static gboolean intersection2(t_env *rt, t_vector ray, t_vector origin,
int i)
{
if ((rt->object[i].name == L_SPHERE && limited_sphere(ray,
rt->object[i], origin, rt)) ||
(rt->object[i].name == L_CYLINDER && limited_cylinder(ray,
rt->object[i], origin, rt)) ||
(rt->object[i].name == L_CONE && limited_cone(ray, rt->object[i]
, origin, rt)) ||
(rt->object[i].name == TRIANGLE && triangle(ray, rt->object[i],
&rt->t, origin)) ||
(rt->object[i].name == TORUS && torus(ray, rt->object[i], &rt->t
, origin)) ||
(rt->object[i].name == ELLIPSOIDE && ellipsoide(ray, rt->object[i],
&rt->t, origin)) ||
(rt->object[i].name == PARABOL && parabol(ray, rt->object[i],
&rt->t, origin)) ||
(rt->object[i].name == QUADRILATERAL && quadrilateral(ray,
rt->object[i], &rt->t, origin)) ||
(rt->object[i].name == CUBE && cube(ray, &rt->object[i], &rt->t,
origin)))
return (1);
return (0);
}
int main()
{
const int a = 0;
const int b = 1;
const float step = 0.1;
p0.x = 0;
p0.y = y(p0.x);
p1.x = 1;
p1.y = y(p1.x);
p2.x = 2;
p2.y = y(p2.x);
printf("y(x) = (x-1)^3+(2x+3)^3-27x^3-8\n\n");
printf("X\t Y\t Linear Parabol Lagranj1 Lagranj2 Nyton1 Nyton2\n");
for (float x = a; x < b; x += step)
{
printf("%g\t%f %f %f %f %f %f %f\n",
x, y(x), linear(x), parabol(x), Lagranj1(x), Lagranj2(x), Nyton1(x), Nyton2(x));
}
system("pause");
return 0;
}
void vpTemplateTracker::computeOptimalBrentGain(const vpImage<unsigned char> &I,vpColVector &tp,double tMI,vpColVector &direction,double &alpha)
{
vpColVector **ptp;
ptp=new vpColVector*[4];
vpColVector p0(nbParam);
p0=tp;
//valeur necessaire si conditionnel
vpColVector dpt(Warp->getNbParam());
vpColVector adpt(Warp->getNbParam());
vpColVector p1(nbParam);
if(useCompositionnal)
{
if(useInverse)
Warp->getParamInverse(direction,dpt);
else
dpt=direction;
Warp->pRondp(tp,dpt,p1);
}
else
{
p1=tp+direction;
}
vpColVector p2(nbParam);
if(useCompositionnal)
{
adpt=alpha*direction;
if(useInverse)
Warp->getParamInverse(adpt,dpt);
else
dpt=adpt;
Warp->pRondp(tp,dpt,p2);
}
else
{
p2=tp+alpha*direction;
}
vpColVector p3(nbParam);
ptp[0]=&p0;
ptp[1]=&p1;
ptp[2]=&p2;
ptp[3]=&p3;
double *Cost=new double[4];
//Cost[0]=getCost(I,p0);
Cost[0]=tMI;
Cost[1]=getCost(I,p1);
Cost[2]=getCost(I,p2);
double *talpha=new double[4];
talpha[0]=0;
talpha[1]=1.;
talpha[2]=alpha;
//for(int i=0;i<3;i++)
// std::cout<<"alpha["<<i<<"] = "<<talpha[i]<<" Cost["<<i<<"] = "<<Cost[i]<<std::endl;
//Utilise trois estimï¿œes de paraboles succesive ...
//A changer pour rendre adaptable
for(unsigned int opt=0;opt<nbIterBrent;opt++)
{
//double a=talpha[0];
//double b=talpha[1];
//double c=talpha[2];
//double Cost0=Cost[0];
//double Cost1=Cost[1];
//double Cost2=Cost[2];
vpMatrix A(3,3);
for(unsigned int i=0;i<3;i++){A[i][0]=talpha[i]*talpha[i];A[i][1]=talpha[i];A[i][2]=1.;}
//std::cout<<"A="<<A<<std::endl;
vpColVector B(3);for(unsigned int i=0;i<3;i++)B[i]=Cost[i];
vpColVector parabol(3);parabol=(A.t()*A).inverseByLU()*A.t()*B;
//vpColVector parabol(3);parabol=A.pseudoInverse()*B;
//si convexe
if(parabol[0]>0)
{
talpha[3]=-0.5*parabol[1]/parabol[0];
//std::cout<<"parabol = "<<parabol<<std::endl;
//std::cout<<"convexe talpha = "<<talpha[3]<<std::endl;
}
else//si concave
{
int tindic_x_min=0;
int tindic_x_max=0;
for(int i=1;i<3;i++)
{
if(talpha[i]<talpha[tindic_x_min])
tindic_x_min=i;
if(talpha[i]>talpha[tindic_x_max])
tindic_x_max=i;
}
if(Cost[tindic_x_max]<Cost[tindic_x_min])
{
//talpha[3]=talpha[tindic_x_max]+1.;
talpha[3]=talpha[tindic_x_max]+1.;
/*if(talpha[tindic_x_min]>talpha[tindic_x_max])
talpha[3]=talpha[tindic_x_min]+1.;
else
talpha[3]=talpha[tindic_x_min]-1.;*/
}
else
{
//talpha[3]=talpha[tindic_x_min]-1.;
talpha[3]=talpha[tindic_x_min]-1.;
/*if(talpha[tindic_x_min]<talpha[tindic_x_max])
talpha[3]=talpha[tindic_x_max]+1.;
else
talpha[3]=talpha[tindic_x_max]-1.;*/
}
//std::cout<<"concave talpha="<<talpha[3]<<std::endl;
}
//std::cout<<"talpha="<<talpha[3]<<std::endl;
int indic_x_min=0;
int indic_x_max=0;
for(int i=1;i<3;i++)
{
if(talpha[i]<talpha[indic_x_min])
indic_x_min=i;
if(talpha[i]>talpha[indic_x_max])
indic_x_max=i;
}
//std::cout<<"talpha = "<<talpha[3]<<std::endl;
if(talpha[3]>talpha[indic_x_max])
if((talpha[3]-talpha[indic_x_max])>alpha)talpha[3]=talpha[indic_x_max]+4.;
if(talpha[3]<talpha[indic_x_min])
if((talpha[indic_x_min]-talpha[3])>alpha)talpha[3]=talpha[indic_x_min]-4.;
/*if(((b-a)*(Cost1-Cost2)-(b-c)*(Cost1-Cost0))==0)
{Cost[3]=1000;break;}
//calcul du gain correspondant au minimum de la parabole estimï¿œe
talpha[3]=b-0.5*((b-a)*(b-a)*(Cost1-Cost2)-(b-c)*(b-c)*(Cost1-Cost0))/((b-a)*(Cost1-Cost2)-(b-c)*(Cost1-Cost0));
int indic_x_min=0;
int indic_x_max=0;
for(int i=1;i<3;i++)
{
if(talpha[i]<talpha[indic_x_min])
indic_x_min=i;
if(talpha[i]>talpha[indic_x_max])
indic_x_max=i;
}
std::cout<<"talpha = "<<talpha[3]<<std::endl;
if(talpha[3]>talpha[indic_x_max])
if((talpha[3]-talpha[indic_x_max])>alpha)talpha[3]=talpha[indic_x_max]+alpha;
if(talpha[3]<talpha[indic_x_min])
if((talpha[indic_x_min]-talpha[3])>alpha)talpha[3]=talpha[indic_x_min]-alpha;*/
//p3=tp-talpha[3]*direction;
if(useCompositionnal)
{
adpt=talpha[3]*direction;
if(useInverse)
Warp->getParamInverse(adpt,dpt);
else
dpt=adpt;
Warp->pRondp(tp,dpt,p3);
}
else
{
p3=tp+talpha[3]*direction;
}
Cost[3]=getCost(I,p3);
//std::cout<<"new cost="<<Cost[3]<<std::endl;
int indice_f_max=0;
for(int i=1;i<4;i++)
if(Cost[i]>Cost[indice_f_max])
indice_f_max=i;
if(indice_f_max!=3)
{
*ptp[indice_f_max]=*ptp[3];
Cost[indice_f_max]=Cost[3];
talpha[indice_f_max]=talpha[3];
}
else
break;
}
int indice_f_min=0;
for(int i=0;i<4;i++)
if(Cost[i]<Cost[indice_f_min])
indice_f_min=i;
alpha=talpha[indice_f_min];
if(alpha<1)alpha=1.;
delete[] ptp;
delete[] Cost;
delete[] talpha;
}
