// Wait a random amount of milliseconds between min and max
void wait_ms_between( unsigned int min, unsigned int max ) {
unsigned int duration = rng.randRange( min, max );
usleep( duration * 1000 );
}
// Wait a random amount of seconds between min and max
void wait_s_between( unsigned int min, unsigned int max ) {
unsigned int duration = rng.randRange( min, max );
sleep( duration );
}
HRESULT ParticleSwarmOptimizer::run() {
// 1 - initialize member values
kinetic_penalty_normalization = 10.0f;
skin_difference_normalization = 20.0f;
max_OK_depth_difference = 4.0f;
min_OK_depth_difference = 1.0f;
epsilon = 1e-6f;
num_particles = 64;
num_generations = 20;
cognitive_weight = 2.8f;
social_weight = 1.3f;
RNG<float> rng;
cognitive_random_factor = rng.randRange(0.0f, 1.0f);
social_random_factor = rng.randRange(0.0f, 1.0f);
float psi = cognitive_weight + social_weight;
constriction_factor = 2.0f / static_cast<float>(fabs(2 - psi - sqrt((psi*psi) - (4*psi))));
// 2 - initialize particles
// first particle curr_sln = previous generation model's ansers
// everyone else = perturbations of previous generation's model
particles.resize( num_particles );
particles[0].curr_sln = initial_sln.get_params_without_bounds();
for ( unsigned int i = 1; i < particles.size(); i++ ) {
particles[i].curr_sln = particles[0].curr_sln;
perturb_particle( particles[i] );
}
best_sln = initial_sln.get_params_without_bounds();
// 3 - initialize the particle ID list for perturbation generation later
num_generations_to_perturb = 3;
for ( unsigned int i = 0; i < num_particles; i++ ) {
particles_to_perturb.push_back( i );
}
generation_best_particle = 0;
generation_min_error = 0.0f;
min_error = 0.0f;
// 4 - set up the matched depths map to work with
matched_depths.set_size( observed_depth.width, observed_depth.height );
// 2 - execute
// for each generation
// for each particle
// update velocty
// update position
// calculate error for this gen's solution
// render model using new solution
// calculate error between new render and o_d and o_s
// update best_sln for particle
// if error for this sln < best particle sln so far
// store this sln
// update best_sln for all particles
// find particle with min error this generation
// if that particle's error < global min error so far...
// if this gen % gens to perturb == 0
// randomly choose half of the particles
// for each randomly chosen particle
// randomly choose a finger joint
// set value for that parameter to values from valid range for that joint
// rof
// fi
// rof
// return solution stored in best_sln
// Each generation
for ( unsigned int i = 0; i < num_generations; i++ ) {
generation_best_particle = 0;
generation_min_error = FLT_MAX;
// Update each particle
for ( unsigned int curr_particle = 0; curr_particle < num_particles; curr_particle++ ) {
// Update particle velocity
if ( FAILED(update_velocity( particles[curr_particle] ) ) ) {
continue;
}
// Update particle position
if ( FAILED(update_position( particles[curr_particle] ) ) ) {
continue;
}
// Update particle error -- this renders the particle's
// parameters and compares the depth maps
if ( FAILED( update_particle_error( particles[curr_particle] ) ) ) {
continue;
}
// Update this generation's best particle
if ( particles[curr_particle].curr_error < generation_min_error ) {
generation_best_particle = curr_particle;
}
}
// update global best if pointer from this generation's updates is
// better on the errors
if ( FAILED( update_global_error() ) ) {
continue;
}
// Perturb some random particles to prevent swarm collapse
if ( num_generations_to_perturb % i == 0 ) {
if ( FAILED( pick_particles_to_perturb() ) ) {
continue;
}
for ( unsigned int curr_particle = 0; curr_particle < (num_particles / 2); curr_particle++ ) {
perturb_particle( particles[curr_particle] );
}
}
}
// The global best solution after all iterations is now stored in
// best_sln
return S_OK;
}