robotology / superquadric-model

Framework for modeling and visualizing objects through superquadrics
GNU General Public License v2.0
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Add superquadrics deformation #40

Open giuliavezzani opened 5 years ago

giuliavezzani commented 5 years ago

Since a new structure of the code will be provided, it'd worth trying to include also deformations both in the single- and multiple-superquadric modeling. This would require to estimate some extra parameters (for a maximum of 15) during the superquadric fitting. Actually, due to the more complex expressions of the inside-outside function in this case, I think that only the finite-differences implementation will be duable.

pattacini commented 5 years ago

Deformation could be a good addition to consider, although I would rather plain it as an upcoming development to avoid having too many ingredients to cook together.

Regarding the related gradient, it would be nice to have an exhaustive analysis.