testing-framework / R / Bestimmung_Umformungen_Rotm / Bestimmung_Drehrichtungen.r~ @ 1fdee286
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#!/usr/bin/env Rscript |
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#Argumente einlesen |
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args <- commandArgs(TRUE) |
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if(length(args) == 2){
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cat("dateiname=\"",args[1],"\"\n",sep="")
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dateiname <- args[1] |
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cat("vergleichsdatei=\"",args[2],"\"\n",sep="")
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vergleichsdatei <- args[2] |
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}else |
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{
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cat("Fehler: Bitte zwei Dateinamen angeben!","\n")
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quit() |
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} |
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#Einlesen |
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cat("Lese ","/home/jonas/Bachelorarbeit/bart2/",dateiname,"\n",sep="")
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bart <- read.csv(file=paste("/home/jonas/Bachelorarbeit/bart2/",dateiname,sep=""),header=F)
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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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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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cat("Lese ","/home/jonas/Dokumente/Studium/Bachelorarbeit/aruco/aruco-1.2.5/",dateiname,"\n",sep="")
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aruco <- read.csv(file=paste("/home/jonas/Dokumente/Studium/Bachelorarbeit/aruco/aruco-1.2.5/",dateiname,sep=""),header=F)
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cat("Lese ","/home/jonas/Dokumente/Studium/Bachelorarbeit/aruco/aruco-1.2.5/",dateiname,"\n",sep="")
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aruco <- read.csv(file=paste("/home/jonas/Dokumente/Studium/Bachelorarbeit/aruco/aruco-1.2.5/",dateiname,sep=""),header=F)
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cat("Lese ","/home/jonas/Dokumente/Studium/Bachelorarbeit/blender-files/Positions/",vergleichsdatei, sep="")
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blender <- read.csv(file=paste("/home/jonas/Dokumente/Studium/Bachelorarbeit/blender-files/Positions/",vergleichsdatei, sep=""),header=F)
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#Doppelte Zeilen mit identischen Daten entfernen |
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bart <- unique(bart) |
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alvar <- unique(alvar) |
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aruco <- unique(aruco) |
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#Ermittelt die aktuell von fit.r benutzte Rotationsmatrix und gibt sie aus |
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printRotm <- function(liste,pfadInvMat){
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init_mat_table <- read.table(file=pfadInvMat) |
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init_rotm_inv <- matrix(unlist(init_mat_table), ncol=3, nrow=3, byrow=TRUE) |
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matA <- matrix(unlist(liste[3,3:11]),ncol=3,byrow=TRUE) |
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matB <- matA %*% init_rotm_inv |
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print(matB) |
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matA <- matrix(unlist(liste[103,3:11]),ncol=3,byrow=TRUE) |
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matB <- matA %*% init_rotm_inv |
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print(matB) |
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} |
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cat("BART","\n")
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printRotm(bart,"bart_init_rotm_inv.table") |
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cat("ALVAR","\n")
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printRotm(alvar,"alvar_init_rotm_inv.table") |
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#Zeilen vertauschen |
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aruco[3,3:8] <- aruco[3,c(6:8,3:5)] |
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aruco[103,3:8] <- aruco[103,c(6:8,3:5)] |
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cat("ARUCO","\n")
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printRotm(aruco,"aruco_init_rotm_inv.table") |
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cat("BLENDER","\n")
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printRotm(aruco,"blender_init_rotm_inv.table") |
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