mirror/OpenSpace
1
0
Fork 0
mirror of https://github.com/OpenSpace/OpenSpace.git synced 2026-05-12 22:39:09 -05:00
Code Issues Packages Projects Releases Wiki Activity

improvement on unit test

Browse Source
This commit is contained in:
Jonathan Bosson
2017-05-11 16:45:36 -06:00
parent cb3e31212a
commit 00ce0dd56f
4 changed files with 64 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/touch/ext/levmarq.cpp
+46 -14
View File
@@ -58,8 +58,8 @@ Before calling levmarq, several of the parameters in lmstat must be set.
For default values, call levmarq_init(lmstat).
*/
bool levmarq(int npar, double *par, int ny, double *dysq,
double (*func)(double *, int, void *),
void (*grad)(double *, double *, int, void *),
double (*func)(double *, int, void *, LMstat*),
void (*grad)(double *, double *, int, void *, LMstat*),
void *fdata, LMstat *lmstat) {
int x, i, j, it, nit, ill;
@@ -89,11 +89,36 @@ bool levmarq(int npar, double *par, int ny, double *dysq,
derr = newerr = 0; // to avoid compiler warnings
if (verbose) {
data = "it,err,derr,q,g,d\n";
std::ostringstream qs, gs, ds, ps, oss;
for (int i = 0; i < npar; ++i) {
qs << "q" << i;
gs << "g" << i;
ds << "q" << i;
if (i + 1 < npar) {
qs << ",";
gs << ",";
ds << ",";
}
}
int k = 1;
for (int i = 0; i < ny; ++i) {
for (int j = 0; j < ny; ++j) {
ps << "pos" << i << j;
if (j + 1 < ny) {
ps << ",";
}
}
if (i + 1 < ny) {
ps << ",";
}
}
oss << "it,err,derr," << qs.str() << "," << gs.str() << "," << ds.str() << "," << ps.str() << "\n";
data = oss.str();
}
// calculate the initial error ("chi-squared")
err = error_func(par, ny, dysq, func, fdata);
lmstat->pos.clear();
err = error_func(par, ny, dysq, func, fdata, lmstat);
// main iteration
for (it = 0; it < nit; it++) {
@@ -106,9 +131,9 @@ bool levmarq(int npar, double *par, int ny, double *dysq,
for (x = 0; x < ny; x++) {
if (dysq)
weight = 1/dysq[x]; // for weighted least-squares
grad(g, par, x, fdata);
grad(g, par, x, fdata, lmstat);
for (i = 0; i < npar; i++) {
d[i] += (0.0 - func(par, x, fdata)) * g[i] * weight; //(y[x] - func(par, x, fdata)) * g[i] * weight;
d[i] += (0.0 - func(par, x, fdata, lmstat)) * 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;
}
@@ -124,7 +149,8 @@ bool levmarq(int npar, double *par, int ny, double *dysq,
solve_axb_cholesky(npar, ch, delta, d);
for (i = 0; i < npar; i++)
newpar[i] = par[i] + delta[i];
newerr = error_func(newpar, ny, dysq, func, fdata);
lmstat->pos.clear();
newerr = error_func(newpar, ny, dysq, func, fdata, lmstat);
derr = newerr - err;
ill = (derr > 0);
}
@@ -135,18 +161,24 @@ bool levmarq(int npar, double *par, int ny, double *dysq,
}
printf("\n");*/
std::ostringstream gString, qString, dString, os;
std::ostringstream gString, qString, dString, pString, os;
for (int i = 0; i < npar; ++i) {
gString << g[i];
qString << par[i];
dString << d[i];
if (i + 1 < npar) {
gString << " ";
qString << " ";
dString << " ";
gString << ",";
qString << ",";
dString << ",";
}
}
os << it << "," << err << "," << derr << "," << qString.str() << "," << gString.str() << "," << dString.str() << "\n";
for (int i = 0; i < ny; ++i) {
pString << lmstat->pos.at(i).x << "," << lmstat->pos.at(i).y;
if (i + 1 < ny) {
pString << ",";
}
}
os << it << "," << err << "," << derr << "," << qString.str() << "," << gString.str() << "," << dString.str() << "," << pString.str() << "\n";
data.append(os.str());
}
if (ill) {
@@ -187,12 +219,12 @@ bool levmarq(int npar, double *par, int ny, double *dysq,
// calculate the error function (chi-squared)
double error_func(double *par, int ny, double *dysq,
double (*func)(double *, int, void *), void *fdata) {
double (*func)(double *, int, void *, LMstat*), void *fdata, LMstat *lmstat) {
int x;
double res, e = 0;
for (x = 0; x < ny; x++) {
res = func(par, x, fdata);
res = func(par, x, fdata, lmstat);
if (dysq) // weighted least-squares
e += res*res/dysq[x];
else
modules/touch/ext/levmarq.h
+6 -3
View File
@@ -25,10 +25,13 @@ OTHER DEALINGS IN THE SOFTWARE.
*/
#include <iostream>
#include <sstream>
#include <vector>
#include <glm/glm.hpp>
typedef struct {
bool verbose;
std::string data;
std::vector<glm::dvec2> pos;
int max_it;
double init_lambda;
double up_factor;
@@ -42,12 +45,12 @@ typedef struct {
void levmarq_init(LMstat *lmstat);
bool levmarq(int npar, double *par, int ny, double *dysq,
double (*func)(double *, int, void *),
void (*grad)(double *, double *, int, void *),
double (*func)(double *, int, void *, LMstat*),
void (*grad)(double *, double *, int, void *, LMstat*),
void *fdata, LMstat *lmstat);
double error_func(double *par, int ny, double *dysq,
double (*func)(double *, int, void *), void *fdata);
double (*func)(double *, int, void *, LMstat*), void *fdata, LMstat* lmstat);
void solve_axb_cholesky(int n, double** l, double* x, double* b);
modules/touch/include/TouchInteraction.h
+2 -1
View File
@@ -71,10 +71,11 @@ struct FunctionData {
std::vector<glm::dvec2> screenPoints;
int nDOF;
glm::dvec2(*castToNDC)(glm::dvec3, Camera&, SceneGraphNode*, double);
double(*distToMinimize)(double* par, int x, void* fdata);
double(*distToMinimize)(double* par, int x, void* fdata, LMstat* lmstat);
Camera* camera;
SceneGraphNode* node;
double aspectRatio;
LMstat stats;
};
#define ROT 0
modules/touch/src/TouchInteraction.cpp
+10 -8
View File
@@ -164,7 +164,7 @@ bool TouchInteraction::gui(const std::vector<TuioCursor>& list) {
// Sets _vel to update _camera according to direct-manipulation (L2 error)
void TouchInteraction::manipulate(const std::vector<TuioCursor>& list) {
// Returns the screen point s(xi,par) dependant the transform M(par) and object point xi
auto distToMinimize = [](double* par, int x, void* fdata) {
auto distToMinimize = [](double* par, int x, void* fdata, LMstat* lmstat) {
FunctionData* ptr = reinterpret_cast<FunctionData*>(fdata);
// Apply transform to camera and find the new screen point of the updated camera state
@@ -228,13 +228,13 @@ void TouchInteraction::manipulate(const std::vector<TuioCursor>& list) {
// we now have a new position and orientation of camera, project surfacePoint to the new screen to get distance to minimize
glm::dvec2 newScreenPoint = ptr->castToNDC(ptr->selectedPoints.at(x), cam, ptr->node, ptr->aspectRatio);
lmstat->pos.push_back(newScreenPoint);
return glm::length(ptr->screenPoints.at(x) - newScreenPoint);
};
// Gradient of distToMinimize w.r.t par (using forward difference)
auto gradient = [](double* g, double* par, int x, void* fdata) {
auto gradient = [](double* g, double* par, int x, void* fdata, LMstat* lmstat) {
FunctionData* ptr = reinterpret_cast<FunctionData*>(fdata);
double f0 = ptr->distToMinimize(par, x, fdata);
double f0 = ptr->distToMinimize(par, x, fdata, lmstat);
double f1, der, minStep = 1e-11;
glm::dvec3 camPos = ptr->camera->positionVec3();
glm::dvec3 selectedPoint = (ptr->node->rotationMatrix() * ptr->selectedPoints.at(x)) + ptr->node->worldPosition();
@@ -247,7 +247,7 @@ void TouchInteraction::manipulate(const std::vector<TuioCursor>& list) {
for (int i = 0; i < ptr->nDOF; ++i) {
h = (i == 2) ? 1e-4 : h; // the 'zoom'-DOF is so big a smaller step creates NAN
dPar[i] += h;
f1 = ptr->distToMinimize(dPar, x, fdata);
f1 = ptr->distToMinimize(dPar, x, fdata, lmstat);
dPar[i] -= h;
der = (f1 - f0) / h;
@@ -283,7 +283,7 @@ void TouchInteraction::manipulate(const std::vector<TuioCursor>& list) {
screenPoints.push_back(glm::dvec2(xCo, yCo));
}
//glm::dvec2 res = OsEng.windowWrapper().currentWindowResolution();
FunctionData fData = { selectedPoints, screenPoints, nDOF, castToNDC, distToMinimize, _camera, node, 1.88 };
FunctionData fData = { selectedPoints, screenPoints, nDOF, castToNDC, distToMinimize, _camera, node, 1.88, _lmstat };
void* dataPtr = reinterpret_cast<void*>(&fData);
_lmSuccess = levmarq(nDOF, par, nFingers, NULL, distToMinimize, gradient, dataPtr, &_lmstat); // finds best transform values and stores them in par
@@ -625,9 +625,11 @@ void TouchInteraction::unitTest() {
// set _selected pos and new pos (on screen)
std::vector<TuioCursor> lastFrame;
lastFrame.push_back(TuioCursor(0, 1, 0.2, 0.5)); // session id, cursor id, x, y
lastFrame.push_back(TuioCursor(0, 10, 0.45, 0.4)); // session id, cursor id, x, y
lastFrame.push_back(TuioCursor(1, 11, 0.55, 0.6));
std::vector<TuioCursor> currFrame;
currFrame.push_back(TuioCursor(0, 1, 0.8, 0.5));
currFrame.push_back(TuioCursor(0, 10, 0.2, 0.6)); // (-0.6,0)
currFrame.push_back(TuioCursor(1, 11, 0.8, 0.4)); // (0.6, 0)
// call update
trace(lastFrame);