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Levmarq gives right q values, need to transform them to camera space correctly

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This commit is contained in:
Jonathan Bosson
2017-04-20 15:22:53 -06:00
parent 099c343693
commit 0542e7cef5
4 changed files with 26 additions and 32 deletions
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2
ext/ghoul

Submodule ext/ghoul updated: c37ff8beb5...200401261c

4
modules/touch/ext/levmarq.cpp
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@@ -30,7 +30,7 @@ OTHER DEALINGS IN THE SOFTWARE.
// set parameters required by levmarq() to default values
void levmarq_init(LMstat *lmstat) {
lmstat->verbose = 1;
lmstat->verbose = 0;
lmstat->max_it = 5000;
lmstat->init_lambda = 1e-6;
lmstat->up_factor = 10;
@@ -102,7 +102,7 @@ int levmarq(int npar, double *par, int ny, double* y, double *dysq,
weight = 1/dysq[x]; // for weighted least-squares
grad(g, par, x, fdata);
for (i = 0; i < npar; i++) {
d[i] += (y[i] - func(par, x, fdata)) * g[i] * weight; //(y[x] - func(par, x, fdata)) * g[i] * weight;
d[i] += (0.0 - func(par, x, fdata)) * g[i] * weight; //(y[x] - func(par, x, fdata)) * g[i] * weight;
for (j = 0; j <= i; j++)
h[i][j] += g[i] * g[j] * weight;
}

50
modules/touch/src/TouchInteraction.cpp
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@@ -101,7 +101,11 @@ void TouchInteraction::update(const std::vector<TuioCursor>& list, std::vector<P
}
Q.w = sqrt(1.0 - std::min(glm::length(Q), 0.99999)); // if check is not done Q.w becomes NAN. Do we need a better definition of Q.w?
glm::dvec3 newSurfacePoint = (Q * selectedPoint) + T;
glm::dmat4 rot = glm::toMat4(Q);
glm::dmat4 trans = glm::translate(glm::dmat4(1.0f), T);
glm::dmat4 final = rot * trans;
glm::dvec3 newSurfacePoint = final * glm::dvec4(selectedPoint, 1.0); // maybe opposite, maybe use Quat as par 0-2
glm::dvec2 newScreenPoint = ptr->toScreen(newSurfacePoint, ptr->camera, ptr->node, ptr->aspectRatio);
return glm::length(ptr->screenPoints.at(x) - newScreenPoint);
@@ -127,7 +131,7 @@ void TouchInteraction::update(const std::vector<TuioCursor>& list, std::vector<P
SceneGraphNode* node = _selected.at(0).node;
const int nFingers = list.size();
int nDOF = std::min(static_cast<int>(list.size() * 2), 6);
int nDOF = std::min(nFingers * 2, 6);
double* par = new double[nDOF];
double tPar[6] = { node->worldPosition().x, node->worldPosition().y, node->worldPosition().z, 0.0, 0.0, 0.0 };
for (int i = 0; i < nDOF; ++i) // initial values of q or 0.0? (ie current model or no rotation/translation)
@@ -146,23 +150,6 @@ void TouchInteraction::update(const std::vector<TuioCursor>& list, std::vector<P
squaredError[i] = err;
}
auto toSurface = [](glm::dvec2 screenPoint, Camera* camera, SceneGraphNode* node, double aspectRatio) {
// Find the intersection point in surface coordinates again;
glm::dvec3 camPos = camera->positionVec3();
double xCo = 2 * (screenPoint.x - 0.5) * aspectRatio;
double yCo = -2 * (screenPoint.y - 0.5); // normalized -1 to 1 coordinates on screen
glm::dvec3 raytrace = glm::normalize(camera->rotationQuaternion() * glm::dvec3(xCo, yCo, -3.2596558));
glm::dvec3 camToSelectable = node->worldPosition() - camPos;
double boundingSphere = node->boundingSphere();
double d = glm::dot(raytrace, camToSelectable);
double root = boundingSphere * boundingSphere - glm::dot(camToSelectable, camToSelectable) + d * d;
if (root > 0) // two intersection points (take the closest one)
d -= sqrt(root);
glm::dvec3 intersectionPoint = camPos + d * raytrace;
return (glm::inverse(node->rotationMatrix()) * (intersectionPoint - node->worldPosition()));
};
auto toScreen = [](glm::dvec3 vec, Camera* camera, SceneGraphNode* node, double aspectRatio) {
glm::dvec3 backToScreenSpace = glm::inverse(camera->rotationQuaternion())
* glm::normalize(((node->rotationMatrix() * vec) + node->worldPosition() - camera->positionVec3()));
@@ -171,7 +158,7 @@ void TouchInteraction::update(const std::vector<TuioCursor>& list, std::vector<P
};
glm::dvec2 res = OsEng.windowWrapper().currentWindowResolution();
FunctionData fData = { selectedPoints, screenPoints, nDOF, toScreen, distToMinimize, _camera, node, res.x / res.y};
FunctionData fData = { selectedPoints, screenPoints, nDOF, toScreen, distToMinimize, _camera, node, res.x / res.y };
void* dataPtr = reinterpret_cast<void*>(&fData);
levmarq_init(&_lmstat);
@@ -187,15 +174,22 @@ void TouchInteraction::update(const std::vector<TuioCursor>& list, std::vector<P
double len = Q.x*Q.x + Q.y*Q.y + Q.z*Q.z;
Q.w = sqrt(1.0 - len);
// debugging
std::ostringstream os;
for (int i = 0; i < nDOF; ++i) {
os << par[i] << ", ";
}
std::cout << "\nLevmarq success after " << nIterations << " iterations, Print par[nDOF]: " << os.str() << "\n";
_camera->setPositionVec3(_camera->positionVec3() - T);
//_camera->rotate(glm::inverse(Q));
glm::dmat4 rot = glm::toMat4(Q);
glm::dmat4 trans = glm::translate(glm::dmat4(1.0f), T);
glm::dmat4 finalTransform = (static_cast<glm::dmat4>(node->rotationMatrix()) * (rot * trans));
// newWorldPoint = node->rotationMatrix() * ((M(q) * selectedPoint)) (+ node->worldPosition())
glm::dquat camQ = glm::inverse(Q);
glm::dvec3 camT = glm::dvec3(finalTransform[3][0], finalTransform[3][1], finalTransform[3][2]); //node->rotationMatrix() * T;
//_camera->rotate(camQ);
_camera->setPositionVec3(_camera->positionVec3() - camT);
// debugging
std::cout << "Levmarq success after " << nIterations << " iterations. Camera T: " << glm::to_string(camT) << ", Q: " << glm::to_string(camQ) << ", " << glm::to_string(finalTransform) << "\n";
// cleanup
delete[] squaredError;

2
openspace.cfg
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@@ -26,7 +26,7 @@ return {
-- Sets the scene that is to be loaded by OpenSpace. A scene file is a description
-- of all entities that will be visible during an instance of OpenSpace
Scene = "${SCENE}/default.scene",
Scene = "${SCENE}/globebrowsing.scene",
-- Scene = "${SCENE}/globebrowsing.scene",
-- Scene = "${SCENE}/rosetta.scene",
-- Scene = "${SCENE}/dawn.scene",