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fix misinterpretation on roll, fixed step size in LMA gradient the projectionmatrix caused, fixed infinite spin bug on LMA failure

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This commit is contained in:
Jonathan Bosson
2017-06-06 14:17:53 -06:00
parent de75f783ba
commit d0492b2516
2 changed files with 32 additions and 57 deletions
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modules/touch/include/TouchInteraction.h
+2 -1
View File
@@ -96,7 +96,7 @@ class TouchInteraction : public properties::PropertyOwner
private:
bool guiMode(const std::vector<TUIO::TuioCursor>& list);
void directControl(const std::vector<TUIO::TuioCursor>& list, const std::vector<Point>& lastProcessed);
void directControl(const std::vector<TUIO::TuioCursor>& list);
void findSelectedNode(const std::vector<TUIO::TuioCursor>& list);
int interpretInteraction(const std::vector<TUIO::TuioCursor>& list, const std::vector<Point>& lastProcessed);
void computeVelocities(const std::vector<TUIO::TuioCursor>& list, const std::vector<Point>& lastProcessed);
@@ -122,6 +122,7 @@ class TouchInteraction : public properties::PropertyOwner
properties::FloatProperty _panSpeedThreshold;
properties::FloatProperty _spinSensitivity;
properties::FloatProperty _inputStillThreshold;
properties::FloatProperty _centroidStillThreshold;
properties::FloatProperty _interpretPan;
properties::FloatProperty _slerpTime;
properties::IVec2Property _guiButton;
modules/touch/src/TouchInteraction.cpp
+30 -56
View File
@@ -56,11 +56,11 @@ namespace {
using namespace TUIO;
namespace openspace {
TouchInteraction::TouchInteraction()
: properties::PropertyOwner("TouchInteraction"),
_origin("origin", "Origin", ""),
_unitTest("Click to take a unit test", "Take a unit test saving the LM data into file", false),
_onlyPan("Toggle Panning Mode", "Toggle pan interaction on direct-manipulation three finger case (FOR FEEDBACK)", false), // temp
TouchInteraction::TouchInteraction()
: properties::PropertyOwner("TouchInteraction"),
_origin("origin", "Origin", ""),
_unitTest("Click to take a unit test", "Take a unit test saving the LM data into file", false),
_onlyPan("Toggle Panning Mode", "Toggle pan interaction on direct-manipulation three finger case (FOR FEEDBACK)", false), // temp
_touchActive("TouchEvents", "True if we have a touch event", false, properties::Property::Visibility::Hidden),
_reset("Default Values", "Reset all properties to default", false),
_maxTapTime("Max Tap Time", "Max tap delay (in ms) for double tap", 300, 10, 1000),
@@ -73,10 +73,11 @@ namespace openspace {
_panSpeedThreshold("Activate pan spinning", "Threshold to activate pan spinning in direct-manipulation", 0.0005f, 0.0, 0.01),
_spinSensitivity("Sensitivity of Spinning", "Sensitivity of spinning in direct-manipulation", 1.0f, 0, 2),
_inputStillThreshold("Input still", "Threshold for interpreting input as still", 0.0005f, 0, 0.001),
_centroidStillThreshold("Centroid stationary", "Threshold for stationary centroid", 0.0018f, 0, 0.01), // used to void wrongly interpreted roll interactions
_interpretPan("Pan delta distance", "Delta distance between fingers allowed for interpreting pan interaction", 0.015f, 0, 0.1),
_slerpTime("Time to slerp", "Time to slerp in seconds to new orientation with new node picking", 1, 0, 5),
_guiButton("GUI Button", "GUI button size in pixels.", glm::ivec2(32, 64), glm::ivec2(8, 16), glm::ivec2(128, 256)),
_friction("Friction", "Friction for different interactions (orbit, zoom, roll, pan)", glm::vec4(0.01, 0.02, 0.02, 0.02), glm::vec4(0.0), glm::vec4(0.2)),
_friction("Friction", "Friction for different interactions (orbit, zoom, roll, pan)", glm::vec4(0.01, 0.025, 0.02, 0.02), glm::vec4(0.0), glm::vec4(0.2)),
_vel{ glm::dvec2(0.0), 0.0, 0.0, glm::dvec2(0.0) },
_sensitivity{glm::dvec2(0.0808181818181818, 0.0454545454545455), 4.0, 2.75, glm::dvec2(0.0808181818181818, 0.0454545454545455) },
@@ -100,6 +101,7 @@ namespace openspace {
addProperty(_panSpeedThreshold);
addProperty(_spinSensitivity);
addProperty(_inputStillThreshold);
addProperty(_centroidStillThreshold);
addProperty(_interpretPan);
addProperty(_slerpTime);
addProperty(_guiButton);
@@ -132,7 +134,7 @@ void TouchInteraction::updateStateFromInput(const std::vector<TuioCursor>& list,
if (!guiMode(list)) {
if (_directTouchMode && _selected.size() > 0 && list.size() == _selected.size()) {
directControl(list, lastProcessed);
directControl(list);
}
if (_lmSuccess) {
findSelectedNode(list);
@@ -172,7 +174,7 @@ bool TouchInteraction::guiMode(const std::vector<TuioCursor>& list) {
}
// Sets _vel to update _camera according to direct-manipulation (L2 error)
void TouchInteraction::directControl(const std::vector<TuioCursor>& list, const std::vector<Point>& lastProcessed) {
void TouchInteraction::directControl(const std::vector<TuioCursor>& list) {
// Reset old velocities upon new interaction
_vel.orbit = glm::dvec2(0.0, 0.0);
_vel.zoom = 0.0;
@@ -253,25 +255,7 @@ void TouchInteraction::directControl(const std::vector<TuioCursor>& list, const
double scale = log10(ptr->node->boundingSphere()); // scale value to find minimum step size h, dependant on planet size
std::vector<double> dPar(ptr->nDOF, 0.0);
dPar.assign(par, par + ptr->nDOF);
/*
Paper:
p = h(Vx)
* p = position in screen space
* x = position in world space
* V = projection * worldToCam
* h = redefine to 2D = [x/w,y/w]
Mine:
p = h * projection * worldToCam * x
worldToCam contains the parameter q
h'(x) = [1/w, 0
0, 1/w
0, 0
-x/w2, -y/w2]
J = h'(projection * worldToCam * x) * d(Vx)/d(q)
p = Jq - linear function of q even though its nonlinear
*/
for (int i = 0; i < ptr->nDOF; ++i) {
h = 1e-8;
lastG = 1;
@@ -283,12 +267,13 @@ void TouchInteraction::directControl(const std::vector<TuioCursor>& list, const
// scale up to get a good initial guess value
h *= scale * scale * scale;
// find optimal h
// clamp max step size to a fraction of the incoming parameter
if (i == 2) {
h = std::max(std::abs(dPar.at(i)) / 1e4, h); // choose zoom step size dependant on incoming zoom parameter
double epsilon = 1e-4;
h = std::max(std::max(std::abs(dPar.at(i)), epsilon) * 0.01, h); // make sure incoming parameter is larger than 0
}
else if (ptr->nDOF == 2) {
h = std::max(std::abs(dPar.at(i)) * 0.01, h); // make sure the angle step size isnt smaller than a fraction of the incoming parameter for 1 finger
h = std::max(std::abs(dPar.at(i)) * 0.001, h);
}
// calculate f1 with good h for finite difference
@@ -309,7 +294,6 @@ void TouchInteraction::directControl(const std::vector<TuioCursor>& list, const
dPar.at(i) = par[i];
}
g[i] = (f1 - f0) / h;
//std::cout << "h(" << i << "): " << h << ", g(" << i << "): " << g[i] << "\n";
}
if (ptr->nDOF == 2) { // normalize on 1 finger case to allow for horizontal/vertical movement
for (int i = 0; i < 2; ++i) {
@@ -318,11 +302,12 @@ void TouchInteraction::directControl(const std::vector<TuioCursor>& list, const
}
else if (ptr->nDOF == 6) {
for (int i = 0; i < ptr->nDOF; ++i) { // lock to only pan and zoom on 3 finger case
g[i] = (i == 2) ? g[i] : g[i] / std::abs(g[i]); // no zoom, weird roll sometimes, otherwise only pan
g[i] = (i == 2) ? g[i] : g[i] / std::abs(g[i]);
}
}
};
// project back a 3D point in model view to clip space [-1,1] coordinates on the view plane
auto castToNDC = [](glm::dvec3 vec, Camera& camera, SceneGraphNode* node) {
glm::dvec3 posInCamSpace = glm::inverse(camera.rotationQuaternion())
* ((node->rotationMatrix() * vec) + (node->worldPosition() - camera.positionVec3()) );
@@ -333,26 +318,9 @@ void TouchInteraction::directControl(const std::vector<TuioCursor>& list, const
const int nFingers = list.size();
int nDOF = std::min(nFingers * 2, 6);
std::vector<double> par(nDOF, 0.0); // use _lastVel,
// check if zoom direction has changed
/*double distance = std::accumulate(list.begin(), list.end(), 0.0, [&](double d, const TuioCursor& c) {
return d + c.getDistance(_centroid.x, _centroid.y);
}) / list.size();
double lastDistance = std::accumulate(lastProcessed.begin(), lastProcessed.end(), 0.0f, [&](float d, const Point& p) {
return d + p.second.getDistance(_centroid.x, _centroid.y);
}) / lastProcessed.size();*/
par.at(0) = _lastVel.orbit.x;
std::vector<double> par(nDOF, 0.0);
par.at(0) = _lastVel.orbit.x; // use _lastVel for orbit
par.at(1) = _lastVel.orbit.y;
if (nDOF > 2) {
par.at(2) = _lastVel.zoom; //((distance < lastDistance && _lastVel.zoom < 0.0) || (distance > lastDistance && _lastVel.zoom > 0.0)) ? _lastVel.zoom : -_lastVel.zoom;
par.at(3) = _lastVel.roll;
if (nDOF > 4) {
par.at(4) = _lastVel.pan.x;
par.at(5) = _lastVel.pan.y;
}
}
std::vector<glm::dvec3> selectedPoints;
std::vector<glm::dvec2> screenPoints;
@@ -366,8 +334,6 @@ void TouchInteraction::directControl(const std::vector<TuioCursor>& list, const
void* dataPtr = reinterpret_cast<void*>(&fData);
_lmSuccess = levmarq(nDOF, par.data(), nFingers, NULL, distToMinimize, gradient, dataPtr, &_lmstat); // finds best transform values and stores them in par
// debug
//std::cout << "Levmarq success after " << _lmstat.final_it << " iterations\n";
if (_lmSuccess && !_unitTest) { // if good values were found set new camera state
@@ -389,6 +355,9 @@ void TouchInteraction::directControl(const std::vector<TuioCursor>& list, const
_vel.roll = 0.0;
_vel.pan = glm::dvec2(0.0, 0.0);
}
else { // prevents touch to infinitely be active (due to windows bridge case where event doesnt get consumed)
OnScreenGUIModule::touchInput = { 1, glm::dvec2(0.0, 0.0), 1 };
}
}
// Traces the touch input into the scene and finds the surface coordinates of touched planets (if occuring)
@@ -448,13 +417,16 @@ void TouchInteraction::findSelectedNode(const std::vector<TuioCursor>& list) {
//debugging
/*for (auto it : newSelected) {
std::cout << it.node->name() << " hit with cursor " << it.id << ". Surface Coordinates: " << glm::to_string(it.coordinates) << "\n";
std::cout << it.node->name() << " hit with cursor " << it.id << ". Surface Coordinates: " << glm::to_string(it.coordinates)
<< "\n";
}*/
}
// Interprets the input gesture to a specific interaction
int TouchInteraction::interpretInteraction(const std::vector<TuioCursor>& list, const std::vector<Point>& lastProcessed) {
//ghoul_precondition(!list.empty(), "List must not be empty");
glm::dvec3 lastCentroid = _centroid;
_centroid.x = std::accumulate(list.begin(), list.end(), 0.0f, [](double x, const TuioCursor& c) { return x + c.getX(); }) / list.size();
_centroid.y = std::accumulate(list.begin(), list.end(), 0.0f, [](double y, const TuioCursor& c) { return y + c.getY(); }) / list.size();
@@ -514,7 +486,8 @@ int TouchInteraction::interpretInteraction(const std::vector<TuioCursor>& list,
if (std::abs(dist - lastDist) / list.at(0).getMotionSpeed() < _interpretPan && list.size() == 3) { // if distance between fingers is constant we have panning
return PAN;
}
else if (std::abs(minDiff) < _inputStillThreshold || std::abs(rollOn) < 100.0) { // if one finger is 'still' (epsilon) and another moving, we have roll
// we have roll if one finger is still, or the total roll angles around the centroid is over _rollAngleThreshold (_centroidStillThreshold is used to void misinterpretations)
else if (std::abs(minDiff) < _inputStillThreshold || (std::abs(rollOn) < 100.0 && glm::distance(_centroid, lastCentroid) / list.size() < _centroidStillThreshold)) {
return ROLL; // also interpret if angles are high
}
else {
@@ -702,7 +675,7 @@ void TouchInteraction::unitTest() {
// call update
findSelectedNode(lastFrame);
//directControl(currFrame);
directControl(currFrame);
// save lmstats.data into a file and clear it
char buffer[32];
@@ -789,10 +762,11 @@ void TouchInteraction::resetToDefault() {
_panSpeedThreshold.set(0.004f);
_spinSensitivity.set(1.0f);
_inputStillThreshold.set(0.0005f);
_centroidStillThreshold.set(0.0018f);
_interpretPan.set(0.015f);
_slerpTime.set(1.0f);
_guiButton.set(glm::ivec2(32, 64));
_friction.set(glm::vec4(0.01, 0.02, 0.02, 0.02));
_friction.set(glm::vec4(0.01, 0.025, 0.02, 0.02));
}
void TouchInteraction::tap() {