testing-framework / R / Bestimmung_Umformungen_Rotm / Bestimmung_Drehrichtungen.r @ 1fdee286
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| 1 | 8526ae8c | Jonas Diekmann | #!/usr/bin/env Rscript |
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| 3 | #Argumente einlesen |
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| 4 | args <- commandArgs(TRUE) |
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| 5 | if(length(args) == 2){
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| 6 | cat("dateiname=\"",args[1],"\"\n",sep="")
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| 7 | dateiname <- args[1] |
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| 8 | cat("vergleichsdatei=\"",args[2],"\"\n",sep="")
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| 9 | vergleichsdatei <- args[2] |
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| 10 | }else |
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| 11 | {
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| 12 | cat("Fehler: Bitte zwei Dateinamen angeben!","\n")
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| 13 | quit() |
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| 14 | } |
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| 15 | |||
| 16 | #Einlesen |
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| 17 | cat("Lese ","/home/jonas/Bachelorarbeit/bart2/",dateiname,"\n",sep="")
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| 18 | bart <- read.csv(file=paste("/home/jonas/Bachelorarbeit/bart2/",dateiname,sep=""),header=F)
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| 19 | cat("Lese ","/home/jonas/Dokumente/Studium/Bachelorarbeit/alvar/2.0.0/alvar-2.0.0-sdk-linux64-gcc44/build/build_gcc44_release/sample/",dateiname,"\n",sep="")
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| 20 | alvar <- read.csv(file=paste("/home/jonas/Dokumente/Studium/Bachelorarbeit/alvar/2.0.0/alvar-2.0.0-sdk-linux64-gcc44/build/build_gcc44_release/sample/",dateiname,sep=""),header=F)
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| 21 | cat("Lese ","/home/jonas/Dokumente/Studium/Bachelorarbeit/aruco/aruco-1.2.5/",dateiname,"\n",sep="")
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| 22 | aruco <- read.csv(file=paste("/home/jonas/Dokumente/Studium/Bachelorarbeit/aruco/aruco-1.2.5/",dateiname,sep=""),header=F)
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| 23 | cat("Lese ","/home/jonas/Dokumente/Studium/Bachelorarbeit/aruco/aruco-1.2.5/",dateiname,"\n",sep="")
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| 24 | aruco <- read.csv(file=paste("/home/jonas/Dokumente/Studium/Bachelorarbeit/aruco/aruco-1.2.5/",dateiname,sep=""),header=F)
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| 25 | cat("Lese ","/home/jonas/Dokumente/Studium/Bachelorarbeit/blender-files/Positions/",vergleichsdatei, "\n",sep="")
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| 26 | blender <- read.csv(file=paste("/home/jonas/Dokumente/Studium/Bachelorarbeit/blender-files/Positions/",vergleichsdatei, sep=""),header=F)
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| 27 | #Doppelte Zeilen mit identischen Daten entfernen |
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| 28 | bart <- unique(bart) |
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| 29 | alvar <- unique(alvar) |
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| 30 | aruco <- unique(aruco) |
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| 31 | |||
| 32 | #Ermittelt die aktuell von fit.r benutzte Rotationsmatrix und gibt sie aus |
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| 33 | printRotm <- function(liste,pfadInvMat){
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| 34 | init_mat_table <- read.table(file=pfadInvMat) |
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| 35 | init_rotm_inv <- matrix(unlist(init_mat_table), ncol=3, nrow=3, byrow=TRUE) |
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| 36 | matA <- matrix(unlist(liste[3,3:11]),ncol=3,byrow=TRUE) |
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| 37 | matB <- matA %*% init_rotm_inv |
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| 38 | print(matB) |
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| 39 | matA <- matrix(unlist(liste[103,3:11]),ncol=3,byrow=TRUE) |
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| 40 | matB <- matA %*% init_rotm_inv |
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| 41 | print(matB) |
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| 42 | } |
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| 43 | |||
| 44 | cat("BART","\n")
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| 45 | printRotm(bart,"bart_init_rotm_inv.table") |
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| 46 | cat("ALVAR","\n")
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| 47 | printRotm(alvar,"alvar_init_rotm_inv.table") |
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| 48 | #Zeilen vertauschen |
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| 49 | aruco[3,3:8] <- aruco[3,c(6:8,3:5)] |
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| 50 | aruco[103,3:8] <- aruco[103,c(6:8,3:5)] |
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| 51 | cat("ARUCO","\n")
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| 52 | printRotm(aruco,"aruco_init_rotm_inv.table") |
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| 53 | cat("BLENDER","\n")
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| 54 | printRotm(aruco,"blender_init_rotm_inv.table") |