private Circle3 SolveTopCircle()
{
// Camera
Vector3 eyePos = m_projector.m_mainCamera.transform.position;
// Step 1: Find Long Axis and short Axis
// long Axis: majorendp majorstartp
// Short Axis: minorendp minorstartp
// Step 2: Set radius, Center & two point on Long Axis
float dist_c = 10;
Vector2 c_2d = (majorstartp + majorendp) / 2;
Vector3 c = eyePos + dist_c / m_projector.GenerateRay(c_2d).direction.z *m_projector.GenerateRay(c_2d).direction;
majorstartp3 = eyePos + dist_c / m_projector.GenerateRay(majorstartp).direction.z *m_projector.GenerateRay(majorstartp).direction;
majorendp3 = eyePos + dist_c / m_projector.GenerateRay(majorendp).direction.z *m_projector.GenerateRay(majorendp).direction;
float radius = Vector3.Distance(majorstartp3, majorendp3) / 2;
// Step 3: Get Project Ray from end point of short Axis
minorstartp3 = IExtension.RayHitShpere(eyePos, m_projector.GenerateRay(minorstartp).direction, c, (double)radius);
// Step 4: Get one from two results
// chenxin to be improved
// Step 5: Use 3 points to get Circle Plane, then this Circle
return(new Circle3(c, radius, new Plane(majorstartp3, majorendp3, minorstartp3), boundary2.Count));
}
public void Optimize_allRects()
{
// Init FOV
float fov_aver = 0;
foreach (var fe in m_FEs)
{
fov_aver = fe.fov_face;
}
fov_aver /= m_FEs.Count;
m_engine.m_fovOptimizer.SetFOV(fov_aver);
float fov_init = m_projector.m_mainCamera.fieldOfView;
// Count rect engines
foreach (var fe in m_FEs)
{
if (!fe.isTopCircle_Current)
{
REs.Add(fe);
}
}
// Params Prepare
//foreach (var re in rectEngines) corners_list.Add(re.corner_points);
int params_num = 4 * REs.Count + 1;
double[] bndl = new double[params_num];
double[] x = new double[params_num];
double[] bndu = new double[params_num];
for (int i = 0; i < REs.Count; i++)
{
bndl[4 * i] = 0;
bndl[4 * i + 1] = 0;
bndl[4 * i + 2] = 0;
bndl[4 * i + 3] = 0;
x[4 * i] = REs[i].x0;
x[4 * i + 1] = REs[i].x1;
x[4 * i + 2] = REs[i].x2;
x[4 * i + 3] = REs[i].x3;
bndu[4 * i] = 20;
bndu[4 * i + 1] = 20;
bndu[4 * i + 2] = 20;
bndu[4 * i + 3] = 20;
}
bndl[params_num - 1] = 1 / fov_optimal_scale;
x[params_num - 1] = fov_aver / fov_optimal_scale;
bndu[params_num - 1] = 179 / fov_optimal_scale;
int funNum = 11;
double diffstep = 0.0001;
double epsg = 0.000000000001;
double epsf = 0;
double epsx = 0;
int maxits = 0;
alglib.minlmstate state;
alglib.minlmreport rep;
//set timer
System.Diagnostics.Stopwatch stopwatch = new System.Diagnostics.Stopwatch();
stopwatch.Start();
Inter_Num = 0;
alglib.minlmcreatev(funNum, x, diffstep, out state);
alglib.minlmsetbc(state, bndl, bndu);
alglib.minlmsetcond(state, epsg, epsf, epsx, maxits);
alglib.minlmoptimize(state, function_multi, null, null);
alglib.minlmresults(state, out x, out rep);
stopwatch.Stop();
if (!m_engine.m_is_quiet)
{
Debug.Log("End fitting , Total time:" + stopwatch.ElapsedMilliseconds / 1000.0 + "s");
}
m_engine.m_fovOptimizer.SetFOV((float)x[x.Length - 1] * fov_optimal_scale);
for (int i = 0; i < REs.Count; i++)
{
Ray ray1 = m_projector.GenerateRay(REs[i].corner_points[0]);
Ray ray2 = m_projector.GenerateRay(REs[i].corner_points[1]);
Ray ray3 = m_projector.GenerateRay(REs[i].corner_points[2]);
Ray ray4 = m_projector.GenerateRay(REs[i].corner_points[3]);
Vector3 v1_3 = ray1.GetPoint((float)x[4 * i]);
Vector3 v2_3 = ray2.GetPoint((float)x[4 * i + 1]);
Vector3 v3_3 = ray3.GetPoint((float)x[4 * i + 2]);
Vector3 v4_3 = ray4.GetPoint((float)x[4 * i + 3]);
// project to a new plane
List <Vector3> points = new List <Vector3>();
points.Add(v1_3);
points.Add(v2_3);
points.Add(v3_3);
points.Add(v4_3);
Vector3 mean = v1_3 + v2_3 + v3_3 + v4_3;
mean /= 4;
Vector3 normal = Utility.GetNormal(points);
Plane newplane = new Plane(normal, mean);
v1_3 = Utility.PlaneProjectPoint(newplane, v1_3);
v2_3 = Utility.PlaneProjectPoint(newplane, v2_3);
v3_3 = Utility.PlaneProjectPoint(newplane, v3_3);
v4_3 = Utility.PlaneProjectPoint(newplane, v4_3);
REs[i].topRect = new Quad(v1_3, v2_3, v3_3);
REs[i].topRect.FitRect();
m_renderEngine.DrawRect3(REs[i].topRect, Color.green);
m_renderEngine.DrawLine(REs[i].topRect.Center, REs[i].topRect.Center + 2 * REs[i].topRect.Normal, Color.blue);
if (!m_engine.m_is_quiet)
{
Debug.Log("angle: " + Vector3.Angle(REs[i].topRect.CornerPoints3d[0] - REs[i].topRect.CornerPoints3d[1], REs[i].topRect.CornerPoints3d[2] - REs[i].topRect.CornerPoints3d[1]));
}
}
}