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  • Passing Boost uBLAS matrices to OpenGL shader

    - by AJM
    I'm writing an OpenGL program where I compute my own matrices and pass them to shaders. I want to use Boost's uBLAS library for the matrices, but I have little idea how to get a uBLAS matrix into OpenGL's shader uniform functions. matrix<GLfloat, column_major> projection(4, 4); // Fill matrix ... GLuint projectionU = glGetUniformLocation(shaderProgram, "projection"); glUniformMatrix4fv(projectionU, 1, 0, (GLfloat *)... Um ...); Trying to cast the matrix to a GLfloat pointer causes an invalid cast error on compile.

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  • Understanding OpenGL Matrices

    - by Omega
    I'm starting to learn about 3D rendering and I've been making good progress. I've picked up a lot regarding matrices and the general operations that can be performed on them. One thing I'm still not quite following is OpenGL's use of matrices. I see this (and things like it) quite a lot: x y z n ------- 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 So my best understanding, is that it is a normalized (no magnitude) 4 dimensional, column-major matrix. Also that this matrix in particular is called the "identity matrix". Some questions: What is the "nth" dimension? How and when are these applied? My biggest confusion arises from how OpenGL makes use of this kind of data.

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  • Calculating rotation and translation matrices between two odometry positions for monocular linear triangulation

    - by user1298891
    Recently I've been trying to implement a system to identify and triangulate the 3D position of an object in a robotic system. The general outline of the process goes as follows: Identify the object using SURF matching, from a set of "training" images to the actual live feed from the camera Move/rotate the robot a certain amount Identify the object using SURF again in this new view Now I have: a set of corresponding 2D points (same object from the two different views), two odometry locations (position + orientation), and camera intrinsics (focal length, principal point, etc.) since it's been calibrated beforehand, so I should be able to create the 2 projection matrices and triangulate using a basic linear triangulation method as in Hartley & Zissermann's book Multiple View Geometry, pg. 312. Solve the AX = 0 equation for each of the corresponding 2D points, then take the average In practice, the triangulation only works when there's almost no change in rotation; if the robot even rotates a slight bit while moving (due to e.g. wheel slippage) then the estimate is way off. This also applies for simulation. Since I can only post two hyperlinks, here's a link to a page with images from the simulation (on the map, the red square is simulated robot position and orientation, and the yellow square is estimated position of the object using linear triangulation.) So you can see that the estimate is thrown way off even by a little rotation, as in Position 2 on that page (that was 15 degrees; if I rotate it any more then the estimate is completely off the map), even in a simulated environment where a perfect calibration matrix is known. In a real environment when I actually move around with the robot, it's worse. There aren't any problems with obtaining point correspondences, nor with actually solving the AX = 0 equation once I compute the A matrix, so I figure it probably has to do with how I'm setting up the two camera projection matrices, specifically how I'm calculating the translation and rotation matrices from the position/orientation info I have relative to the world frame. How I'm doing that right now is: Rotation matrix is composed by creating a 1x3 matrix [0, (change in orientation angle), 0] and then converting that to a 3x3 one using OpenCV's Rodrigues function Translation matrix is composed by rotating the two points (start angle) degrees and then subtracting the final position from the initial position, in order to get the robot's straight and lateral movement relative to its starting orientation Which results in the first projection matrix being K [I | 0] and the second being K [R | T], with R and T calculated as described above. Is there anything I'm doing really wrong here? Or could it possibly be some other problem? Any help would be greatly appreciated.

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  • C++ library for Coordinate Transformation Matrices (CTM)?

    - by BastiBense
    I'm looking for a C++ library which allows for easy integration of Coordinate Transformation Matrices (CTM) in my application. You might know CTMs from PDF or PostScript. For one project we are using C++/Qt4 as a framework, which offers a QTransform class, which provides methods like .translate(double x, double y) or .rotate(double degrees). After doing some transformations, it would allow me to get all 6 CTM values, which I could feed into a PDF library or use a transformation matrix in export files. Qt's API also allows for arbitrary mapping of polygons (QPolygon), rectangles (QRect) and other primitive data structures into transformed coordinate systems. So basically I'm looking for something similar to what Qt provides, but without the need of using Qt. I know I could do the matrix multiplications myself, but I'm not really interested in doing so, as I'm very sure that someone already solved this problem, so please no links to books or other guides on how to multiply matrices. Thanks!

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  • Where should i organize my matrices in a 3D Game engine?

    - by Need4Sleep
    I'm working with a group of people from around the world to create a game engine(and hopefully a game with it) within the next upcoming years. My first task was writing a camera class for the engine to use in order to add cameras to the scene, position and follow points in the scene. The problem i have is with using matrices for transformations in the class, should i keep matrices separate to each class? such as have the model matrix in the model class, camera matrix in the camera class, or have all matrices placed in one class/chuck? I could see pros and cons for each method, but i wanted to hear some input form a more professional standpoint.

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  • How do I convert matrices intended for OpenGL to be compatible for DirectX?

    - by gardian06
    I have finished working through the book "Game Physics Engine Development 2nd Ed" by Millington, and have got it working, but I want to adapt it to work with DirectX. I understand that D3D9+ has the option to use either left handed, or right handed convention, but I am unsure about how to return my matrices to be usable by D3D. The source code gives returning OpenGL column major matrices (the transpose of the working transform matrix shown below), but DirectX is row major. For those unfamiliar for the organization of the matrices used in the book: [r11 r12 r13 t1] [r21 r22 r23 t2] [r31 r32 r33 t3] [ 0 0 0 1] r## meaning the value of that element in the rotation matrix, and t# meaning the translation value. So the question in short is: How do I convert the matrix above to be easily usable by D3D? All of the documentation that I have found simply states that D3D is row major, but not where to put what elements so that it is usable by D3D in terms of rotation, and translation elements.

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  • How should I organize my matrices in a 3D game engine?

    - by Need4Sleep
    I'm working with a group of people from around the world to create a game engine (and hopefully a game with it) within the next upcoming years. My first task is to write a camera class for the engine to use in order to add cameras to the scene, with position and follow points. The problem I have is with using matrices for transformations in the class, should I keep matrices separate to each class? Such as have the model matrix in the model class, camera matrix in the camera class, or have all matrices placed in one class/chuck? I could see pros and cons for each method, but I wanted to hear some input form a more professional standpoint.

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  • Multiplying two matrices from two text files with unknown dimensions

    - by wes schwertner
    This is my first post here. I've been working on this c++ question for a while now and have gotten nowhere. Maybe you guys can give me some hints to get me started. My program has to read two .txt files each containing one matrix. Then it has to multiply them and output it to another .txt file. My confusion here though is how the .txt files are setup and how to get the dimensions. Here is an example of matrix 1.txt. #ivalue #jvalue value 1 1 1.0 2 2 1 The dimension of the matrix is 2x2. 1.0 0 0 1 Before I can start multiplying these matrices I need to get the i and j value from the text file. The only way I have found out to do this is int main() { ifstream file("a.txt"); int numcol; float col; for(int x=0; x<3;x++) { file>>col; cout<<col; if(x==1) //grabs the number of columns numcol=col; } cout<<numcol; } The problem is I don't know how to get to the second line to read the number of rows. And on top of that I don't think this will give me accurate results for other matrices files. Let me know if anything is unclear. UPDATE Thanks! I got getline to work correctly. But now I am running into another problem. In matrix B it is setup like: #ivalue #jvalue Value 1 1 0.1 1 2 0.2 2 1 0.3 2 2 0.4 I need to let the program know that it needs to go down 4 lines, maybe even more (The matrices dimensions are unknown. My matrix B example is a 2x2, but it could be a 20x20). I have a while(!file.eof()) loop my program to let it loop until the end of file. I know I need a dynamic array for multiplying, but would I need one here also? #include <iostream> #include <fstream> using namespace std; int main() { ifstream file("a.txt"); //reads matrix A while(!file.eof()) { int temp; int numcol; string numrow; float row; float col; for(int x=0; x<3;x++) { file>>col; if(x==1) { numcol=col; //number of columns } } string test; getline(file, test); //next line to get rows for(int x=0; x<3; x++) { file>>test; if(x==1) { numrow=test; //sets number of rows } } cout<<numrow; cout<<numcol<<endl; } ifstream file1("b.txt"); //reads matrix 2 while(!file1.eof()) { int temp1; int numcol1; string numrow1; float row1; float col1; for(int x=0; x<2;x++) { file1>>col1; if(x==1) numcol1=col1; //sets number of columns } string test1; getline(file1, test1); //In matrix B there are four rows. getline(file1, test1); //These getlines go down a row. getline(file1, test1); //Need help here. for(int x=0; x<2; x++) { file1>>test1; if(x==1) numrow1=test1; } cout<<numrow1; cout<<numcol1<<endl; } }

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  • Matrices of "long"s in Java/COLT?

    - by Darren Wilkinson
    I'm very new to Java/COLT so apologies if this is a dumb question... But, is it possible to define (2d) matrices of type "long" using the cern.colt.matrix stuff? If so, how?! I can find an abstract class for "Object" and a concrete implementation for "double", but then I am stuck... Thanks,

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  • Efficiently solving sparse matrices

    - by anon
    For solving spare matrices, in general, how big does the matrix have to be (as a rule of thumb) for methods like congraduate descent to be faster than brute force solvers (that do not take advantage o sparsity)?

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  • matrices&searching [closed]

    - by gcc
    question 1) between different characters&real numbers , finding specific one how could i do question 2) myfriend asked me a good question : can we divide two matrices to each other // in math , we havenot learned but maybe someone knows where we find the answer

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  • MPI_SCATTER Fortran Matrices by Rows

    - by Fortran
    What is the best way to scatter a Fortran 90 matrix by its rows rather than columns? That is, let's say I have a matrix a(4,50) and I want to MPI_SCATTER it onto two processes where each part is alocal(2,50), where rank 0 has rows 1 and 2, and rank 1 has 3 and 4. Now, in C, this is simple since arrays are row-major, but in Fortran 90 they are column-major. I'm trying to avoid using TRANSPOSE to flip a before scattering (i.e, doubling the memory use), and I figure there must be a way in MPI to do this. Would it be MPI_TYPE_VECTOR? MPI_TYPE_CREATE_SUBARRAY? Likewise, what if I have a 3d array b(4,50,3) and I want two scattered matrices of blocal(2,50,3) distributed as above?

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  • computing z-scores for 2D matrices in scipy/numpy in Python

    - by user248237
    How can I compute the z-score for matrices in Python? Suppose I have the array: a = array([[ 1, 2, 3], [ 30, 35, 36], [2000, 6000, 8000]]) and I want to compute the z-score for each row. The solution I came up with is: array([zs(item) for item in a]) where zs is in scipy.stats.stats. Is there a better built-in vectorized way to do this? Also, is it always good to z-score numbers before using hierarchical clustering with euclidean or seuclidean distance? Can anyone discuss the relative advantages/disadvantages? thanks.

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  • Tool to diagonalize large matrices

    - by Xodarap
    I want to compute a diffusion kernel, which involves taking exp(b*A) where A is a large matrix. In order to play with values of b, I'd like to diagonalize A (so that exp(A) runs quickly). My matrix is about 25k x 25k, but is very sparse - only about 60k values are non-zero. Matlab's "eigs" function runs of out memory, as does octave's "eig" and R's "eigen." Is there a tool to find the decomposition of large, sparse matrices? Dunno if this is relevant, but A is an adjacency matrix, so it's symmetric, and it is full rank.

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  • Multiplying Block Matrices in Numpy

    - by Ada Xu
    Hi Everyone I am python newbie I have to implement lasso L1 regression for a class assignment. This involves solving a quadratic equation involving block matrices. minimize x^t * H * x + f^t * x where x 0 Where H is a 2 X 2 block matrix with each element being a k dimensional matrix and x and f being a 2 X 1 vectors each element being a k dimension vector. I was thinking of using nd arrays. such that np.shape(H) = (2, 2, k, k) np.shape(x) = (2, k) But I figured out that np.dot(X, H) doesn't work here. Is there an easy way to solve this problem? Thanks in advance.

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  • Is there any function in Matlab for changing the form of matrix?

    - by niko
    Hi, I have to get the unknown matrix by changing the form of known matrix considering the following rules: H = [-P'|I] G = [I|P] where H is known matrix G is unknown matrix which has to be calculated I is identity matrix So for example if we had a matrix H = [1 1 1 1 0 0; 0 0 1 1 0 1; 1 0 0 1 1 0] its form has to be changed to H = [1 1 1 1 0 0; 0 1 1 0 1 0; 1 1 0 0 0 1] so -P' = [1 1 1; 0 1 0; 1 1 0] and in case of binary matrices -P = P therefore G = [1 0 0 1 1 1; 0 1 0 0 1 0; 0 0 1 1 1 0] I know how to solve it on the paper by performing basic row operations but don't know how if there is any function already written in Matlab to calculate G from H or H from G by considering the above rules. I would be very thankful if anyone of you could suggest any method for solving the given problem. Thank you.

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  • Sparse matrices / arrays in Java

    - by DanM
    I'm working on a project, written in Java, which requires that I build a very large 2-D sparse array. Very sparse, if that makes a difference. Anyway: the most crucial aspect for this application is efficency in terms of time (assume loads of memory, though not nearly so unlimited as to allow me to use a standard 2-D array -- the key range is in the billions in both dimensions). Out of the kajillion cells in the array, there will be several hundred thousand cells which contain an object. I need to be able to modify cell contents VERY quickly. Anyway: Does anyone know a particularly good library for this purpose? It would have to be Berkeley, LGPL or similar license (no GPL, as the product can't be entirely open-sourced). Or if there's just a very simple way to make a homebrew sparse array object, that'd be fine too. I'm considering MTJ, but haven't heard any opinions on its quality. Thanks!! -Dan

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  • Are CMAttitude and CATransform3D related by rotational matrices?

    - by Alex Stone
    I'm looking at the core motion class CMAttitude, it can express the device's orientation as a 3x3 rotational matrix. At the same time I've taken a look at the CATransform3D, which encapsulates the view's attitude, as well as scaling. The CATransform3D is a 4x4 matrix. I've seen that the OpenGL rotational matrix is 4x4 and is simply 0001 padded in the 4th row and column. I'm wandering if the CMAttitude's rotational matrix is related to CATransform's matrix? Can I use the device's rotation in space obtained via a rotational matrix to transform a UIView using CATransform3D? My intention is to let the user move the phone and apply the same transform to a UIView on the screen. Bonus question: if they are related, how do I transform a CMAttitude's rotational matrix to CATransform3D?

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  • python matrices - list index out of range

    - by user1888493
    I am writing a function, that takes a matrix as input, such as the one below. Then the it returns the matrix' inverse, where all the 1s are changed to 0s and all the 0s changed to 1s, while keeping the diagonal from top left to bottom right 0s. An example input: g1 = [[0, 1, 1, 0], [1, 0, 0, 1], [1, 0, 0, 1], [0, 1, 1, 0]] the function should output this: g1 = [[0, 0, 0, 1], [0, 0, 1, 0], [0, 1, 0, 0], [1, 0, 0, 0]] When I run the program, it raises a list index out of range error. I'm sure this happens, because the loops I have set up are trying to access values that do not exist. But how do I allow an input of unknown row and column size? I only know how to do this with a single list, but a list of lists? Following you see the transforming function, but not the test function that calls it: def inverse_graph(graph): # take in graph # change all zeros to ones and ones to zeros r, c = 0, 0 # row, column equal zero while (graph[r][c] == 0 or graph[r][c] == 1): # while the current row has a value. while (graph[r][c] == 0 or graph[r][c] == 1): # while the current column has a value if (graph[r][c] == 0): graph[r][c] = 1 elif (graph[r][c] == 1): graph[r][c] = 0 c+=1 c=0 r+=1 c=0 r=0 # sets diagonal to zeros while (g1[r][c] == 0 or g1[r][c] == 1): g1[r][c]=0 c+=1 r+=1 return graph

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