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found potential reasons for why par returns small values, might want to swap to rotate instead of trans on low DOF cases

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Jonathan Bosson
2017-04-14 17:00:46 -06:00
parent 9c6ecdc6d3
commit 4c19391f63
1 changed files with 27 additions and 13 deletions
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40
modules/touch/src/TouchInteraction.cpp
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@@ -100,21 +100,21 @@ 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);
glm::dvec3 newSurfacePoint = T + (Q * surfacePoint);
glm::dvec3 newSurfacePoint = Q * (surfacePoint + T);
glm::dvec2 newScreenPoint = ptr->toScreen(newSurfacePoint, ptr->camera, ptr->node, ptr->aspectRatio); // go back to screen-space
if (x % 2) // return right variable
return newScreenPoint.y;
else
return newScreenPoint.x;
};
// Gradient of func w.r.t par
auto grad = [](double* g, double* par, int x, void* fdata) {
auto grad = [](double* g, double* par, int x, void* fdata) { // should g[i] = 1.0 or the derivative -> project to screen -> .x or .y?
FunctionData* ptr = reinterpret_cast<FunctionData*>(fdata);
// Get current screen point from the id "x".
glm::dvec3 surfacePoint = ptr->selectedPoints.at(x / 2);
// s(xi,q) = toScreen(T + (Q * xi))
// s'(xi,q) =
g[0] = 1.0;
g[1] = 1.0;
std::vector<glm::dvec2> transform;
transform.push_back(ptr->toScreen(glm::dvec3(1.0, 0.0, 0.0), ptr->camera, ptr->node, ptr->aspectRatio)); // Tx
transform.push_back(ptr->toScreen(glm::dvec3(0.0, 1.0, 0.0), ptr->camera, ptr->node, ptr->aspectRatio)); // Ty
@@ -125,6 +125,9 @@ void TouchInteraction::update(const std::vector<TuioCursor>& list, std::vector<P
Q.y = Q.z = 0.0;
Q.w = sqrt(1.0 - Q.x*Q.x);
transform.push_back(ptr->toScreen(Q * surfacePoint, ptr->camera, ptr->node, ptr->aspectRatio)); // Rx
g[2] = 1.0;
g[3] = 1.0;
if (ptr->nDOF > 4) {
Q.y = par[4];
Q.x = Q.z = 0.0;
@@ -135,21 +138,25 @@ void TouchInteraction::update(const std::vector<TuioCursor>& list, std::vector<P
Q.x = Q.y = 0.0;
Q.w = sqrt(1.0 - Q.z*Q.z);
transform.push_back(ptr->toScreen(Q * surfacePoint, ptr->camera, ptr->node, ptr->aspectRatio)); // Rz
g[4] = 1.0;
g[5] = 1.0;
}
}
for (int i = 0; i < ptr->nDOF; ++i) {
/*for (int i = 0; i < ptr->nDOF; ++i) {
if (x % 2)
g[i] = transform.at(i).y;
else
g[i] = transform.at(i).x;
}
}*/
};
SceneGraphNode* node = _selected.at(0).node;
const int nCoord = list.size() * 2;
int nDOF = std::min(nCoord, 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)
par[i] = 0.0;
std::vector<glm::dvec3> selectedPoints;
@@ -187,8 +194,6 @@ void TouchInteraction::update(const std::vector<TuioCursor>& list, std::vector<P
for (int i = 0; i < nDOF; ++i)
temp[i] = par[i];
glm::dmat4 identityMat = glm::mat4(1.0);
glm::dvec3 T = glm::dvec3(temp[0], temp[1], temp[2]);
glm::dquat Q;
Q.x = temp[3]; Q.y = temp[4]; Q.z = temp[5];
@@ -200,10 +205,19 @@ void TouchInteraction::update(const std::vector<TuioCursor>& list, std::vector<P
for (int i = 0; i < nDOF; ++i) {
os << par[i] << ", ";
}
std::cout << "Levmarq success after " << nIterations << ", Print par[nDOF]: " << os.str() << "\n";
std::cout << "Levmarq success after " << nIterations << " iterations, Print par[nDOF]: " << os.str() << "\n";
_camera->rotate(Q);
_camera->setPositionVec3(_camera->positionVec3() + T);
/* Things to test - potential reasons why values are so small
* initial values on par
* redefine grad to be partial derivative (mostly par[3]-par[5])
* change to add rotation on par[0]-par[2] instead
* change lmstat init
*/
_camera->setPositionVec3(_camera->positionVec3() - T);
_camera->rotate(glm::inverse(Q));
// cleanup
delete[] screenPoints;