244 lines
8.6 KiB
C++
244 lines
8.6 KiB
C++
#ifndef INDOOR_IMU_POSEDETECTIONPLOT_H
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#define INDOOR_IMU_POSEDETECTIONPLOT_H
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#ifdef WITH_DEBUG_PLOT
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#include <KLib/misc/gnuplot/Gnuplot.h>
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#include <KLib/misc/gnuplot/GnuplotSplot.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
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#include <KLib/misc/gnuplot/GnuplotPlot.h>
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#include <KLib/misc/gnuplot/GnuplotPlotElementLines.h>
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//#include <KLib/misc/gnuplot/GnuplotMultiplot.h>
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#include <KLib/misc/gnuplot/GnuplotSplot.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
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//#include <KLib/misc/gnuplot/GnuplotSplotElementEmpty.h>
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#include "../../data/Timestamp.h"
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#include "../../math/Matrix3.h"
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#include "AccelerometerData.h"
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class PoseDetectionPlotAngles {
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Timestamp plotRef;
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Timestamp lastPlot;
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K::Gnuplot gp;
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K::GnuplotPlot plotAcc;
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K::GnuplotPlotElementLines lineAccX;
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K::GnuplotPlotElementLines lineAccY;
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K::GnuplotPlotElementLines lineGyroX;
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K::GnuplotPlotElementLines lineGyroY;
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K::GnuplotPlotElementLines lineFusedX;
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K::GnuplotPlotElementLines lineFusedY;
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public:
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PoseDetectionPlotAngles() {
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gp << "set autoscale xfix\n";
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plotAcc.setTitle("Accelerometer");
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plotAcc.add(&lineFusedX); lineFusedX.getStroke().getColor().setHexStr("#990000"); lineFusedX.setTitle("FusedX");lineFusedX.getStroke().setWidth(3);
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plotAcc.add(&lineFusedY); lineFusedY.getStroke().getColor().setHexStr("#09900"); lineFusedY.setTitle("FusedY"); lineFusedY.getStroke().setWidth(3);
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plotAcc.add(&lineAccX); lineAccX.getStroke().getColor().setHexStr("#ff8888"); lineAccX.setTitle("AccX"); lineAccX.getStroke().setType(K::GnuplotDashtype::DOTTED); lineAccX.getStroke().setWidth(2);
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plotAcc.add(&lineAccY); lineAccY.getStroke().getColor().setHexStr("#88ff88"); lineAccY.setTitle("AccY"); lineAccY.getStroke().setType(K::GnuplotDashtype::DOTTED); lineAccY.getStroke().setWidth(2);
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plotAcc.add(&lineGyroX); lineGyroX.getStroke().getColor().setHexStr("#ff8888"); lineGyroX.setTitle("GyroX"); lineGyroX.getStroke().setType(K::GnuplotDashtype::DASHED); lineGyroX.getStroke().setWidth(2);
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plotAcc.add(&lineGyroY); lineGyroY.getStroke().getColor().setHexStr("#88ff88"); lineGyroY.setTitle("GyroY"); lineGyroY.getStroke().setType(K::GnuplotDashtype::DASHED); lineGyroY.getStroke().setWidth(2);
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plotAcc.getKey().setVisible(true);
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}
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void addAcc(Timestamp ts, float x, float y) {
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if (plotRef.isZero()) {plotRef = ts;}
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const Timestamp tsPlot = (ts-plotRef);
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lineAccX.add( K::GnuplotPoint2(tsPlot.ms(), x) );
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lineAccY.add( K::GnuplotPoint2(tsPlot.ms(), y) );
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}
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void addGyro(Timestamp ts, float x, float y) {
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if (plotRef.isZero()) {plotRef = ts;}
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const Timestamp tsPlot = (ts-plotRef);
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lineGyroX.add( K::GnuplotPoint2(tsPlot.ms(), x) );
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lineGyroY.add( K::GnuplotPoint2(tsPlot.ms(), y) );
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}
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void addFused(Timestamp ts, float x, float y) {
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if (plotRef.isZero()) {plotRef = ts;}
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const Timestamp tsPlot = (ts-plotRef);
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lineFusedX.add( K::GnuplotPoint2(tsPlot.ms(), x) );
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lineFusedY.add( K::GnuplotPoint2(tsPlot.ms(), y) );
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if (++cnt % 40 == 0) {flush(ts);}
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}
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private:
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int cnt = 0;
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void flush(Timestamp ts) {
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cleanup(ts);
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gp.draw(plotAcc);
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gp.flush();
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}
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// remove old entries
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void cleanup(Timestamp ts) {
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const Timestamp tsPlot = (ts-plotRef);
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const Timestamp tsOldest = tsPlot - Timestamp::fromMS(3000);
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auto remove = [tsOldest] (const K::GnuplotPoint2 pt) {return pt.x < tsOldest.ms();};
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lineAccX.removeIf(remove);
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lineAccY.removeIf(remove);
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lineGyroX.removeIf(remove);
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lineGyroY.removeIf(remove);
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lineFusedX.removeIf(remove);
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lineFusedY.removeIf(remove);
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}
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};
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class PoseDetectionPlot {
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Timestamp plotRef;
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Timestamp lastPlot;
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K::Gnuplot gp2;
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K::GnuplotSplot plotPose;
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K::GnuplotSplotElementLines linePose;
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//K::GnuplotSplotElementEmpty emptyPose;
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std::vector<std::vector<std::vector<float>>> pose;
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public:
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/** ctor */
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PoseDetectionPlot() {
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//gp1 << "set autoscale xfix\n";
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gp2 << "set view equal xyz\n";
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plotPose.setTitle("Pose");
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plotPose.getView().setEnabled(false);
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plotPose.add(&linePose);
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//plotPose.add(&emptyPose);
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plotPose.getAxisX().setRange(-8,+8);
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plotPose.getAxisY().setRange(-8,+8);
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plotPose.getAxisZ().setRange(-8,+8);
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plotPose.getAxisX().setLabel("x");
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plotPose.getAxisY().setLabel("y");
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plotPose.getAxisZ().setLabel("z");
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const float a = 0.05; const float b = 0.95;
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pose = {
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{{0, 0, 0},{1, 0, 0},{1, 1, 0},{0, 1, 0},{0, 0, 0}}, // boden
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{{0, 0, 0},{0, 0, 1},{0, 1, 1},{0, 1, 0},{0, 0, 0}}, // links
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{{1, 0, 0},{1, 0, 1},{1, 1, 1},{1, 1, 0},{1, 0, 0}}, // rechts
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{{0, 1, 0},{1, 1, 0},{1, 1, 1},{0, 1, 1},{0, 1, 0}}, // oben
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{{0, 0, 0},{1, 0, 0},{1, 0, 1},{0, 0, 1},{0, 0, 0}}, // unten
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{{0, 0, 1},{1, 0, 1},{1, 1, 1},{0, 1, 1},{0, 0, 1}}, // deckel
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{{a, 0.15, 1},{b, 0.15, 1},{b, 0.95, 1},{a, 0.95, 1},{a, 0.15, 1}}, // display
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};
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//K::GnuplotStroke stroke(K::GnuplotDashtype::SOLID, 1, K::GnuplotColor::fromHexStr("#000000"));
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K::GnuplotStroke stroke = K::GnuplotStroke::NONE();
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K::GnuplotFill fillOut = K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#999999"));
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K::GnuplotFill fillSide = K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#666666"));
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K::GnuplotFill fillDisp = K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#333333"));
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plotPose.getObjects().set(1, new K::GnuplotObjectPolygon(fillOut, stroke));
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plotPose.getObjects().set(2, new K::GnuplotObjectPolygon(fillSide, stroke));
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plotPose.getObjects().set(3, new K::GnuplotObjectPolygon(fillSide, stroke));
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plotPose.getObjects().set(4, new K::GnuplotObjectPolygon(fillSide, stroke));
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plotPose.getObjects().set(5, new K::GnuplotObjectPolygon(fillSide, stroke));
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plotPose.getObjects().set(6, new K::GnuplotObjectPolygon(fillOut, stroke));
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plotPose.getObjects().set(7, new K::GnuplotObjectPolygon(fillDisp, stroke));
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}
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void setName(const std::string& name) {
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plotPose.setTitle(name);
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}
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void add(Timestamp ts, const Vector3& avg, const Matrix3& rotation) {
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add(ts, AccelerometerData(avg.x, avg.y, avg.z), rotation);
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}
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void add(Timestamp ts, const AccelerometerData& avg, const Matrix3& rotation) {
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if (plotRef.isZero()) {plotRef = ts;}
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const Timestamp tsPlot = (ts-plotRef);
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const Timestamp tsOldest = tsPlot - Timestamp::fromMS(5000);
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if (lastPlot + Timestamp::fromMS(50) < tsPlot) {
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lastPlot = tsPlot;
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// update 3D smartphone model
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for (size_t i = 0; i < pose.size(); ++i) {
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K::GnuplotObjectPolygon* gp = (K::GnuplotObjectPolygon*) plotPose.getObjects().get(i+1); gp->clear();
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for (const std::vector<float>& pts : pose[i]) {
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const Vector3 vec1(pts[0], pts[1], pts[2]);
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const Vector3 vec2 = vec1 - Vector3(0.5, 0.5, 0.5); // center cube at 0,0,0
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const Vector3 vec3 = vec2 * Vector3(7, 15, 1); // stretch cube
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const Vector3 vec4 = rotation * vec3;
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gp->add(K::GnuplotCoordinate3(vec4.x, vec4.y, vec4.z, K::GnuplotCoordinateSystem::FIRST));
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}
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}
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// // update un-rotated 3D smartphone model
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// for (size_t i = 0; i < pose.size(); ++i) {
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// K::GnuplotObjectPolygon* gp = (K::GnuplotObjectPolygon*) plotPose.getObjects().get(i+1); gp->clear();
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// for (const std::vector<float>& pts : pose[i]) {
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// const Vector3 vec1(pts[0], pts[1], pts[2]);
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// const Vector3 vec2 = vec1 - Vector3(0.5, 0.5, 0.5); // center cube at 0,0,0
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// const Vector3 vec3 = vec2 * Vector3(7, 15, 1); // stretch cube
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// const Vector3 vec4 = rotation * vec3;
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// gp->add(K::GnuplotCoordinate3(vec4.x, vec4.y, vec4.z, K::GnuplotCoordinateSystem::FIRST));
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// }
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// }
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// add coordinate system
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const Vector3 vx = rotation * Vector3(2,0,0);
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const Vector3 vy = rotation * Vector3(0,3,0);
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const Vector3 vz = rotation * Vector3(0,0,5);
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const Vector3 vA = Vector3(avg.x, avg.y, -avg.z) * 1;
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linePose.clear();
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linePose.addSegment(K::GnuplotPoint3(0,0,0), K::GnuplotPoint3(vx.x, vx.y, vx.z));
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linePose.addSegment(K::GnuplotPoint3(0,0,0), K::GnuplotPoint3(vy.x, vy.y, vy.z));
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linePose.addSegment(K::GnuplotPoint3(0,0,0), K::GnuplotPoint3(vz.x, vz.y, vz.z));
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linePose.addSegment(K::GnuplotPoint3(0,0,0), K::GnuplotPoint3(vA.x, vA.y, vA.z));
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gp2 << "set label 91 at " << vx.x << "," << vx.y << "," << vx.z << " 'x' \n";
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gp2 << "set label 92 at " << vy.x << "," << vy.y << "," << vy.z << " 'y' \n";
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gp2 << "set label 93 at " << vz.x << "," << vz.y << "," << vz.z << " 'z' \n";
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gp2 << "set label 99 at " << vA.x << "," << vA.y << "," << vA.z << " 'accel' \n";
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// 3D pose
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gp2.draw(plotPose);
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gp2.flush();
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}
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}
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};
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#endif
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#endif // INDOOR_IMU_POSEDETECTIONPLOT_H
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