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67 lines
2.2 KiB
C++
67 lines
2.2 KiB
C++
/*
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levmarq.c and levmarq.h are provided under the MIT license.
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Copyright(c) 2008 - 2016 Ron Babich
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Permission is hereby granted, free of charge, to any person
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obtaining a copy of this software and associated documentation
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files(the "Software"), to deal in the Software without
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restriction, including without limitation the rights to use,
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copy, modify, merge, publish, distribute, sublicense, and / or sell
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copies of the Software, and to permit persons to whom the
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Software is furnished to do so, subject to the following
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conditions :
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The above copyright notice and this permission notice shall be
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included in all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <iostream>
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#include <sstream>
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#include <vector>
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#include <glm/glm.hpp>
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typedef struct {
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bool verbose;
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std::string data;
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std::vector<glm::dvec2> pos;
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int max_it;
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double init_lambda;
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double up_factor;
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double down_factor;
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double target_derr;
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int final_it;
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double final_err;
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double final_derr;
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} LMstat;
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/**
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* Initialize parameters to good values
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*/
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void levmarq_init(LMstat *lmstat);
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/**
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* Main function call, finds appropriate values for par[nDOF] that manipulates the camera correctly to direct-manipulation
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*/
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bool levmarq(int npar, double *par, int ny, double *dysq,
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double (*func)(double *, int, void *, LMstat*),
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void (*grad)(double *, double *, int, void *, LMstat*),
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void *fdata, LMstat *lmstat);
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/**
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* Returns the total L2 error (to be minimized) with each contact point's distance from the projected coordinates depending on par[nDOF].
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*/
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double error_func(double *par, int ny, double *dysq,
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double (*func)(double *, int, void *, LMstat*), void *fdata, LMstat* lmstat);
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void solve_axb_cholesky(int n, double** l, double* x, double* b);
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int cholesky_decomp(int n, double** l, double** a);
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