## ----include = FALSE---------------------------------------------------------- knitr::opts_chunk$set( collapse = TRUE, comment = "#>", fig.align = "center" ) ## ----setup-------------------------------------------------------------------- library(araponga) ## ----------------------------------------------------------------------------- plot.angles(45, type = "pitch") ## ----------------------------------------------------------------------------- plot.angles(-80, type = "yaw") ## ----------------------------------------------------------------------------- plot.angles(-15, type = "view_elevation") ## ----echo=FALSE, out.width="80%", fig.cap="Male bare-throated bellbird singing in Brazil."---- knitr::include_graphics("figures/bellbird.png") ## ----------------------------------------------------------------------------- # upper tip x_ut <- -718.5216072 y_ut <- -78.5485277 # upper base x_ub <- -782.5250905 y_ub <- -105.2195211 # lower tip x_lt <- -689.0089234 y_lt <- -210.4188121 # lower base x_lb <- -751.2784311 y_lb <- -178.5397719 ## ----------------------------------------------------------------------------- upper_p2d <- pitch2d.from.xy(x_ut, y_ut, x_ub, y_ub, plot = TRUE) ## ----------------------------------------------------------------------------- cat(upper_p2d) ## ----eval = FALSE------------------------------------------------------------- # upper_pitch <- find.pitch(upper_p2d, # candidate_view_elevations = 0, # candidate_yaws = 0, # label_error = 1) ## ----echo = FALSE------------------------------------------------------------- # "find" functions aren't CRAN-friendly upper_pitch <- 21:24 ## ----------------------------------------------------------------------------- upper_pitch plot.angles(upper_pitch, "pitch") ## ----eval = FALSE------------------------------------------------------------- # upper_pitch <- find.pitch(upper_p2d, # label_error = 1) ## ----echo = FALSE------------------------------------------------------------- upper_pitch <- -89:89 ## ----------------------------------------------------------------------------- upper_pitch plot.angles(upper_pitch, "pitch") ## ----------------------------------------------------------------------------- measured_elevation <- -34.2 plot.angles(measured_elevation, type = "view_elevation", main = "measured view elevation") ## ----eval = FALSE------------------------------------------------------------- # upper_pitch <- find.pitch(upper_p2d, # candidate_view_elevations = measured_elevation, # label_error = 1) ## ----echo = FALSE------------------------------------------------------------- upper_pitch <- -33:41 ## ----------------------------------------------------------------------------- upper_pitch plot.angles(upper_pitch, "pitch") ## ----------------------------------------------------------------------------- assumed_yaw <- -45:0 plot.angles(assumed_yaw, type = "yaw", labels = TRUE, main = "assumed yaw range") ## ----eval = FALSE------------------------------------------------------------- # upper_pitch <- find.pitch(upper_p2d, # candidate_view_elevations = measured_elevation, # candidate_yaws = assumed_yaw, # label_error = 1) ## ----echo = FALSE------------------------------------------------------------- upper_pitch <- -8:29 ## ----------------------------------------------------------------------------- upper_pitch plot.angles(upper_pitch, "pitch") ## ----eval = FALSE------------------------------------------------------------- # lower_p2d <- pitch2d.from.xy(x_lt, y_lt, x_lb, y_lb) # # lower_pitch <- find.pitch(lower_p2d, # candidate_view_elevations = measured_elevation, # candidate_yaws = assumed_yaw, # label_error = 1) ## ----echo = FALSE------------------------------------------------------------- lower_pitch <- -43:-30 ## ----------------------------------------------------------------------------- lower_pitch ## ----------------------------------------------------------------------------- plot.angles(upper_pitch, "pitch") plot.angles(lower_pitch, "pitch", add = TRUE) ## ----------------------------------------------------------------------------- gapes <- sort(unique(as.vector(outer(upper_pitch, lower_pitch, "-")))) gapes ## ----eval = FALSE------------------------------------------------------------- # upper_pitch_paired <- find.pitch(upper_p2d, # candidate_view_elevations = measured_elevation, # candidate_yaws = assumed_yaw, # label_error = 1, # paired = TRUE) # # lower_pitch_paired <- find.pitch(lower_p2d, # candidate_view_elevations = measured_elevation, # candidate_yaws = assumed_yaw, # label_error = 1, # paired = TRUE) ## ----eval = FALSE------------------------------------------------------------- # all_yaws <- unique(c(upper_pitch_paired$yaw, lower_pitch_paired$yaw)) # # per_yaw_gapes <- NULL # for(y in all_yaws){ # # rel_upper_pitch <- upper_pitch_paired$pitch[upper_pitch_paired$yaw == y] # rel_lower_pitch <- lower_pitch_paired$pitch[lower_pitch_paired$yaw == y] # per_yaw_gapes <- c(per_yaw_gapes, # unique(as.vector(outer(rel_upper_pitch, rel_lower_pitch,"-")))) # } # # per_yaw_gapes <- sort(unique(per_yaw_gapes)) ## ----echo = FALSE------------------------------------------------------------- per_yaw_gapes <- 34:63 ## ----------------------------------------------------------------------------- per_yaw_gapes ## ----eval = FALSE------------------------------------------------------------- # upper_yaw <- find.yaw(upper_p2d, # candidate_view_elevations = measured_elevation, # candidate_pitches = -20:90, # label_error = 1) ## ----echo = FALSE------------------------------------------------------------- upper_yaw <- c(-64:80, 83:84, 87) ## ----------------------------------------------------------------------------- upper_yaw plot.angles(upper_yaw, "yaw") ## ----eval = FALSE------------------------------------------------------------- # lower_yaw <- find.yaw(lower_p2d, # candidate_view_elevations = measured_elevation, # candidate_pitches = -90:20, # label_error = 1) ## ----echo = FALSE------------------------------------------------------------- lower_yaw <- c(-85, -82, -80:-78, -76:67) ## ----------------------------------------------------------------------------- lower_yaw plot.angles(lower_yaw, "yaw") ## ----------------------------------------------------------------------------- both_yaw <- intersect(lower_yaw, upper_yaw) plot.angles(both_yaw, "yaw") ## ----eval = FALSE------------------------------------------------------------- # upper_yaw_paired <- find.yaw(upper_p2d, # candidate_view_elevations = measured_elevation, # candidate_pitches = -20:90, # label_error = 1, # paired = TRUE) # # lower_yaw_paired <- find.yaw(lower_p2d, # candidate_view_elevations = measured_elevation, # candidate_pitches = -90:20, # label_error = 1, # paired = TRUE) # # max_gape_per_yaw <- data.frame(yaw = both_yaw, # gape = NA) # # for(i in seq_along(max_gape_per_yaw$yaw)){ # rel_yaw <- max_gape_per_yaw$yaw[i] # # rel_upper_pitch <- upper_yaw_paired$pitch[upper_yaw_paired$yaw == rel_yaw] # rel_lower_pitch <- lower_yaw_paired$pitch[lower_yaw_paired$yaw == rel_yaw] # # max_gape_per_yaw$gape[i] <- max(outer(rel_upper_pitch, rel_lower_pitch, "-")) # } ## ----echo = FALSE------------------------------------------------------------- max_gape_per_yaw <- data.frame(yaw = both_yaw, gape = 10) ## ----------------------------------------------------------------------------- yaw <- max_gape_per_yaw$yaw[max_gape_per_yaw$gape >= 0] any(max_gape_per_yaw$gape < 0) ## ----------------------------------------------------------------------------- next_frame_yaw <- -50:90 ## ----------------------------------------------------------------------------- # red = excluded; green = retained trimmed <- trim.yaws(ccw_yaws = yaw, cw_yaws = next_frame_yaw, min_sep = 0, max_sep = 90, plot = TRUE) yaw <- trimmed$trimmed_ccw_yaws next_frame_yaw <- trimmed$trimmed_cw_yaws ## ----------------------------------------------------------------------------- # view elevation measured as -30 degrees, allowed ±5 degrees measurement error candidate_view_elevations = -35:-25 ## ----------------------------------------------------------------------------- # camera approximately level with the object candidate_view_elevations = -20:20 # object approximately side-on facing left candidate_yaws = c(-160:-179, 160:180) # object generally facing the camera candidate_yaws = -120:-60 ## ----------------------------------------------------------------------------- # structure cannot realistically point downward candidate_pitches = 0:90 # lower mandible of a bird opening mostly downward candidate_pitches = -90:20