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improved performance by choosing step size more intelligently in gradient of LMA

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This commit is contained in:
Jonathan Bosson
2017-05-30 16:55:01 -06:00
parent 8c5e33be13
commit 776d688899
2 changed files with 22 additions and 16 deletions
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34
modules/touch/src/TouchInteraction.cpp
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@@ -249,9 +249,8 @@ void TouchInteraction::directControl(const std::vector<TuioCursor>& list) {
// Gradient of distToMinimize w.r.t par (using forward difference)
auto gradient = [](double* g, double* par, int x, void* fdata, LMstat* lmstat) {
FunctionData* ptr = reinterpret_cast<FunctionData*>(fdata);
double h, scale = log10(ptr->node->boundingSphere()), lastG, f1, f0 = ptr->distToMinimize(par, x, fdata, lmstat);
double hAngle = (1e-2 / ptr->node->boundingSphere()) / std::min(ptr->objectScreenRadius, 300.0);
double hZoom = 1e-2 / std::min(ptr->objectScreenRadius, 300.0);
double h, hZoom, lastG, f1, f0 = ptr->distToMinimize(par, x, fdata, lmstat);
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);
for (int i = 0; i < ptr->nDOF; ++i) {
@@ -259,16 +258,26 @@ void TouchInteraction::directControl(const std::vector<TuioCursor>& list) {
par[i] += h;
f1 = ptr->distToMinimize(par, x, fdata, lmstat);
par[i] -= h;*/
dPar.assign(par, par + ptr->nDOF);
h = 1e-8;
lastG = 1;
dPar.at(i) += h;
f1 = ptr->distToMinimize(dPar.data(), x, fdata, lmstat);
for (int j = 0; j < 100; ++j) { // iterative process to find the minimum step h that gives a good gradient
dPar.assign(par, par + ptr->nDOF); // reset parameters for precision
if ((f1 - f0) != 0 && lastG == 0) { // found good step size h
h *= std::max(scale * scale, 10.0);
dPar.assign(par, par + ptr->nDOF);
if ((f1 - f0) != 0 && lastG == 0) { // found minimum step size h
// scale up to get a good initial guess value
h *= scale * scale * scale;
// find optimal h
if (i == 2) {
h = std::max(std::min(std::abs(dPar.at(i)) / 1e8, 1.0), h); // choose zoom step size dependant on incoming zoom parameter
}
else if (ptr->nDOF == 2) {
h = std::max(std::abs(dPar.at(i)) * 0.001, h); // make sure the angle step size isnt smaller than a fraction of the incoming parameter for 1 finger
}
// calculate f1 with good h for finite difference
dPar.at(i) += h;
f1 = ptr->distToMinimize(dPar.data(), x, fdata, lmstat);
break;
@@ -285,13 +294,13 @@ void TouchInteraction::directControl(const std::vector<TuioCursor>& list) {
}
g[i] = (f1 - f0) / h;
}
if (ptr->nDOF == 2) {
if (ptr->nDOF == 2) { // normalize on 1 finger case to allow for horizontal/vertical movement
for (int i = 0; i < 2; ++i) {
g[i] = g[i]/std::abs(g[i]);
}
}
else if (ptr->nDOF == 6) {
for (int i = 0; i < ptr->nDOF; ++i) { // 3 finger case
for (int i = 0; i < ptr->nDOF; ++i) { // lock to only pan and zoom on 3 finger case
if (ptr->onlyPan) { // temp for feedback
g[i] = (i == 2) ? g[i] : g[i] / std::abs(g[i]); // no zoom, weird roll sometimes, otherwise only pan
}
@@ -372,7 +381,7 @@ void TouchInteraction::directControl(const std::vector<TuioCursor>& list) {
}
else {
_numOfTries++;
if (_numOfTries > 3) {
if (_numOfTries > 2) {
resetAfterInput();
}
}
@@ -744,10 +753,7 @@ void TouchInteraction::resetAfterInput() {
}
}
if (_guiON) {
bool activeLastFrame = false;
if (OnScreenGUIModule::touchInput.action) {
activeLastFrame = true;
}
bool activeLastFrame = OnScreenGUIModule::touchInput.action;
OnScreenGUIModule::touchInput.active = false;
if (activeLastFrame) {
OnScreenGUIModule::touchInput.active = true;