int main(int argc, char **argv){
int sockfd, len, new_sockfd;
char buf[BUFSIZ];
//sockaddr_in構造体 <netinet/in.h>で定義されている
struct sockaddr_in serv, clt;
socklen_t sin_siz;
unsigned short port;
if(argc != 3){
printf("usage: progname ip port\n");
exit(EXIT_FAILURE);
}
//第１引数:IPv4で通信しますよ 第２引数:TCPで通信しますよ
if((sockfd = socket(PF_INET, SOCK_STREAM, 0)) < 0){
err_func("socket");
}
//ドメイン設定=IPv4という意味
serv.sin_family = PF_INET;
//atoiは文字列を数値に変換 unsigned shortにキャスト
port = (unsigned short)atoi(argv[2]);
//htonsでネットワークバイトオーダに変換している
serv.sin_port = htons(port);
inet_aton(argv[1], &(serv.sin_addr));
sin_siz = sizeof(struct sockaddr_in);
if(bind(sockfd, (struct sockaddr *)&serv, sin_siz) < 0){
err_func("bind");
}
if(listen(sockfd, SOMAXCONN) < 0){
err_func("listen");
}
while(1){
if((new_sockfd = accept(sockfd, (struct sockaddr *)&clt, &sin_siz)) < 0){
err_func("accept");
}
printf("connect from %s : %u\n",inet_ntoa(clt.sin_addr),ntohs(clt.sin_port));
memset(buf, 0, BUFSIZ);
while(strncmp(buf, "EXIT\r\n", 6) != 0 && strncmp(buf, "EXIT\n",5) != 0){
len = recv(new_sockfd,buf,BUFSIZ,0);
buf[len] = 0x1a;
printf("<- %s",buf);
len = send(new_sockfd,buf,len,0);
}
close(new_sockfd);
}
close(sockfd);
return 0;
}
void Panorama::BA()
{
#define _KMAX 100
const float ep1 = 1.0E-15, tow = 1.0E-3;
float mu = 0, rho, nu = 2.0;
float errValue, errValueNew;
/* A = J'*J; epNew = x-f(p); g = J'*ep; */
cal_JTJ();
cal_fp(pCur);
x_minus_fp();
errValueNew = err_func();
cal_JTr();
/* stop if gradient is small */
if (*max_element(g, g+(numImgAdded<<2)) < ep1) {
return;
}
/* mu = max(A_ii) * tow; */
{
float *p = A;
for (int i = 0; i < (numImgAdded<<2); i++){
if(*p > mu) {
mu = *p;
}
p += (numImgAdded<<2) + 1;
}
mu *= tow;
}
for (int i = 0; i < _KMAX; ++i) {
/* repeat */
do {
/* solve (A+uC)*dp = g */
cal_A_plus_uC();
// TODO: INVERSE();
/* stop if delta is small */
if (norm2(dp) <= ep1 * norm2(pCur)) {
return;
}
/* p_new = p + dp */
p_add_dp();
/* ep_new = x - f(p_new) */
cal_fp(pNew);
x_minus_fp();
/* rho = blahblah */
rho = (errValue - errValueNew);
if (rho > 0.0) {
/* p = p_new */
std::swap(pCur, pNew);
/* A = J'*J */
cal_JTJ();
/* ep = ep_new */
std::swap(ep, epNew);
/* g = J' * ep*/
cal_JTr();
/* stop if gradient is small */
if (*max_element(g, g+(numImgAdded<<2)) < ep1) {
return;
}
// we abate the error, so next iteration now
nu = 2;
mu *= 0.5;
break;
} else {
mu *= nu;
nu *= 2;
}
} while (true);
}
LM_Done:
;
#undef _KMAX
}
