sour point (the projection point itself).
I'm using a 3d engine and need to translate between 3d world space and 2d screen space using perspective projection, so I can place 2d text labels on items in 3d space.
I've seen a few posts of various answers to this problem but they seem to use components I don't have.
I have a Camera object, and can only set it's current position and lookat position, it cannot roll. The camera is moving along a path and certain target object may appear in it's view then disappear.
I have only the following values
lookat position
position
vertical FOV
Z far
Z near
and obviously the position of the target object.
Can anyone please give me an algorithm that will do this using just these components?
Many thanks.
all graphics engines use matrices to transform between different coordinats systems. Indeed OpenGL and DirectX uses them, because they are the standard way.
Cameras usually construct the matrices using the parameters you have:
view matrix (transform the world to position in a way you look at it from the camera position), it uses lookat position and camera position (also the up vector which usually is 0,1,0)
projection matrix (transforms from 3D coordinates to 2D Coordinates), it uses the fov, near, far and aspect.
You could find information of how to construct the matrices in internet searching for the opengl functions that create them:
gluLookat creates a viewmatrix
gluPerspective: creates the projection matrix
But I cant imagine an engine that doesnt allow you to get these matrices, because I can ensure you they are somewhere, the engine is using it.
Once you have those matrices, you multiply them, to get the viewprojeciton matrix. This matrix transform from World coordinates to Screen Coordinates. So just multiply the matrix with the position you want to know (in vector 4 format, being the 4ยบ component 1.0).
But wait, the result will be in homogeneous coordinates, you need to divide X,Y,Z of the resulting vector by W, and then you have the position in Normalized screen coordinates (0 means the center, 1 means right, -1 means left, etc).
From here it is easy to transform multiplying by width and height.
I have some slides explaining all this here: https://docs.google.com/presentation/d/13crrSCPonJcxAjGaS5HJOat3MpE0lmEtqxeVr4tVLDs/present?slide=id.i0
Good luck :)
P.S: when you work with 3D it is really important to understand the three matrices (model, view and projection), otherwise you will stumble every time.
so I can place 2d text labels on items
in 3d space
Have you looked up "billboard" techniques? Sometimes just knowing the right term to search under is all you need. This refers to polygons (typically rectangles) that always face the camera, regardless of camera position or orientation.