//-----------------------------------------------------------------------
void Animator::Impl::CrossFade(std::string const& stateName, Duration const& transitionDuration)
{
if (nextAnimation) {
return;
}
POMDOG_ASSERT(transitionDuration > Duration::zero());
POMDOG_ASSERT(!std::isnan(transitionDuration.count()));
auto iter = FindState(animationGraph->States, stateName);
POMDOG_ASSERT(iter != std::end(animationGraph->States));
if (iter == std::end(animationGraph->States)) {
// Error: Cannot find the state
return;
}
POMDOG_ASSERT(iter->Tree);
nextAnimation = SkeletonAnimationState{};
nextAnimation->Node = std::shared_ptr<AnimationNode>(animationGraph, iter->Tree.get());
nextAnimation->Name = stateName;
auto crossFade = std::make_shared<AnimationCrossFadeNode>(currentAnimation, *nextAnimation, transitionDuration, time);
currentAnimation.Node = crossFade;
time = AnimationTimeInterval::zero();
}
int main( int argc, char *argv[] )
{
const Clock::time_point start = Clock::now();
std::cout << "called with: " << std::endl << "\t";
for ( int i = 0; i < argc; ++i ) {
std::cout << argv[i] << " ";
}
std::cout << std::endl;
po::options_description desc( "testRDIS options" );
try {
addOptions( desc );
po::variables_map options;
po::store( po::parse_command_line( argc, argv, desc ), options );
po::notify( options );
if ( options.count( "help" ) ) {
std::cout << desc << std::endl;
} else {
std::vector<string> files;
if ( options.count( "file" ) ) {
// get the set of files to optimize
const std::vector<string> tmpf =
options["file"].as< std::vector<string> >();
files.assign( tmpf.begin(), tmpf.end() );
}
if ( files.empty() ) {
// run the pre-defined debug tests
run_debug_test( options );
} else {
// optimize each input polynomial
for ( string file : files ) {
optimize_poly( file, options );
}
}
}
} catch ( const std::exception & e ) {
std::cerr << "Exception occurred in main: \n\t" << e.what() << std::endl;
} catch ( const std::string & s ) {
std::cerr << "Exception occurred in main: \n\t" << s << std::endl;
} catch ( const char * c ) {
std::cerr << "Exception occurred in main: \n\t" << c << std::endl;
}
const Duration elapsed = Clock::now() - start;
std::cout << "total elapsed time: " << elapsed.count() << " seconds" << std::endl;
return 0;
}
int main( int argc, const char * const argv[] )
{
BOOSTNS::random::mt19937 rng( 834725927 );
const Clock::time_point start = Clock::now();
std::cout << "called with: " << std::endl << "\t";
for ( int i = 0; i < argc; ++i ) {
std::cout << argv[i] << " ";
}
std::cout << std::endl;
po::options_description desc( "Bundle Adjustment options" );
try {
addOptions( desc );
po::variables_map options;
po::store( po::parse_command_line( argc, argv, desc ), options );
// po::parsed_options parsed =
// po::command_line_parser( argc, argv ).options( desc ).allow_unregistered().run();
// po::store( parsed, vm );
// std::vector< string > to_pass_further =
// po::collect_unrecognized( parsed.options, po::exclude_positional );
po::notify( options );
if ( options.count( "help" ) ) {
std::cout << desc << std::endl;
} else if ( !options.count( "file" ) ) {
std::cout << "\nat least one input BA file must be specified\n" << std::endl;
std::cout << desc << std::endl;
} else {
// get the set of files to optimize
const std::vector< string > files =
options[ "file" ].as< std::vector< string > >();
// optimize each one
for ( string file : files ) {
optimize_BA( rng, options, file );
}
}
} catch ( po::error & e) {
std::cerr << "\nCommand line error: " << e.what() << std::endl << std::endl;
std::cerr << desc << std::endl;
} catch ( std::exception & e ) {
std::cerr << "\nException occurred in main (B.A. opt): \n\t" << e.what()
<< ", application will now exit. Goodbye!" << std::endl;
}
const Duration elapsed = Clock::now() - start;
std::cout << "total elapsed time: " << elapsed.count() << " seconds" << std::endl;
}
RttEstimator::RttEstimator(uint16_t maxMultiplier, Duration minRto, double gain)
: m_maxMultiplier(maxMultiplier)
, m_minRto(minRto.count())
, m_rtt(RttEstimator::getInitialRtt().count())
, m_gain(gain)
, m_variance(0)
, m_multiplier(1)
, m_nSamples(0)
{
}
void
RttEstimator::addMeasurement(Duration measure)
{
double m = static_cast<double>(measure.count());
if (m_nSamples > 0) {
double err = m - m_rtt;
double gErr = err * m_gain;
m_rtt += gErr;
double difference = std::abs(err) - m_variance;
m_variance += difference * m_gain;
} else {
m_rtt = m;
m_variance = m;
}
++m_nSamples;
m_multiplier = 1;
}
void ScenePanel::UpdateAnimation(const Duration& frameDuration)
{
timer = std::max(timer - frameDuration, Duration::zero());
if (timer <= Duration::zero()) {
scrollAcceleration = 1.0f;
return;
}
const auto duration = std::min<double>(frameDuration.count(), 1.0);
const auto scroll = duration
* normalizedScrollDirection
* scrollAcceleration
* (timer.count() / ZoomAnimationInterval.count());
POMDOG_ASSERT(cameraZoom > 0);
cameraZoom = MathHelper::Saturate(cameraZoom + (cameraZoom * scroll * 1000));
}
int main( int argc, const char * const argv[] )
{
BOOSTNS::random::mt19937 rng( 834725927 );
const Clock::time_point start = Clock::now();
std::cout << "called with: " << std::endl << "\t";
for ( int i = 0; i < argc; ++i ) {
std::cout << argv[i] << " ";
}
std::cout << std::endl;
po::options_description desc( "Sinusoid optimization options" );
try {
addOptions( desc );
po::variables_map options;
po::store( po::parse_command_line( argc, argv, desc ), options );
po::notify( options );
if ( options.count( "help" ) ) {
std::cout << desc << std::endl;
} else {
optimize_sinusoid( rng, options );
}
} catch ( po::error & e) {
std::cerr << "\nCommand line error: " << e.what() << std::endl << std::endl;
std::cerr << desc << std::endl;
} catch ( std::exception & e ) {
std::cerr << "\nException occurred in main (p.f. opt): \n\t" << e.what()
<< ", application will now exit. Goodbye!" << std::endl;
// } catch ( utility::excn::EXCN_Base & e ) {
// std::cerr << "\nCaught rosetta exception: " << e.msg() <<
// ", application will now exit. Goodbye!" << std::endl;
}
const Duration elapsed = Clock::now() - start;
std::cout << "total elapsed time: " << elapsed.count() << " seconds" << std::endl;
}
void optimize_sinusoid( BOOSTNS::random::mt19937 & rng,
const po::variables_map & options ) {
Numeric regionwidth = 1.0;
Numeric eps = 0.1, lipsch = 20;
RDISOptimizer * popt = NULL;
const string domain =
BOOSTNS::str( BOOSTNS::format( "%1%:%2%" ) %
( -regionwidth/2.0 ) % ( regionwidth/2.0 ) );
// ( regionwidth / 4.0 ) % ( 5.0*regionwidth/4.0 ) );
eps = options.count( "epsilon" ) ? options[ "epsilon" ].as< Numeric >() : eps;
lipsch = options.count( "lipschitz" ) ? options[ "lipschitz" ].as< Numeric >() : lipsch;
if ( options.count( "timeAsSeed" ) && options[ "timeAsSeed" ].as< bool >() ) {
rng.seed( std::time(NULL) + getpid() );
if ( options[ "sampleOffset"].as< size_t >() > 0 ) {
std::cout << "WARNING: sampleOffset and timeAsSeed should not both be set" << std::endl;
}
}
const bool isBCD = ( options.count( "opttype" ) &&
options[ "opttype" ].as< string >() == "bcd" );
size_t h = options[ "sinHeight" ].as< size_t >();
size_t bf = options[ "sinBF" ].as< size_t >();
size_t arity = options[ "sinArity" ].as< size_t >();
bool oddArity = options[ "sinOddArity" ].as< bool >();
OptimizableFunctionSP funcsp =
OptimizableFunctionGenerator::makeHighDimSinusoid( h, bf, arity, oddArity );
OptimizableFunction & fsinusoid = *funcsp;
std::cout << fsinusoid << std::endl;
CGDSubspaceOptimizer ssopt( fsinusoid );
ssopt.setParameters( options );
// create the optimizer
popt = new RDISOptimizer( fsinusoid, ssopt, options );
RDISOptimizer & opt = *popt;
setSignalHandler( &opt );
opt.setApproxFactors( options[ "approxfactors" ].as< bool >() );
opt.setUseCache( false );
// opt.setUseExactCaching( false );
const Numeric MaxVal = std::numeric_limits< Numeric >::max();
size_t sampleOffset = options[ "sampleOffset" ].as< size_t >();
size_t nsamples = options[ "nsamples" ].as< size_t >() + sampleOffset;
const NumericInterval dom = fsinusoid.getVariables()[0]->getDomain().interval();
BOOSTNS::random::uniform_real_distribution<> unif( dom.lower(), dom.upper() );
std::vector< State > initialStates( nsamples );
// create all the random initial states up front (so they're consistent
// across runs if the seed doesn't change)
for ( size_t i = 0; i < nsamples; ++i ) {
for ( VariableID vid = 0; vid < fsinusoid.getNumVars(); ++vid ) {
initialStates[i].push_back( unif( rng ) );
}
}
const Clock::time_point start = Clock::now();
Clock::time_point timeout = Clock::time_point::max();
if ( options.count( "timeout" ) ) {
size_t ms = 1000.0 * options[ "timeout" ].as< Numeric >();
timeout = Clock::now() + bc::milliseconds( ms );
}
Numeric bestfopt = NumericMAX;
State bestx;
size_t i = sampleOffset;
for ( ; i < nsamples; ) {
Numeric finit = MaxVal;
const State & xinit = initialStates[i];
std::cout << "[" << i << "] optimization starting -- bounds: " <<
fsinusoid.computeBounds() << std::endl;
std::cout << "eps: " << eps << ", lipschitz: " << lipsch <<
", step: " << eps / lipsch <<
", finit: " << finit << std::endl << "xinit: " << xinit << std::endl;
std::cout << "initial eval: " << eval( fsinusoid, xinit ) << std::endl;
++i;
if ( options.count( "useDA" ) ) {
throw "deterministic annealing not yet supported";
} else if ( options.count( "useCP" ) ) {
throw "cutting plane not yet supported";
}
State xopt;
Numeric result = MaxVal;
bool timedOut = false;
if ( !isBCD ) {
result = opt.optimize( &xinit, finit, timeout, true, start );
xopt = opt.getOptState();
opt.printStats();
timedOut = ( opt.wasStopped() || opt.timedOut() );
} else {
timedOut = doBCDOpt( fsinusoid, ssopt, options, xinit, timeout, start,
xopt, result );
}
const Duration elapsed = Clock::now() - start;
assert( !xopt.empty() );
std::cout << "sinusoid opt. result: " << result << std::endl <<
"\tat " << xopt << std::endl;
Numeric actual = eval( fsinusoid, xopt );
std::cout << "actual eval: " << actual << " after " << elapsed.count()
<< " seconds " << std::endl;
if ( actual < bestfopt ) {
bestfopt = actual;
bestx = xopt;
}
if ( timedOut ) {
std::cout << "timeout detected..." << std::endl;
break; break;
}
}
}
void ParticleSystem::Simulate(Entity & entity, Duration const& duration)
{
if (state != ParticleSystemState::Playing) {
return;
}
Transform emitterTransform;
if (auto transform = entity.GetComponent<Transform>()) {
emitterTransform = *transform;
}
erapsedTime += duration;
if (emitter.Looping && erapsedTime > clip->Duration)
{
erapsedTime = Duration::zero();
}
if (emitter.Looping || erapsedTime <= clip->Duration)
{
emissionTimer += duration;
POMDOG_ASSERT(emitter.EmissionRate > 0);
auto emissionInterval = std::max(std::numeric_limits<Duration>::epsilon(),
Duration(1) / emitter.EmissionRate);
POMDOG_ASSERT(emissionInterval.count() > 0);
POMDOG_ASSERT(clip->Duration.count() > 0);
float normalizedTime = erapsedTime / clip->Duration;
while ((particles.size() < emitter.MaxParticles) && (emissionTimer >= emissionInterval))
{
emissionTimer -= emissionInterval;
auto particle = CreateParticle(random, *clip, emitter, normalizedTime, emitterTransform);
particles.push_back(std::move(particle));
}
}
{
for (auto & particle: particles)
{
auto oldTimeToLive = particle.TimeToLive;
particle.TimeToLive -= duration.count();
if (particle.TimeToLive <= 0.0f) {
continue;
}
auto deltaTime = oldTimeToLive - particle.TimeToLive;
Vector2 particleAcceleration {1, 1};
Vector2 gravityAcceleration {0, -emitter.GravityModifier};
particle.Velocity += (particleAcceleration * gravityAcceleration * deltaTime);
particle.Position += (particle.Velocity * deltaTime);
float normalizedTime = 1.0f - particle.TimeToLive / emitter.StartLifetime;
POMDOG_ASSERT(clip->ColorOverLifetime);
particle.Color = Color::Multiply(particle.StartColor,
clip->ColorOverLifetime->Compute(normalizedTime, particle.ColorVariance));
// Rotation
POMDOG_ASSERT(clip->RotationOverLifetime);
particle.Rotation = particle.Rotation
+ deltaTime * clip->RotationOverLifetime->Compute(normalizedTime, particle.RotationVariance);
// Size
POMDOG_ASSERT(clip->SizeOverLifetime);
particle.Size = particle.StartSize * clip->SizeOverLifetime->Compute(normalizedTime, particle.SizeVariance);
}
particles.erase(std::remove_if(std::begin(particles), std::end(particles),
[](Particle const& p){ return p.TimeToLive <= 0; }), std::end(particles));
}
}
bool SocketCommunicationDevice::awaitConnection(Duration timeout) {
if (isServer) {
return server.waitForNewConnection(timeout.count());
}
return socket->waitForConnected(timeout.count());
}
float StopWatch::ToSeconds(Duration val)
{
return val.count()*0.000000001f;
}
void optimize_BA( BOOSTNS::random::mt19937 & rng,
const po::variables_map & options, const string & bafile ) {
// get optimization type from command line
const string opttype = options[ "opttype" ].as< string >();
const bool isRDIS = ( opttype == "rdis" );
const bool isBCD = ( opttype == "bcd" );
// const bool isDisc = ( opttype == "discrete" );
// const bool isGrid = ( opttype == "grid" );
Numeric eps = 1.0, lipsch = 20;
RDISOptimizer * popt = NULL;
assert( isRDIS || isBCD /*|| isDisc || isGrid*/ );
eps = options.count( "epsilon" ) ? options[ "epsilon" ].as< Numeric >() : eps;
lipsch = options.count( "lipschitz" ) ? options[ "lipschitz" ].as< Numeric >() : lipsch;
if ( options.count( "timeAsSeed" ) && options[ "timeAsSeed" ].as< bool >() ) {
rng.seed( std::time(NULL) + getpid() );
if ( options[ "sampleOffset"].as< size_t >() > 0 ) {
std::cout << "WARNING: sampleOffset and timeAsSeed should not both be set" << std::endl;
}
}
VariableCount ncams = options.count( "ncams" ) ?
options["ncams"].as< size_t >() : 0;
VariableCount npts = options.count( "npts" ) ?
options["npts"].as< size_t >() : 0;
// load and initialize the BA problem we'll optimize
BundleAdjustmentFunction bafunc;
if ( !bafunc.load( bafile, ncams, npts ) ) {
std::cout << "loading file " << bafile << " failed -- exiting" << std::endl;
return;
}
SubspaceOptimizer * pssopt;
if ( options["useCGD"].as< bool >() ) {
pssopt = new CGDSubspaceOptimizer( bafunc );
} else {
pssopt = new LMSubspaceOptimizer( bafunc );
}
SubspaceOptimizer & ssopt = *pssopt;
//// CGDSubspaceOptimizer ssopt( bafunc );
// LMSubspaceOptimizer ssopt( bafunc );
ssopt.setParameters( options );
// create the optimizer and initialize it properly
// popt = ( isRDIS ?
// new OptimizerISGD( bafunc, ssopt, options ) :
// new OptimizerDG( bafunc, options ) );
popt = new RDISOptimizer( bafunc, ssopt, options );
RDISOptimizer & opt = *popt;
setSignalHandler( &opt );
// opt.setOptType( 3 );
// opt.setUseFiniteDiffs( true );
// opt.setUseLinearLB( false );
opt.setApproxFactors( options[ "approxfactors" ].as< bool >() );
opt.setUseCache( !isRDIS );
// opt.setUseExactCaching( isDisc );
const Numeric MaxVal = std::numeric_limits< Numeric >::max();
size_t sampleOffset = options[ "sampleOffset" ].as< size_t >();
size_t nsamples = options[ "nsamples" ].as< size_t >() + sampleOffset;
std::vector< State > initialStates( nsamples );
if ( options.count( "randinit" ) && !options["randinit"].as< bool >() ) {
sampleOffset = 0;
nsamples = 1;
initialStates.clear();
initialStates.push_back( bafunc.getInitialState() );
} else {
// create all the random initial states up front (so they're consistent
// across runs if the seed doesn't change)
for ( size_t i = 0; i < nsamples; ++i ) {
for ( VariableID vid = 0; vid < bafunc.getNumVars(); ++vid ) {
NumericInterval si =
bafunc.getVariables()[vid]->getDomain().getSamplingInterval();
BOOSTNS::random::uniform_real_distribution<> unif(
si.lower(), si.upper() );
initialStates[i].push_back( unif( rng ) );
}
// if ( i >= sampleOffset ) {
// std::cout << "state " << i << ": " << initialStates[i] << std::endl;
// }
}
}
const Clock::time_point start = Clock::now();
Clock::time_point timeout = Clock::time_point::max();
if ( options.count( "timeout" ) ) {
size_t ms = 1000.0 * options[ "timeout" ].as< Numeric >();
timeout = Clock::now() + bc::milliseconds( ms );
}
Numeric bestfopt = NumericMAX;
State bestx;
size_t i = sampleOffset;
for ( ; i < nsamples; ) {
Numeric finit = MaxVal;
const State & xinit = initialStates[i];
std::cout << "[" << i << "] optimization starting -- bounds: " <<
bafunc.computeBounds() << std::endl;
std::cout << "eps: " << eps << ", lipschitz: " << lipsch <<
", step: " << eps / lipsch <<
", finit: " << finit << std::endl << "xinit: " << xinit << std::endl;
std::cout << "initial eval: " << bafunc.eval( xinit ) << std::endl;
if ( options.count( "useDA" ) ) {
throw "deterministic annealing not yet supported";
} else if ( options.count( "useCP" ) ) {
throw "cutting plane not yet supported";
}
++i;
State xopt;
Numeric result = MaxVal;
bool timedOut = false;
if ( !isBCD ) {
if ( options["ignoreCamVars"].as< bool >() ) {
for ( Variable * v : bafunc.getVariables() ) {
if ( bafunc.getVarType( v->getID() ) == BundleAdjust::CAM_FOCAL ||
bafunc.getVarType( v->getID() ) == BundleAdjust::CAM_RDL_K1 ||
bafunc.getVarType( v->getID() ) == BundleAdjust::CAM_RDL_K2 ) {
bafunc.getVariables()[i]->assign( bafunc.getInitialState()[i] );
}
}
}
result = opt.optimize( &xinit, finit, timeout, true, start );
xopt = opt.getOptState();
opt.printStats();
timedOut = ( opt.wasStopped() || opt.timedOut() );
} else {
if ( options["ignoreCamVars"].as< bool >() ) {
std::cout << "IGNORECAMVARS OPTION NOT SUPPORTED FOR BCD" << std::endl;
}
timedOut = doBCDOpt( bafunc, ssopt, options, xinit, timeout, start,
xopt, result );
}
assert( !xopt.empty() );
const Duration elapsed = Clock::now() - start;
std::cout << "bundle adjustment opt. result: " << result << std::endl
<< "\tat " << xopt << std::endl;
Numeric actual = bafunc.eval( xopt );
std::cout << "actual eval: " << actual << " after "
<< elapsed.count() << " seconds" << std::endl;
if ( actual < bestfopt ) {
bestfopt = actual;
bestx = xopt;
}
if ( timedOut ) {
std::cout << "timeout detected..." << std::endl;
break;
}
}
const Duration elapsed = Clock::now() - start;
std::cout << "----------------" << std::endl;
std::cout << "best: " << bestfopt << " in " << ( i - sampleOffset ) <<
" samples after " << elapsed.count() << " seconds at state " <<
std::endl << bestx << std::endl;
}
Numeric LMSubspaceOptimizer::optimize( const VariablePtrVec & vars,
const FactorPtrVec & factors, NumericVec & xval,
Numeric & deltaFval, const bool printdbg ) {
// // box-constrained minimization
// extern int dlevmar_bc_der(
// void (*func)(double *p, double *hx, int m, int n, void *adata),
// void (*jacf)(double *p, double *j, int m, int n, void *adata),
// double *p, double *x, int m, int n, double *lb, double *ub, double *dscl,
// int itmax, double *opts, double *info, double *work, double *covar,
// void *adata);
//#define USE_LEVMAR
#ifdef USE_LEVMAR
const Clock::time_point starttime = Clock::now();
// initstate.assign( xval.begin(), xval.end() );
LMSSOpt::AuxData aux( vars, factors, f, pgtemp );
const int m = vars.size();
const int n = std::max( factors.size(), (size_t) m );
initeval.resize( n );
finaleval.resize( n );
// double lb[ m ];
// double ub[ m ];
//
// for ( size_t i = 0; i < vars.size(); ++i ) {
// NumericInterval dom = vars[i]->getDomain().interval();
// lb[i] = ( dom.lower() <= -DBL_MAX ? DBL_MAX : dom.lower() );
// ub[i] = ( dom.upper() >= DBL_MAX ? DBL_MAX : dom.upper() );
// }
double * dscl = NULL;
double opts[ LM_OPTS_SZ ];
// double * opts = NULL;
double info[ LM_INFO_SZ ];
double * work = new double[ LM_BC_DER_WORKSZ( m, n ) ];
double * covar = NULL;
if ( printdbg ) {
std::cout << "LM SS opt m=" << m << ", n=" << n << " (" << vars.size()
<< " vars, " << factors.size() << " factors)" << std::endl;
}
// LMSSOpt::evalFunc( xval.data(), initeval.data(), m, n, &aux );
// const Numeric ival = NumericVecOps::dot( initeval, initeval ) / 2.0;
Numeric ferr = 0.0;
const Numeric ival = f.evalFactors( factors, ferr );
opts[0] = 1e-3; // initial \mu scale factor
opts[1] = 1e-15; // stopping thresh. for ||J^T e||_inf
opts[2] = 1e-15; // stopping thresh. for ||Dp||_2
opts[3] = ftol; // stopping thresh. for ||e||_2
// int niters = dlevmar_bc_der(
// &LMSSOpt::evalFunc,
// &LMSSOpt::evalJacf,
// xval.data(), NULL, xval.size(), n, lb, ub,
// NULL, maxiters, opts, info, work, covar, &aux );
int niters = dlevmar_der(
&LMSSOpt::evalFunc,
&LMSSOpt::evalJacf,
xval.data(), NULL, xval.size(), n,
maxiters, opts, info, work, covar, &aux );
// sanitize values to be within the domain of this variable (note that they
// are sanitized in quickAssign(), so just copy them out after)
LMSSOpt::quickAssignVals( aux, m, xval.data() );
for ( size_t i = 0; i < vars.size(); ++i ) {
xval[i] = vars[i]->eval();
}
// LMSSOpt::evalFunc( xval.data(), finaleval.data(), m, n, &aux );
// const Numeric fval = NumericVecOps::dot( finaleval, finaleval ) / 2.0;
Numeric fval = f.evalFactors( factors, ferr );
// Numeric asdf = 0;
// for ( size_t i = 0; i < factors.size(); ++i ) {
// asdf += factors[i]->evalNoCache();
// std::cout << i << ": f " << factors[i]->getID() << " diff " <<
// ( finaleval[i]*finaleval[i]/2.0 - factors[i]->eval() ) << " ("
// << factors[i]->eval() << ")" << std::endl;
// }
// std::cout << "asdf: " << asdf << std::endl;
//
// std::cout << "f.eval " << f.eval() << std::endl;
// Numeric ferr = 0.0;
// std::cout << "f fact eval " << f.evalFactors( factors, ferr ) << std::endl;
//
// std::cout << "xval: " << xval << std::endl;
// double err[n];
// dlevmar_chkjac( &LMSSOpt::evalFunc, &LMSSOpt::evalJacf, xval.data(), m, n,
// &aux, err );
//
// for ( size_t i = 0; i < m; ++i ) {
// if ( err[i] < 0.5 ) {
// std::cout << i << ": var " << vars[i]->getID() << " has jac err "
// << err[i] << std::endl;
// }
// }
delete work;
deltaFval = ( fval - ival);
const Duration dur = ( Clock::now() - starttime );
if ( printdbg ) {
std::cout << "LM SS opt returned " << fval << " (init " << ival
<< ", diff " << deltaFval << ") after " << niters <<
" iterations in " << dur.count() << " seconds" << std::endl;
std::cout << "LM SS opt info -- termination: " << info[6] <<
", #fevals: " << info[7] << ", #jevals: " << info[8] <<
", #linsolves" << info[9] << std::endl;
}
// if ( deltaFval > 0 ) {
// fval = ival;
// xval.assign( initstate.begin(), initstate.end() );
// deltaFval = 0;
// std::cout << "LM SS made no progress -- returning initial state" << std::endl;
// }
return fval;
#else // USE_LEVMAR
std::cout << "ERROR: Cannot use LM subspace optimizer without levmar.h." <<
" Rebuild with -DUSE_LEVMAR and link to liblevmar." << std::endl;
std::exit( -1 );
return 0;
#endif // USE_LEVMAR
}
Numeric EMSubspaceOptimizer::optimize( const VariablePtrVec & vars,
const FactorPtrVec & facs, NumericVec & xval, Numeric & deltaFval,
const bool printdbg ) {
bool result = true;
Numeric curval( 0 ), prevval( std::numeric_limits< Numeric >::max() );
const Clock::time_point starttime( Clock::now() );
quickAssignVals( vars, xval, sanitizeVals );
Numeric ferr = 0.0;
Numeric initval = f.evalFactors( facs, ferr );
prevval = curval = initval;
VariableCount iter = 0;
for ( ; ; ) {
// if ( printdbg && iter == 0 ) {
// std::clog << "iteration " << iter << ": log likelihood: " <<
// curval << std::endl;
// }
// take an EM step (changes the var assignments)
result = f.EMStep( vars, facs, sanitizeVals, useFactorCaching );
// compute the new log likelihood
prevval = curval;
curval = f.evalFactors( facs, ferr, useFactorCaching );
if ( !result ) {
std::cout << "EM subspace opt. failed on iteration " << iter <<
", log likelihood: " << curval << std::endl;
break;
}
// if we've converged, get the final state and unassign all vars
if ( ++iter >= (VariableCount) maxiters && maxiters > 0 ) break;
// if ( !approxleq( curval, prevval, ftol ) ) break;
if ( ( prevval - curval ) < ftol ) break;
// break;
}
for ( size_t i = 0; i < vars.size(); ++i ) {
xval[i] = vars[i]->eval();
}
// std::cout << "prevval " << prevval << ", curval " << curval << ", diff " << curval-prevval << std::endl;
deltaFval = curval - initval;
Duration runtime = ( Clock::now() - starttime );
if ( printdbg ) {
std::cout << "EM ss opt. (iters "<< iter << "): " << curval <<
" (init: " << initval << ", diff: " << deltaFval << ") in " <<
runtime.count() << " seconds" << std::endl;
}
return curval;
}
/// <summary>
/// 指定したミリ秒だけ処理を停止します。
/// </summary>
/// <param name="duration">
/// 処理を停止する時間
/// </param>
/// <returns>
/// なし
/// </returns>
inline void Sleep(const Duration& duration)
{
Sleep(static_cast<int32>(duration.count() * 1000));
}