inline vector<double> rvs(const unsigned int _n)
{
vector<double> x_s(_n, 0.0);
for (auto &itr : x_s)
itr = stackoverflow::call(_rv.rf, _para);
return x_s;
}
double EW_CHMN::CV_q(QCD::quark q) const
{
switch (q) {
case QCD::UP:
return ( 3.1166 + 0.0030 * x_s());
case QCD::DOWN:
case QCD::STRANGE:
case QCD::CHARM:
return ( 3.1167 + 0.0030 * x_s());
case QCD::BOTTOM:
return ( 3.1185 + 0.0030 * x_s());
case QCD::TOP:
default:
throw std::runtime_error("Error in EW_CHMN::CV_q()");
}
}
double EW_CHMN::CA_q(QCD::quark q) const
{
switch (q) {
case QCD::UP:
return ( 3.1377 + 0.00014 * x_t() + 0.0041 * x_s());
case QCD::DOWN:
case QCD::STRANGE:
return ( 3.0956 - 0.00015 * x_t() + 0.0019 * x_s());
case QCD::CHARM:
return ( 3.1369 + 0.00014 * x_t() + 0.0043 * x_s());
case QCD::BOTTOM:
return ( 3.0758 - 0.00015 * x_t() + 0.0028 * x_s());
case QCD::TOP:
default:
throw std::runtime_error("Error in EW_CHMN::CA_q()");
}
}
bool
Date::isValidDate(std::string s)
{
std::string mn("january february march april may june july");
mn += " august september october november december" ;
Split x_mn(mn);
s = hdhC::Lower()(s);
s = hdhC::replaceChars(s, ',', ' ');
Split x_s(s);
if( x_s.size() != 3 )
return false;
int i_d, i_m, i_y;
i_d = i_m = i_y = 0;
for(size_t i=0 ; i < x_s.size() ; ++i )
{
if( hdhC::isAlpha(x_s[i]) )
{
for(size_t m=0 ; m < x_mn.size() ; ++m )
{
if( x_s[i] == x_mn[m].substr(0, x_s[i].size()) )
{
i_m = hdhC::string2Double(x_s[i]) ;
break;
}
}
}
else
{
if( hdhC::isDigit(x_s[i]) )
{
if( x_s[i].size() > 2 )
i_y = hdhC::string2Double(x_s[i]) ;
else
i_d = hdhC::string2Double(x_s[i]) ;
}
else
i_d = hdhC::string2Double(x_s[i]) ;
}
}
bool is=true;
if( i_d == 0 )
is=false ;
if( i_m == 0 )
is=false ;
if( i_y == 0 )
is=false ;
if(is)
return true;
return false;
}
KOKKOS_INLINE_FUNCTION
void operator() (device_type device) const {
int element = device.league_rank();
int num_threads = device.team_size();
int thread = device.team_rank();
int num_samples = dev_x.dimension_1();
int num_samples_per_thread = num_samples / num_threads;
// Initialize x
storage_type x_s(&dev_x(element,thread),
num_samples_per_thread,
num_threads);
storage_type y_s(&dev_y(element,thread),
num_samples_per_thread,
num_threads);
array_vector_type x(x_s), y(y_s);
simple_function<scalar_vector_type>(x,y);
// Print x and y
if (print) {
for (int tidx = 0; tidx<num_threads; tidx++) {
if (thread == tidx) {
printf("x(%i) = [ ",tidx);
for (int sample=0; sample<num_samples_per_thread; sample++)
printf("%g ", x.coeff(sample));
printf("]\n\n");
}
device.team_barrier();
}
for (int tidx = 0; tidx<num_threads; tidx++) {
if (thread == tidx) {
printf("y(%i) = [ ",tidx);
for (int sample=0; sample<num_samples_per_thread; sample++)
printf("%g ", y.coeff(sample));
printf("]\n\n");
}
device.team_barrier();
}
}
}
double EW_CHMN::DeltaMw_SM() const
{
return ( -0.137 * x_h() - 0.019 * x_h() * x_h() + 0.018 * x_t()
- 0.005 * x_alpha() - 0.002 * x_s());
}
double EW_CHMN::DeltaTz_SM() const
{
return ( -0.0995 * x_h() - 0.2858 * x_h() * x_h() + 0.1175 * x_h() * x_h() * x_h()
+ 0.0367 * x_t() + 0.00026 * x_t() * x_t() - 0.0017 * x_h() * x_t()
- 0.0033 * x_s() - 0.0001 * x_t() * x_s());
}
double EW_CHMN::DeltaSz_SM() const
{
return ( 0.2217 * x_h() - 0.1188 * x_h() * x_h() + 0.0320 * x_h() * x_h() * x_h()
- 0.0014 * x_t() + 0.0005 * x_s());
}
double EW_CHMN::GammaW() const
{
double Rw = 2.1940 + DeltaRw();
return ( 0.33904 * pow(Mw(), 3.0)
* SM.getGF()*(1.0 + 0.008478 * Rw + 0.00065 * x_s()));
}
int calib_gimbal_load(calib_gimbal_t &calib, const std::string &data_dir) {
// Load calibration data
calib.data_dir = data_dir;
if (calib_gimbal_data_load(calib.data, data_dir) != 0) {
LOG_ERROR("Failed to load calibration data [%s]!", data_dir.c_str());
return -1;
}
// Load optimization params
const std::string config_file = data_dir + "/camchain.yaml";
const std::string joint_file = data_dir + "/joint.csv";
if (calib_gimbal_params_load(calib.params, config_file, joint_file) != 0) {
LOG_ERROR("Failed to load optimization params!");
return -1;
}
// Setup optimization problem
// const mat3_t K_s = calib.params.camchain.cam[0].K();
// const mat3_t K_d = calib.params.camchain.cam[2].K();
// const vec4_t D_s = calib.params.camchain.cam[0].D();
// const vec4_t D_d = calib.params.camchain.cam[2].D();
const mat3_t K_s;
const mat3_t K_d;
const vec4_t D_s;
const vec4_t D_d;
const double theta1_offset = *calib.params.theta1_offset;
const double theta2_offset = *calib.params.theta2_offset;
// const std::string dmodel_s = calib.params.camchain.cam[0].distortion_model;
// const std::string dmodel_d = calib.params.camchain.cam[2].distortion_model;
const std::string dmodel_s;
const std::string dmodel_d;
// Form residual blocks
for (int i = 0; i < calib.data.nb_measurements; i++) {
for (int j = 0; j < calib.data.P_s[i].rows(); j++) {
const vec3_t P_s = calib.data.P_s[i].row(j);
const vec3_t P_d = calib.data.P_d[i].row(j);
// Undistort pixel measurements from static camera
const vec2_t p_s = calib.data.Q_s[i].row(j);
cv::Point2f pt_s(p_s(0), p_s(1));
// pt_s = calib.params.camchain.cam[0].undistortPoint(pt_s);
vec3_t x_s{pt_s.x, pt_s.y, 1.0};
// x_s = calib.params.camchain.cam[0].K() * x_s;
const vec2_t Q_s{x_s(0), x_s(1)};
// Undistort pixel measurements from dynamic camera
const vec2_t p_d = calib.data.Q_d[i].row(j);
cv::Point2f pt_d(p_d(0), p_d(1));
// pt_d = calib.params.camchain.cam[2].undistortPoint(pt_d);
vec3_t x_d{pt_d.x, pt_d.y, 1.0};
// x_d = calib.params.camchain.cam[2].K() * x_d;
const vec2_t Q_d{x_d(0), x_d(1)};
// auto residual =
// new GimbalCalibResidual(P_s, P_d,
// Q_s, Q_d,
// K_s, K_d,
// D_s, D_d,
// theta1_offset, theta2_offset);
// Build cost function
// auto cost_func =
// new ceres::AutoDiffCostFunction<GimbalCalibResidual, // Residual
// type
// 4, // Size of residual
// 6, // Size of: tau_s
// 6, // Size of: tau_d
// 3, // Size of: w1
// 3, // Size of: w2
// 1, // Size of: Lambda1
// 1 // Size of: Lambda2
// >(residual);
// Add residual block to problem
// calib.problem.AddResidualBlock(cost_func, // Cost function
// NULL, // Loss function
// calib.params.tau_s,
// calib.params.tau_d,
// calib.params.w1,
// calib.params.w2,
// &calib.params.Lambda1[i],
// &calib.params.Lambda2[i]);
// calib.problem.SetParameterBlockConstant(&calib.params.Lambda1[i]);
// calib.problem.SetParameterBlockConstant(&calib.params.Lambda2[i]);
}
}
calib.problem.SetParameterBlockConstant(calib.params.w2);
return 0;
}
