void affineInterp(const PointSet &src, PointSet &res, const double mat[DIM_MAX][DIM_MAX+1])
{
int N = src.dim() ;
res.al(src.size(), src.dim()) ;
for (unsigned int i=0; i< src.size(); i++) {
for (int j=0; j< N; j++) {
res[i][j] = mat[j][N] ;
for(int jj=0; jj< N; jj++)
res[i][j] += mat[j][jj] * src[i][jj] ;
}
}
}
//make sure everytime the pointSet is cleared at first;
bool MemMapStrategy::Read(PointSet &pointSet)
{
if(_isFinish)
return false;
unsigned int numLeft;
unsigned int thisTimeToRead;
if(_numOfPointsToRead>MEM_MAP_THRESHOLD) {
numLeft = _numOfPointsToRead - MEM_MAP_THRESHOLD;
thisTimeToRead = MEM_MAP_THRESHOLD;
} else {
numLeft = 0;
thisTimeToRead = _numOfPointsToRead;
}
time_t sT, eT;
sT = clock();
inputor->_num = thisTimeToRead;
ReadConcept(*inputor, pointSet, _recordType);
eT = clock();
_log << "Read "<< pointSet.size() <<" points, Time : "<<difftime(eT, sT)<<endl;
_numOfPointsToRead = numLeft;
if(_numOfPointsToRead<=0) {
_log << "Finish Read!"<<endl;
_isFinish = true;
}
return true;
}
double PointSet::get_scaled_dist_with(const PointSet &other,const vector<bool> &mask) const {
/**
* Sum of the distances where the value of the mask is true
*/
double dist=0;
if (this->size()==other.size() && this->size()==mask.size()) {
double mean = 0, sigma = 0;
for (unsigned int i=0;i<this->size();i++) {
if (mask[i])
mean += (*this)[i].get_dist_with(other[i]);
}
mean = mean/this->size();
for (unsigned int i=0;i<this->size();i++) {
if (mask[i])
dist += (*this)[i].get_dist_with(other[i]);
sigma += pow((*this)[i].get_dist_with(other[i])-mean,2);
}
sigma = sqrt(sigma/this->size());
if (sigma==0) {
cout << "FATAL ERROR: division by 0 in PointSet::get_scaled_dist_with" << endl;
exit(2);
}
dist /= sigma;
}
else {
cout << "ERROR in PointSet: point set 1 and 2 and mask must have the same sizes!" <<endl;
exit(2);
}
return dist;
}
bool SimpleReadStrategy::Read(PointSet &pointSet)
{
if(_isFinish)
return false;
time_t sT, eT;
sT = clock();
std::ifstream infile(_fileName.c_str());
if(!infile)
{
_log << "Can not open this file in this path"<<endl;
return false;
}
_log<<"Begin to read data."<<endl;
SimpleInputor inputor(infile);
inputor.ReadHead();
ReadConcept(inputor, pointSet, _recordType);
infile.close();
//inputor.infile.close();
_log<<"All "<<pointSet.size()<<" points have been read successfully!"<<endl;
eT = clock();
_log << "Read-Time: "<<difftime(eT, sT)<<endl;
_isFinish = true;
return true;
}
void savePointSet(const std::string& filename, PointSet& ps)
{
std::fstream fout(filename.c_str(), std::ios_base::out);
for (size_t i = 0; i < ps.size(); ++ i)
{
if (Dim == 3)
fout << ps[i].x() << " " << ps[i].y() << " " << ps[i].z() << "\n";
else
fout << ps[i].x() << " " << ps[i].y() << "\n";
}
fout.close();
}
void
computeCovarianceMatrixFromPointSet( const PointSet &aPoints, Vector3f &aCenter, Eigen::Matrix3f &aCovarianceMatrix )
{
float scale = 1.0f/aPoints.size();
aCenter = scale * std::accumulate( aPoints.begin(), aPoints.end(), Vector3f() );
/* //compute variances
Vector3f variances;
for ( size_t k = 0; k < aPoints.size(); ++k ) {
variances += VectorCoordinateProduct( aPoints[k]-aCenter, aPoints[k]-aCenter );
}
variances *= scale;*/
for ( size_t i = 0; i < 3; ++i ) {
for ( size_t j = 0; j < 3; ++j ) {
float covariance = 0.0f;
for ( size_t k = 0; k < aPoints.size(); ++k ) {
covariance += (aPoints[k][i]-aCenter[i]) * (aPoints[k][j]-aCenter[j]);
}
aCovarianceMatrix(i,j) = scale * covariance;
}
}
}
double PointSet::get_dist_with(const PointSet &other) const {
/**
* Simple sum of the distances
*/
double dist=0;
if (this->size()==other.size()) {
for (unsigned int i=0;i<this->size();i++)
dist += (*this)[i].get_dist_with(other[i]);
}
else {
cout << "ERROR in PointSet: point sets must have the same sizes!" <<endl;
exit(2);
}
return dist;
}
double PointSet::get_dist_with(const PointSet &other,const vector<bool> &mask) const {
/**
* Sum of the distances where the value of the mask is true
*/
double dist=0;
if (this->size()==other.size() && this->size()==mask.size()) {
for (unsigned int i=0;i<this->size();i++) {
if (mask[i])
dist += (*this)[i].get_dist_with(other[i]);
}
}
else {
cout << "ERROR in PointSet: point set 1 and 2 and mask must have the same sizes!" <<endl;
exit(2);
}
return dist;
}
// Create a randomly generated point
// scatter time execution
void testScalability(unsigned numpts)
{
using namespace boost;
using namespace std;
typedef adjacency_matrix<undirectedS, no_property,
property <edge_weight_t, double,
property<edge_index_t, int> > > Graph;
typedef graph_traits<Graph>::vertex_descriptor Vertex;
typedef property_map<Graph, edge_weight_t>::type WeightMap;
typedef set<simple_point<double>, cmpPnt<double> > PointSet;
typedef vector< Vertex > Container;
boost::mt19937 rng(time(0));
uniform_real<> range(0.01, (numpts * 2));
variate_generator<boost::mt19937&, uniform_real<> >
pnt_gen(rng, range);
PointSet points;
simple_point<double> pnt;
while (points.size() < numpts)
{
pnt.x = pnt_gen();
pnt.y = pnt_gen();
points.insert(pnt);
}
Graph g(numpts);
WeightMap weight_map(get(edge_weight, g));
vector<simple_point<double> > point_vec(points.begin(), points.end());
connectAllEuclidean(g, point_vec, weight_map, get(vertex_index, g), numpts);
Container c;
timer t;
double len = 0.0;
// Run the TSP approx, creating the visitor on the fly.
metric_tsp_approx(g, make_tsp_tour_len_visitor(g, back_inserter(c), len, weight_map));
cout << "Number of points: " << num_vertices(g) << endl;
cout << "Number of edges: " << num_edges(g) << endl;
cout << "Length of tour: " << len << endl;
cout << "Elapsed: " << t.elapsed() << endl;
}
static void Distances(const PointSet &points, int npoints,
float *mindist, float *avgmindist)
{
*mindist = FLT_MAX;
*avgmindist = 0;
for (int i = 0; i < npoints; ++i) {
float localmd = FLT_MAX;
for (int j = 0; j < npoints; ++j) {
if (i == j) continue;
float dist = points[i].SquaredDistUnitTorus(points[j]);
localmd = std::min(dist, localmd);
}
*mindist = std::min(localmd, *mindist);
*avgmindist += sqrtf(localmd);
}
*mindist = sqrtf(*mindist);
*avgmindist /= points.size();
}
void saveKeypoints(Image<unsigned char>& imageToSave)
{
for(int i=0; i<corners.size(); i++)
{
TooN::Vector<2> undistorted_coords = drone_camera_model.linearproject(corners[i].cam_coords);
if(imageToSave.in_image(ImageRef((int) undistorted_coords[0], (int) undistorted_coords[1])))
drawBox(imageToSave.data(), undistorted_coords[0], undistorted_coords[1], 6);
}
printf("saving keypoints\n");
FILE *file_fd;
file_fd = fopen("keypoints12.yuv", "wb");
const void *p;
p = (const void*) imageToSave.data();
fwrite(p, WIDTH*HEIGHT, 1, file_fd);
fclose(file_fd);
}
/*
void SoftmaxPolicyPlayout::initProbabilities(const Go::Board *init_board) {
//memset(m_probTableBlack, 0, sizeof(double)*MAX_BOARD_SIZE);
//memset(m_probTableWhite, 0, sizeof(double)*MAX_BOARD_SIZE);
//SparseVector extractedFeatures;
Color turns[] = {BLACK, WHITE};
double *tables[2] = {m_probTableBlack, m_probTableWhite};
SparseVector *featureTables[2] = {m_featureTableBlack, m_featureTableWhite};
for (int i=0; i<2 && tables[i] != NULL; i++) {
Color myTurn = turns[i];
initProbabilities(init_board, myTurn, tables[i], featureTables[i]);
}
}
*/
void SoftmaxPolicyPlayout::initProbabilities(const Go::Board *init_board, Color myTurn, double *table, SparseVector *featureTable) {
Color enemyTurn = Board::flipColor(myTurn);
PointSet &updatedMoves = myTurn == BLACK ? m_toResetStaticFeaturesMovesBlack : m_toResetStaticFeaturesMovesWhite;
updatedMoves.clear();
for (int y=0; y<init_board->getSize(); y++) {
for (int x=0; x<init_board->getSize(); x++) {
featureTable[init_board->xyToPoint(x,y)].clear();
}
}
PointSet legalMovesSet;
// update pattern features
for (int y=0; y<init_board->getSize(); y++) {
for (int x=0; x<init_board->getSize(); x++) {
Point p = init_board->xyToPoint(x,y);
if (init_board->isColor(p, FREE) &&
(init_board->getNeighborEmptyCount(p)>=1 || init_board->checkLegalHand(p, myTurn, enemyTurn) == Board::PUT_LEGAL)) {
m_featureExtractor.updatePatternFeature(featureTable[p], init_board, p, myTurn);
legalMovesSet.insert(p,p);
} else {
// prob is 0
//featureTable[p].clear();
if (init_board->isColor(p, FREE)) {
m_featureExtractor.updatePatternFeature(featureTable[p], init_board, p, myTurn);
}
table[p] = 0;
}
}
}
// update static features
m_featureExtractor.updateStaticFeaturesForAllMovesWithoutClearOldFeatures(init_board, myTurn, legalMovesSet, featureTable, updatedMoves);
for (size_t i=0; i<legalMovesSet.size(); i++) {
//table[legalMovesSet[i]] = m_expFeatureWeights.multiplyAll(featureTable[legalMovesSet[i]]);
table[legalMovesSet[i]] = fmath::expd(m_featureWeights.dot(featureTable[legalMovesSet[i]]));
//table[legalMovesSet[i]] = exp(m_featureWeights.dot(featureTable[legalMovesSet[i]]));
}
}
void GradientDescent<DIM, POS, VAL>::optimize(PointSet<DIM, POS, VAL>& _pts)
{
PointSet<DIM, POS, POS> data = _pts;
int iSz = _pts.size();
for(int d=0; d<DIM; d++)
{
Vector<DIM, POS> shift;
shift[d] += m_shift;
for(int i=0; i<iSz; i++)
{
data.push_back(Point<DIM, POS, POS>(_pts[i].pos() + shift, 0));
}
}
evalFunction(data);
m_max = 0.0;
m_mean = 0.0;
if(iSz != 0)
{
for(int i=0; i<iSz; i++)
{
Vector<DIM, POS> motion;
for(int d=0; d<DIM; d++)
{
POS p = (data[i].val() - data[i+iSz*(d+1)].val()) / m_shift;
_pts[i].pos()[d] -= p;
motion[d] = p;
}
POS norm = motion.norm();
m_mean += norm;
if(m_max < norm) m_max = norm;
}
m_mean /= iSz;
}
}
bool UnknownNumStrategy::Read(PointSet& pointSet)
{
if(_isFinish)
return false;
unsigned int numLeft;
unsigned int thisTimeToRead = MEM_MAP_THRESHOLD;
time_t sT, eT;
sT = clock();
inputor->_num = thisTimeToRead;
ReadConcept(*inputor, pointSet, _recordType);
eT = clock();
_log << "Read "<< pointSet.size() <<" points, Time : "<<difftime(eT, sT)<<endl;
if(inputor->reachFileEnd()) {
_log << "Finish Read!"<<endl;
_isFinish = true;
}
return true;
}
void
getHeadMeasurementData( const PointSet &aPoints, HeadMeasurementData &aHeadMeasurementData )
{
ASSERT( aPoints.size() >= 3 );
Vector3f center;
Eigen::Matrix3f covarianceMatrix;
computeCovarianceMatrixFromPointSet( aPoints, center, covarianceMatrix );
typedef Eigen::SelfAdjointEigenSolver<Eigen::Matrix3f> Solver;
Solver eigensolver(covarianceMatrix);
Solver::RealVectorType eigenVals = eigensolver.eigenvalues();
Eigen::Matrix3f eigenVectors = eigensolver.eigenvectors();
D_PRINT( "Eigen values :\n" << eigenVals );
D_PRINT( "Eigen vectors :\n" << eigenVectors );
Vector3f v1( eigenVectors(0,2), eigenVectors(1,2), eigenVectors(2,2) );
Vector3f v2( eigenVectors(0,1), eigenVectors(1,1), eigenVectors(2,1) );
/* Vector3f v1 = mHumeralHeadPoints[0] - center;
Vector3f v2 = mHumeralHeadPoints[1] - center;
VectorNormalization( v1 );
VectorNormalization( v2 );*/
Vector3f normal = VectorProduct( v1, v2 );
VectorNormalization( normal );
/*v2 = VectorProduct( v1, normal );
VectorNormalization( v2 );*/
aHeadMeasurementData.point = center;
aHeadMeasurementData.normal = normal;
aHeadMeasurementData.vDirection = v1;
aHeadMeasurementData.wDirection = v2;
aHeadMeasurementData.available = true;
}
void evalAgreemenRate(vector<Board_Move_Dataset *> dataset, unsigned int randomSeed, vector<int> &correctCount, vector<int> &positionCount) {
// init seed of random
srand(randomSeed);
correctCount.clear();
positionCount.clear();
SparseVector featureTable[MAX_BOARD_SIZE];
SparseVector passFeature;
int corrects = 0, positions = 0;
vector<shared_ptr<FeatureWeights> >::iterator it, end = featureWeights.end();
for (it = featureWeights.begin(); it!=end; it++) {
shared_ptr<FeatureWeights> weights = *it;
corrects = positions = 0;
for (size_t i=0; i<dataset.size(); i++) {
Board_Move_Dataset &set = *dataset[i];
set.seekToBegin();
if (set.empty()) continue;
Board_Move_Data init_data(set.get());
//std::shared_ptr<AI::PlayerBase> players[2] = {
// AI::Parameters::getInstanceOfColor(BLACK).createPlayerAccordingToKind(init_data.state.get(), 1),
// AI::Parameters::getInstanceOfColor(WHITE).createPlayerAccordingToKind(init_data.state.get(), 1)
//};
do {
Board_Move_Data data(set.get());
Color turn = data.turn;
// extract features
PointSet possibleMoves;
featureExtractor.extractFromStateForAllMoves(data.state.get(), turn, featureTable, passFeature, possibleMoves);
double maxValue = -99999999999;
Point maxMove = POINT_NULL;
for (size_t i=0; i<possibleMoves.size(); i++) {
Point p = possibleMoves[i];
SparseVector &vec = featureTable[p];
double sum = weights->dot(vec);
if (sum > maxValue) {
maxValue = sum;
maxMove = p;
}
}
double sum = weights->dot(passFeature);
if (sum > maxValue) {
maxValue = sum;
maxMove = PASS;
}
//Point selected = players[turn == BLACK ? 0 : 1]->selectBestMove(turn);
//data.state->printToErr();
if (maxMove == data.move) {
corrects++;
//cerr << "correct " << endl;
}
positions++;
} while (set.next());
cerr << "end dataset " << i << endl;
};
correctCount.push_back(corrects);
positionCount.push_back(positions);
}
}
void
getProximalShaftMeasurementData( const PointSet &aPoints, ProximalShaftMeasurementData &aProximalShaftMeasurementData )
{
Vector3f center;
Vector3f v1;
Eigen::Matrix3f covarianceMatrix;
Vector3f minimum = aPoints[0];
Vector3f maximum = aPoints[0];
for ( size_t i = 1; i < aPoints.size(); ++i ) {
minimum = M4D::minVect< float, 3 >( static_cast< const Vector3f &>( minimum ), static_cast< const Vector3f &>( aPoints[i] ) );
maximum = M4D::maxVect< float, 3 >( static_cast< const Vector3f &>( maximum ), static_cast< const Vector3f &>( aPoints[i] ) );
/*D_PRINT( "point : " << aPoints[i] );
D_PRINT( "min : " << minimum );
D_PRINT( "max : " << maximum << "\n" );*/
}
if ( !aProximalShaftMeasurementData.available ) {
computeCovarianceMatrixFromPointSet( aPoints, center, covarianceMatrix );
typedef Eigen::SelfAdjointEigenSolver<Eigen::Matrix3f> Solver;
Solver eigensolver(covarianceMatrix);
Solver::RealVectorType eigenVals = eigensolver.eigenvalues();
Eigen::Matrix3f eigenVectors = eigensolver.eigenvectors();
D_PRINT( "Eigen values :\n" << eigenVals );
D_PRINT( "Eigen vectors :\n" << eigenVectors );
v1 = Vector3f( eigenVectors(0,2), eigenVectors(1,2), eigenVectors(2,2) );
} else {
center = aProximalShaftMeasurementData.centerPoint;
v1 = aProximalShaftMeasurementData.direction;
}
//********************************************************************
float d = 0.15f;
float d2 = 5.0f;
NumericOptimizer< float, 6, CylinderMaximumFillFtor > optimizer;
Vector< float, 6 > result = optimizer.optimize(
Vector< float, 6 >( center[0]-d2, center[1]-d2, center[2], v1[0]-d, v1[1]-d, v1[2]-d ),
Vector< float, 6 >( center[0]+d2, center[1]+d2, center[2], v1[0]+d, v1[1]+d, v1[2]+d ),
Vector< float, 6 >( center[0], center[1], center[2], v1[0], v1[1], v1[2] ),
CylinderMaximumFillFtor( aPoints )
);
center = result.GetSubVector< 0, 3 >();
v1 = result.GetSubVector< 3, 6 >();
LOG( "Result : " << result );
LOG( "center : " << center );
LOG( "v1 : " << v1 );
VectorNormalization( v1 );
//********************************************************************
Vector3f intersection1;
Vector3f intersection2;
M4D::lineAABBIntersections( minimum, maximum,
center, v1,
intersection1, intersection2
);
v1 = intersection2 - intersection1;
VectorNormalization( v1 );
/*D_PRINT( "minT = " << minT );
D_PRINT( "maxT = " << maxT );
D_PRINT( "diffT = " << diffT );*/
float minDistance = M4D::PointLineDistance( static_cast< Vector3f >( aPoints[0] ), center, v1 );
for ( size_t i = 1; i < aPoints.size(); ++i ) {
float tmp = M4D::PointLineDistance( static_cast< Vector3f >( aPoints[i] ), center, v1 );
minDistance = M4D::min( minDistance, tmp );
}
float height = VectorSize( intersection2 - intersection1 );
aProximalShaftMeasurementData.point = intersection1 - v1 * (0.1f * height);//center + minT * v1;
aProximalShaftMeasurementData.bboxP1 = intersection1;
aProximalShaftMeasurementData.bboxP2 = intersection2;
aProximalShaftMeasurementData.centerPoint = center;
aProximalShaftMeasurementData.direction = v1;
aProximalShaftMeasurementData.height = height * 1.2;
aProximalShaftMeasurementData.radius = minDistance;
aProximalShaftMeasurementData.available = true;
aProximalShaftMeasurementData.minimum = minimum;
aProximalShaftMeasurementData.maximum = maximum;
}
int main(int argc, char **argv) {
using namespace std;
// Command line input test.
if (argc!=2) {
cerr << " Usage: RWSim <input filename>\n";
exit(1);
};
// Input filename in a string.
string infile(argv[1]);
//===============================================================
//=================(Input Parameters)============================
AgentID nagents;
long xsize;
long ysize;
long geometry=1;
string in_excluded_file;
PointSet excluded;
double ag_threshold;
double op_threshold=0.5;
short opinion_topology=2;
short op_init_method=1;
double gullibility;
double standard_dev=0.1;
long int_range=0;
int neighbor_type_sg=0;
long agent_max_speed=1;
int neighbor_type_movement=1;
long update_method=1;
long total_time;
unsigned long rseed1=1;
unsigned long rseed2=1;
long max_rn=1000;
int convergence_method=1;
long convergence_check_period=10;
long convergence_out_period=10;
bool if_snapshot_out=false;
string out_snapshot_file;
long out_snapshot_interval=1;
bool if_ag_snapshot_out=false;
string out_ag_snapshot_file;
int out_ag_snapshot_method=0;
long out_ag_snapshot_interval=1;
bool if_sg_snapshot_out=false;
string out_sg_snapshot_file;
int out_sg_snapshot_method=0;
long out_sg_snapshot_interval=1;
bool if_agent_out=false;
AgentID agent_id;
string out_agent_file;
long out_agent_interval=1;
bool if_summary_out=false;
string out_summary_file;
bool if_network_stat_out=false;
long out_network_stat_time=-1;
bool if_components_out=false;
string out_components_file;
bool if_agraph_in=false;
string in_agraph_file;
short in_agraph_file_format=1;
short in_agraph_method=0;
long num_edges;
double wiring_prob;
bool if_agents_in=false;
string in_agents_file;
//===============================================================
//==============(Reading Input Parameters)=======================
cout << "1, Reading the input parameters..." << endl;
InputParam in1(infile);
in1.read();
// in1.print_key_val();
if (!in1.get("nagents",nagents,cerr)) {
cerr << "# No parameter given: nagents \n";
cerr << endl;
exit(1);
};
if (!in1.get("xsize",xsize,cerr)) {
cerr << "# No parameter given: xsize \n";
exit(1);
};
if (!in1.get("ysize",ysize,cerr)) {
cerr << "# No parameter given: ysize \n";
exit(1);
};
if (!in1.get("geometry",geometry,cerr)) {
cerr << "# No parameter given: geometry.";
cerr << " Default value 1 (regular) will be used.\n";
};
if (geometry==2 && \
!in1.get("in_excluded_file",in_excluded_file,cerr)) {
cerr << "# No parameter given: in_excluded_file \n";
exit(1);
};
if (!in1.get("gullibility",gullibility,cerr)) {
cerr << "# No parameter given: gullibility \n";
exit(1);
};
if (gullibility<-epsilon && !in1.get("standard_dev",standard_dev,cerr)) {
cerr << "# No parameter given: standard_dev \n";
exit(1);
};
if (!in1.get("ag_threshold",ag_threshold,cerr)) {
ag_threshold=1.0/nagents;
cerr << "# No parameter given: ag_threshold";
cerr << ". Default value, 1/nagents=" << ag_threshold;
cerr << ", will be used.\n";
};
if (!in1.get("op_threshold",op_threshold,cerr)) {
cerr << "# No parameter given: op_threshold";
cerr << ". Default value, 0.5" << op_threshold;
cerr << ", will be used.\n";
};
//if (!in1.get("sg_effect",sg_effect,cerr)) {
// cerr << "# No parameter given: sg_effect";
// cerr << ". Default value, false, will be used.\n";
//};
if (!in1.get("opinion_topology",opinion_topology,cerr)) {
cerr << "# No parameter given: opinion_topology";
cerr << ". Default value 2 (circular) will be used.\n";
};
if (!in1.get("op_init_method",op_init_method,cerr)) {
cerr << "# No parameter given: op_init_method";
cerr << ". Default value 1 (random) will be used.\n";
};
if (!in1.get("neighbor_type_sg",neighbor_type_sg,cerr)) {
cerr << "# No parameter given: neighbor_type_sg";
cerr << ". Default value 0 (no SG effect) will be used.\n";
};
if (!in1.get("int_range",int_range,cerr)) {
cerr << "# No parameter given: int_range";
cerr << ". Default value 0 will be used.\n";
};
if (!in1.get("agent_max_speed",agent_max_speed,cerr)) {
cerr << "# No parameter given: agent_max_speed";
cerr << ". Default value 1 will be used.\n";
};
if (!in1.get("neighbor_type_movement",neighbor_type_movement,cerr)) {
cerr << "# No parameter given: neighbor_type_movement";
cerr << ". Default value 1 (von Neumann+center) will be used.\n";
};
if (!in1.get("update_method",update_method,cerr)) {
cerr << "# No parameter given: update_method";
cerr << ". Default value 2 (new) will be used.\n";
};
if (!in1.get("total_time",total_time,cerr)) {
cerr << "# No parameter given: total_time \n";
exit(1);
};
double drseed1, drseed2, dmax=2147483647;
if (!in1.get("rseed1",drseed1,cerr)) {
cerr << "# No parameter given: rseed1";
cerr << ". Default value, " << rseed1 << ", will be used.\n";
}
else {
if (drseed1 < 0) drseed1=-drseed1;
rseed1=(unsigned long) (drseed1-dmax*((unsigned long) (drseed1/dmax))+0.5);
};
if (!in1.get("rseed2",drseed2,cerr)) {
cerr << "# No parameter given: rseed2";
cerr << ". Default value, " << rseed2 << ", will be used.\n";
}
else {
if (drseed2 < 0) drseed2=-drseed2;
rseed2=(unsigned long) (drseed2-dmax*((unsigned long) (drseed2/dmax))+0.5);
};
if (!in1.get("max_rn",max_rn,cerr)) {
cerr << "# No parameter given: max_rn";
cerr << ". Default value, " << max_rn << ", will be used.\n";
};
if (!in1.get("convergence_method",convergence_method,cerr)) {
cerr << "# No parameter given: convergence_method";
cerr << ". Default value, 1, will be used.\n";
};
if (convergence_method && !in1.get("convergence_check_period",convergence_check_period,cerr)) {
convergence_check_period=xsize*ysize;
cerr << "# No parameter given: convergence_check_period.\n";
cerr << " Default value, xsize*ysize=" << convergence_check_period;
cerr << ", will be used.\n";
};
if (convergence_method>3 && !in1.get("convergence_out_period",convergence_out_period,cerr)) {
convergence_out_period=convergence_check_period;
cerr << "# No parameter given: convergence_out_period.\n";
cerr << " Default value, convergence_out_period, " << convergence_check_period;
cerr << ", will be used.\n";
};
if (!in1.get("if_snapshot_out",if_snapshot_out,cerr)) {
cerr << "# No parameter given: if_snapshot_out";
cerr << ". Default value, false, will be used.\n";
};
if (if_snapshot_out && \
!in1.get("out_snapshot_file",out_snapshot_file,cerr)) {
cerr << "# No parameter given: out_snapshot_file \n";
exit(1);
};
if (if_snapshot_out && !in1.get("out_snapshot_interval", \
out_snapshot_interval,cerr)) {
cerr << "# No parameter given: out_snapshot_interval";
cerr << ". Default value 1 will be used.\n";
};
if (!in1.get("if_ag_snapshot_out",if_ag_snapshot_out,cerr)) {
cerr << "# No parameter given: if_ag_snapshot_out";
cerr << ". Default value, false, will be used.\n";
};
if (if_ag_snapshot_out && !in1.get("out_ag_snapshot_file",\
out_ag_snapshot_file,cerr)) {
cerr << "# No parameter given: out_ag_snapshot_file \n";
exit(1);
};
if (if_ag_snapshot_out && !in1.get("out_ag_snapshot_method",\
out_ag_snapshot_method,cerr)) {
cerr << "# No parameter given: out_ag_snapshot_method";
cerr << ". Default value 0 will be used.\n";
};
if (if_ag_snapshot_out && !in1.get("out_ag_snapshot_interval",\
out_ag_snapshot_interval,cerr)) {
cerr << "# No parameter given: out_ag_snapshot_interval";
cerr << ". Default value 1 will be used.\n";
};
if (!in1.get("if_sg_snapshot_out",if_sg_snapshot_out,cerr)) {
cerr << "# No parameter given: if_sg_snapshot_out";
cerr << ". Default value, false, will be used.\n";
};
if (if_sg_snapshot_out && !in1.get("out_sg_snapshot_file",\
out_sg_snapshot_file,cerr)) {
cerr << "# No parameter given: out_sg_snapshot_file \n";
exit(1);
};
if (if_sg_snapshot_out && !in1.get("out_sg_snapshot_method",\
out_sg_snapshot_method,cerr)) {
cerr << "# No parameter given: out_sg_snapshot_method";
cerr << ". Default value 0 will be used.\n";
};
if (if_sg_snapshot_out && !in1.get("out_sg_snapshot_interval",\
out_sg_snapshot_interval,cerr)) {
cerr << "# No parameter given: out_sg_snapshot_interval";
cerr << ". Default value 1 will be used.\n";
};
if (!in1.get("if_agent_out",if_agent_out,cerr)) {
cerr << "# No parameter given: if_agent_out";
cerr << ". Default value, false, will be used.\n";
};
if (if_agent_out && !in1.get("agent_id",agent_id,cerr)) {
cerr << "# No parameter given: agent_id \n";
exit(1);
};
if (if_agent_out && !in1.get("out_agent_file",out_agent_file,cerr)) {
cerr << "# No parameter given: out_agent_file \n";
exit(1);
};
if (if_agent_out && !in1.get("out_agent_interval",\
out_agent_interval,cerr)) {
cerr << "# No parameter given: out_agent_interval";
cerr << ". Default value 1 will be used.\n";
};
if (!in1.get("if_summary_out",if_summary_out,cerr)) {
cerr << "# No parameter given: if_summary_out";
cerr << ". Default value, false, will be used.\n";
};
if (if_summary_out && !in1.get("out_summary_file",\
out_summary_file,cerr)) {
cerr << "# No parameter given: out_summary_file \n";
exit(1);
};
if (if_summary_out && !in1.get("if_network_stat_out",if_network_stat_out,cerr)) {
cerr << "# No parameter given: if_network_stat_out";
cerr << ". Default value, false, will be used.\n";
};
if (if_summary_out && if_network_stat_out && !in1.get("out_network_stat_time",\
out_network_stat_time,cerr)) {
cerr << "# No parameter given: out_network_stat_time";
cerr << ". Default value, -1, will be used.\n";
};
if (if_summary_out && if_network_stat_out && !in1.get("if_components_out",if_components_out,cerr)) {
cerr << "# No parameter given: if_components_out";
cerr << ". Default value, false, will be used.\n";
};
if (if_summary_out && if_network_stat_out && if_components_out && !in1.get("out_components_file",\
out_components_file,cerr)) {
cerr << "# No parameter given: out_components_file \n";
exit(1);
};
if (!in1.get("if_agraph_in",if_agraph_in,cerr)) {
if_agraph_in=false;
cerr << "# No parameter given: in_agraph_in.";
cerr << " Default value, false, will be used.\n";
};
if (if_agraph_in) {
if (in1.get("in_agraph_file",in_agraph_file,cerr)) {
if (!Util::if_file(in_agraph_file)) {
cerr << "# File, " << in_agraph_file << ", doesn't exist.";
cerr << " AG will be created randomly.\n";
if_agraph_in=false;
};
}
else {
cerr << "# No parameter given: in_agraph_file.";
cerr << " AG will be created randomly.\n";
if_agraph_in=false;
};
};
if (if_agraph_in && !in1.get("in_agraph_file_format",in_agraph_file_format,cerr)) {
cerr << "# No parameter given: in_agraph_file_format.";
cerr << " Default value, 1, will be used.\n";
};
if (!if_agraph_in && !in1.get("num_edges",num_edges,cerr)) {
cerr << "# No parameter given: num_edges \n";
exit(1);
};
if (!in1.get("wiring_prob",wiring_prob,cerr) && ((!if_agraph_in && num_edges<0) || update_method>=3)) {
cerr << "# No parameter given: wiring_prob \n";
exit(1);
};
if (!if_agraph_in && !in1.get("in_agraph_method",in_agraph_method,cerr)) {
cerr << "# No parameter given: in_agraph_method \n";
exit(1);
};
if (!in1.get("if_agents_in",if_agents_in,cerr)) {
if_agents_in=false;
cerr << "# No parameter given: in_agents_in.";
cerr << " Default value, false, will be used.\n";
};
if (if_agents_in) {
if (in1.get("in_agents_file",in_agents_file,cerr)) {
if (!Util::if_file(in_agents_file)) {
cerr << "# File, " << in_agents_file << ", doesn't exist.";
cerr << " Agents will be created randomly.\n";
if_agents_in=false;
};
}
else {
cerr << "# No parameter given: in_agents_file.";
cerr << " Agents will be created randomly.\n";
if_agents_in=false;
};
};
// close the input parameter file.
in1.close();
// Checking values of basic input parameters
Util::error_check(nagents,xsize,ysize,gullibility,standard_dev,\
ag_threshold, op_threshold,opinion_topology,op_init_method,neighbor_type_sg,agent_max_speed,\
(!if_agraph_in && num_edges<0 ? wiring_prob : 0.5),total_time,\
(if_agraph_in ? 0 : num_edges),rseed1,rseed2,max_rn);
cout << "\tNumber of agents: " << nagents << endl;
// Assigning the size of the grid.
if (geometry==0) { // special case of 1d ring.
xsize=nagents;
ysize=1;
gullibility=1;
neighbor_type_sg=1;
agent_max_speed=0;
neighbor_type_movement=1;
cout << "\tSpecial case of 1D ring with no agent movement." << endl;
};
Point::set_size(xsize,ysize);
cout << "\tGrid size: " << Point::get_xsize() << " and " << Point::get_ysize() << endl;
if (geometry==2) {
std::ifstream ifile;
ifile.open(in_excluded_file.c_str(),ios::in);
if (!ifile) {
cerr << "# Error: Input file, " << in_excluded_file;
cerr << ", doesn't exist.\n";
exit(1);
};
long x, y;
while (ifile >> x >> y && x>=0 && x<xsize && y>=0 && y<ysize) excluded.insert(Point(x,y));
ifile.close();
cout << "\t(Total of " << excluded.size() << " points will be excluded.)" << endl;
};
//----------
vector<AddScan::DataPoint> AddScan::getFitPoints() const {
Utils::ScopedProcess scopedProcess("Get fit points");
this->throwIfMissingAConnection<Scan::Graycode>();
auto graycodeNode = this->getInput<Scan::Graycode>();
graycodeNode->throwIfMissingAConnection<Item::Camera>();
auto cameraNode = graycodeNode->getInput<Item::Camera>();
this->throwIfMissingAConnection<Item::Projector>();
auto projectorNode = this->getInput<Item::Projector>();
auto cameraView = cameraNode->getViewInWorldSpace();
auto projectorView = projectorNode->getViewInWorldSpace();
auto & scanDataSet = graycodeNode->getDataSet();
if (!scanDataSet.getHasData()) {
throw(ofxRulr::Exception("Scan has no data"));
}
//start with set of data
typedef map<uint32_t, ofxGraycode::DataSet::const_iterator> PointSet;
PointSet activeCameraPixels;
{
Utils::ScopedProcess scopedProcessActivePixels("Get all active pixels", false);
for (ofxGraycode::DataSet::const_iterator pixelIt = scanDataSet.begin(); pixelIt != scanDataSet.end(); pixelIt.operator++()) {
auto & pixel = pixelIt.operator->();
if (pixel.active) {
activeCameraPixels[pixel.camera] = pixelIt;
}
}
}
//split the data into a 4x4 grid (quad tree approach would be nicer if we have more time)
//and separate into bins of distance (higher is best)
const uint32_t GRID_RES = 4;
//array (per grid square) of map<distance, vector<points>>
map<uint8_t, vector<ofxGraycode::DataSet::const_iterator>> pixelsByDistancePerGridSquare[GRID_RES * GRID_RES];
{
Utils::ScopedProcess scopedProcessActivePixels("Split scan points into grid and distance bins", false);
uint32_t gridCellWidth = cameraNode->getWidth() / GRID_RES;
uint32_t gridCellHeight = cameraNode->getHeight() / GRID_RES;
for (auto & point : activeCameraPixels) {
auto & pixel = point.second.operator->();
auto cameraXY = pixel.getCameraXY();
int gridIndex = ((uint32_t)cameraXY.x / gridCellWidth) + ((uint32_t)cameraXY.y / gridCellHeight) * GRID_RES;
pixelsByDistancePerGridSquare[gridIndex][pixel.distance].push_back(point.second);
}
}
vector<AddScan::DataPoint> dataPoints;
size_t targetSize = (float)activeCameraPixels.size() * this->parameters.includeForFitRatio;
//accumulate fit points and remove as we go along
{
Utils::ScopedProcess scopedProcessAccumulatePoints("Split scan points into grid and distance bins", false);
size_t gridSquare = 0;
while (dataPoints.size() < targetSize) {
auto & pointsForThisSquare = pixelsByDistancePerGridSquare[gridSquare];
//if no bins available, continue to next square
//remove best bin if empty
//if no bins available, continue to next square
//find best point
//remove it from bin
{
if (pointsForThisSquare.empty()) {
goto continueToNextSquare;
}
auto bestPointsIt = pointsForThisSquare.rbegin();
while (bestPointsIt->second.empty()) {
pointsForThisSquare.erase(bestPointsIt->first);
if (pointsForThisSquare.empty()) {
goto continueToNextSquare;
}
bestPointsIt = pointsForThisSquare.rbegin();
}
auto point = bestPointsIt->second.back().operator->();
DataPoint dataPoint{
cameraView.pixelToCoordinate(point.getCameraXY()),
projectorView.pixelToCoordinate(point.getProjectorXY()),
point.median
};
dataPoints.push_back(dataPoint);
bestPointsIt->second.pop_back();
}
continueToNextSquare:
gridSquare++;
gridSquare %= (GRID_RES * GRID_RES);
}
}
scopedProcess.end();
return dataPoints;
}