1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
|
<!-- HTML header for doxygen 1.8.3.1-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.6"/>
<title>Templates -- Meow: meowpp/math/methods.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript">
$(document).ready(initResizable);
$(window).load(resizeHeight);
</script>
<link href="stylesheet.css" rel="stylesheet" type="text/css" />
<link href="custom.css" rel="stylesheet" type="text/css"/>
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
<td id="projectlogo"><img alt="Logo" src="logo.png"/></td>
<td style="padding-left: 0.5em;">
<div id="projectname">Templates -- Meow
 <span id="projectnumber">1.2.11</span>
</div>
<div id="projectbrief">A C++ template contains kinds of interesting classes and functions</div>
</td>
</tr>
</tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.6 -->
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
<div id="nav-tree-contents">
<div id="nav-sync" class="sync"></div>
</div>
</div>
<div id="splitbar" style="-moz-user-select:none;"
class="ui-resizable-handle">
</div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('methods_8h_source.html','');});
</script>
<div id="doc-content">
<div class="header">
<div class="headertitle">
<div class="title">methods.h</div> </div>
</div><!--header-->
<div class="contents">
<a href="methods_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef math_methods_H__</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor"></span><span class="preprocessor">#define math_methods_H__</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor"></span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include "<a class="code" href="Matrix_8h.html">Matrix.h</a>"</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="Vector_8h.html">Vector.h</a>"</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="math_2utility_8h.html">utility.h</a>"</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> </div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <cstdlib></span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <vector></span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="keyword">namespace </span>meow {</div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> </div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="keyword">template</span><<span class="keyword">class</span> Data, <span class="keyword">class</span> WeightingClass></div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="namespacemeow.html#a43a73b75f2e23c8172d2098d57eaf75a"> 58</a></span> <span class="keyword">inline</span> std::vector<Data> <a class="code" href="namespacemeow.html#a43a73b75f2e23c8172d2098d57eaf75a">ransac</a>(std::vector<Data> <span class="keyword">const</span>& data,</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  WeightingClass <span class="keyword">const</span>& w,</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordtype">size_t</span> N,</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordtype">double</span> p0, <span class="keywordtype">double</span> P) {</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">if</span> (data.size() < N) {</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordflow">return</span> std::vector<Data>();</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  }</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keywordtype">double</span> ww = -1.0;</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  std::vector<Data> ret;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keywordflow">for</span> (<span class="keywordtype">double</span> count = ceil(log(1.0 - P) / log(1.0 - pow(p0, N)));</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  count > 0.0; count -= 1.0) {</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  std::vector<Data> sample;</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  std::vector<int> index(N);</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < N; i++) {</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordflow">for</span> (<span class="keywordtype">bool</span> ok = <span class="keyword">false</span>; !ok; ) {</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  index[i] = rand() % data.size();</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  ok = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; ok && j < i; j++)</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordflow">if</span> (index[i] == index[j])</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  ok = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  }</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  sample.push_back(data[index[i]]);</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  }</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordtype">double</span> w_now = w(sample, data);</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">if</span> (w_now < 0) {</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  count += 0.5;</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  }</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordflow">if</span> (ww < w_now) {</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  ret = sample;</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  ww = w_now;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  }</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  }</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> }</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> </div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> </div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="comment"> * @brief Run the \b Levenberg-Marquardt method to solve a non-linear</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="comment"> * least squares problem.</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="comment"> * Assume:</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> <span class="comment"> * - The function we want to optimize is</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> <span class="comment"> * \f$ F: \mathbb{R} ^N \mapsto \mathbb{R}^M \f$</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> <span class="comment"> * - We want to find the best solution \f$ v \f$ such that</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="comment"> * \f$ F(v)^T F(v) = 0\f$. But there is a gived threshold</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="comment"> * \f$ \epsilon \f$, we can just find a \f$ v \f$ such that</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> <span class="comment"> * \f$ F(v)^T F(v) < \epsilon \f$, which is mush easier.</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="comment"> * - User gived a initiial vector \f$ v_0 \f$</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="comment"> * .</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="comment"> * Then we just iteratilly find \f$ v_1, v_2, v_3, v_4... \f$ until a</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="comment"> * vector \f$ v_k \f$ satisified that \f$ F(v_k)^TF(v_k)<\epsilon \f$ .</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> <span class="comment"> * And each iterator we have:</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> <span class="comment"> * \f[</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="comment"> * v_{i+1} = v_i + (J(v_i)^TJ(v_i)+\lambda I_{N\times N})^{-1} J(v_i)^T F(v_i)</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="comment"> * \f]</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="comment"> * Where \f$ J(v) \f$ is a jacobian matrix defined below:</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment"> * \f[</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="comment"> * J(v) = \frac{d}{dv}F(v) =</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="comment"> * \left[ \begin{array}{ccccc}</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> <span class="comment"> * \frac{\partial F_1(v)}{\partial v_1} &</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> <span class="comment"> * \frac{\partial F_1(v)}{\partial v_2} &</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="comment"> * \frac{\partial F_1(v)}{\partial v_3} &</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="comment"> * ... &</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="comment"> * \frac{\partial F_1(v)}{\partial v_N} \\</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="comment"> * \frac{\partial F_2(v)}{\partial v_1} &</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="comment"> * \frac{\partial F_2(v)}{\partial v_2} &</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="comment"> * \frac{\partial F_2(v)}{\partial v_3} &</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="comment"> * ... &</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="comment"> * \frac{\partial F_2(v)}{\partial v_N} \\</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="comment"> * \frac{\partial F_3(v)}{\partial v_1} &</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="comment"> * \frac{\partial F_3(v)}{\partial v_2} &</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> <span class="comment"> * \frac{\partial F_3(v)}{\partial v_3} &</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="comment"> * ... &</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="comment"> * \frac{\partial F_3(v)}{\partial v_N} \\</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> <span class="comment"> * . & . & . & & . \\</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="comment"> * . & . & . & & . \\</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> <span class="comment"> * . & . & . & & . \\</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="comment"> * \frac{\partial F_M(v)}{\partial v_1} &</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="comment"> * \frac{\partial F_M(v)}{\partial v_2} &</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> <span class="comment"> * \frac{\partial F_M(v)}{\partial v_3} &</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> <span class="comment"> * ... &</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <span class="comment"> * \frac{\partial F_M(v)}{\partial v_N} \\</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> <span class="comment"> * \end{array} \right]</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> <span class="comment"> * \f]</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> <span class="comment"> * And \f$ \lambda \f$ is a magic number....</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="comment"> * @param [in] func \f$ F \f$, a function(class with \c operator() )</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="comment"> * which input a vector and the output the squares errors.</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> <span class="comment"> * @param [in] jaco \f$ J \f$, a function which input a vector</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> <span class="comment"> * and then output \b func derivate by the vector</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> <span class="comment"> * @param [in] iden \f$ \lambda I_{N \times N} \f$, defined above</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> <span class="comment"> * @param [in] init \f$ v_0 \f$Initial vector</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span> <span class="comment"> * @param [in] stop A function return a boolean which means the error is</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span> <span class="comment"> * acceptable or not, so \f[</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> <span class="comment"> * S_{top}(v) = \begin{cases}</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> <span class="comment"> * true & if~F(v)<\epsilon \\</span></div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> <span class="comment"> * false & else</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> <span class="comment"> * \end{cases}</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> <span class="comment"> * \f]</span></div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> <span class="comment"> * @param [in] counter To prevent infinit loop.</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> <span class="comment"> * @return a vector which means the best solution this function found.</span></div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> <span class="comment"> * @author cat_leopard</span></div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span> <span class="keyword">template</span><<span class="keyword">class</span> Scalar, <span class="keyword">class</span> Function></div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="namespacemeow.html#a37b8a0148b872c4533f37dde9bbb9ae4"> 163</a></span> <span class="keyword">inline</span> <a class="code" href="classmeow_1_1Vector.html">Vector<Scalar></a> <a class="code" href="namespacemeow.html#a37b8a0148b872c4533f37dde9bbb9ae4">levenbergMarquardt</a>(Function <span class="keyword">const</span>& f,</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <a class="code" href="classmeow_1_1Vector.html">Vector<Scalar></a> <span class="keyword">const</span>& init,</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordtype">int</span> counter = -1) {</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <a class="code" href="classmeow_1_1Vector.html">Vector<Scalar></a> ans(init), residure_v;</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordflow">for</span> ( ; counter != 0 && !f.accept(residure_v = f.residure(ans)); --counter) {</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> m_j (f.jacobian(ans));</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> m_jt(m_j.transpose());</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> m(m_j * m_jt), M;</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; M.<a class="code" href="classmeow_1_1Matrix.html#a030758e4938c4d56a0b665e6a51d1405">valid</a>() == <span class="keyword">false</span>; i++) {</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  M = (m + f.diagonal(ans, i)).inverse();</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  }</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  ans = ans - M * m_jt * residure_v;</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  }</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keywordflow">return</span> ans;</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> }</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> </div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> <span class="comment">// residure</span></div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> <span class="comment">// jacobian</span></div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="comment">// identity</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="keyword">template</span><<span class="keyword">class</span> Scalar, <span class="keyword">class</span> Function></div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="namespacemeow.html#adbd82702daf1e569c4a72176aa799c6d"> 183</a></span> <span class="keyword">inline</span> <a class="code" href="classmeow_1_1Vector.html">Vector<Scalar></a> <a class="code" href="namespacemeow.html#adbd82702daf1e569c4a72176aa799c6d">levenbergMarquardtTraining</a>(Function & f,</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <a class="code" href="classmeow_1_1Vector.html">Vector<Scalar></a> <span class="keyword">const</span>& init,</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  Scalar <span class="keyword">const</span>& init_mu,</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  Scalar <span class="keyword">const</span>& mu_pow,</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  Scalar <span class="keyword">const</span>& er_max,</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keywordtype">int</span> retry_number,</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <span class="keywordtype">int</span> counter) {</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordflow">if</span> (retry_number == 0) retry_number = 1;</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <a class="code" href="classmeow_1_1Vector.html">Vector<Scalar></a> ans_now(init), rv_now(f.residure(ans_now));</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <a class="code" href="classmeow_1_1Vector.html">Vector<Scalar></a> ans_nxt , rv_nxt;</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  Scalar er_now(rv_now.length2());</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  Scalar er_nxt;</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <a class="code" href="classmeow_1_1Vector.html">Vector<Scalar></a> ans_best(ans_now);</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  Scalar er_best ( er_now);</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <a class="code" href="classmeow_1_1Matrix.html">Matrix<Scalar></a> m_ja, m_jt, m, iden(f.identity());</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  Scalar mu(init_mu);</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="keywordflow">for</span> ( ; counter != 0 && er_now > er_max; --counter) {</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  m_ja = f.jacobian();</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  m_jt = m_ja.<a class="code" href="classmeow_1_1Matrix.html#a869be60b593d7ce7101ee7ac788b0dd0">transpose</a>();</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  m = m_jt * m_ja;</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordtype">bool</span> good = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i != retry_number; ++i, mu = mu * mu_pow) {</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  ans_nxt = ans_now + (m + iden * mu).inverse() * m_jt * rv_now.matrix();</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  rv_nxt = f.residure(ans_nxt);</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  er_nxt = rv_nxt.<a class="code" href="classmeow_1_1Vector.html#a71b56938e01de730490e722824f4b53e">length2</a>();</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keywordflow">if</span> (er_nxt <= er_now) {</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  good = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  }</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  }</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keywordflow">if</span> (good) {</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  mu = mu / mu_pow;</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  }</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  mu = <a class="code" href="namespacemeow.html#a98d838d338a3e6f3c57e94562fab3fa7">inRange</a>(0.0000001, 100.0, mu);</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  ans_now = ans_nxt;</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  rv_now = rv_nxt;</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  er_now = er_nxt;</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordflow">if</span> (er_now < er_best) {</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  ans_best = ans_now;</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  er_best = er_now;</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  }</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  }</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="keywordflow">return</span> ans_best;</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span> }</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span> </div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span> } <span class="comment">// meow</span></div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span> </div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span> <span class="preprocessor">#endif // math_methods_H__</span></div>
<div class="ttc" id="namespacemeow_html_adbd82702daf1e569c4a72176aa799c6d"><div class="ttname"><a href="namespacemeow.html#adbd82702daf1e569c4a72176aa799c6d">meow::levenbergMarquardtTraining</a></div><div class="ttdeci">Vector< Scalar > levenbergMarquardtTraining(Function &f, Vector< Scalar > const &init, Scalar const &init_mu, Scalar const &mu_pow, Scalar const &er_max, int retry_number, int counter)</div><div class="ttdef"><b>Definition:</b> <a href="methods_8h_source.html#l00183">methods.h:183</a></div></div>
<div class="ttc" id="classmeow_1_1Vector_html_a71b56938e01de730490e722824f4b53e"><div class="ttname"><a href="classmeow_1_1Vector.html#a71b56938e01de730490e722824f4b53e">meow::Vector::length2</a></div><div class="ttdeci">Scalar length2() const </div><div class="ttdoc">same as (*this).dot(*this) </div><div class="ttdef"><b>Definition:</b> <a href="Vector_8h_source.html#l00204">Vector.h:204</a></div></div>
<div class="ttc" id="namespacemeow_html_a37b8a0148b872c4533f37dde9bbb9ae4"><div class="ttname"><a href="namespacemeow.html#a37b8a0148b872c4533f37dde9bbb9ae4">meow::levenbergMarquardt</a></div><div class="ttdeci">Vector< Scalar > levenbergMarquardt(Function const &f, Vector< Scalar > const &init, int counter=-1)</div><div class="ttdef"><b>Definition:</b> <a href="methods_8h_source.html#l00163">methods.h:163</a></div></div>
<div class="ttc" id="classmeow_1_1Matrix_html_a030758e4938c4d56a0b665e6a51d1405"><div class="ttname"><a href="classmeow_1_1Matrix.html#a030758e4938c4d56a0b665e6a51d1405">meow::Matrix::valid</a></div><div class="ttdeci">bool valid() const </div><div class="ttdoc">Return whether it is a valid matrix. </div><div class="ttdef"><b>Definition:</b> <a href="Matrix_8h_source.html#l00124">Matrix.h:124</a></div></div>
<div class="ttc" id="math_2utility_8h_html"><div class="ttname"><a href="math_2utility_8h.html">utility.h</a></div></div>
<div class="ttc" id="classmeow_1_1Vector_html"><div class="ttname"><a href="classmeow_1_1Vector.html">meow::Vector</a></div><div class="ttdoc">vector </div><div class="ttdef"><b>Definition:</b> <a href="Vector_8h_source.html#l00019">Vector.h:19</a></div></div>
<div class="ttc" id="namespacemeow_html_a98d838d338a3e6f3c57e94562fab3fa7"><div class="ttname"><a href="namespacemeow.html#a98d838d338a3e6f3c57e94562fab3fa7">meow::inRange</a></div><div class="ttdeci">T inRange(T const &mn, T const &mx, T const &v)</div><div class="ttdoc">std::min(mx,std::max(mn,v)) </div><div class="ttdef"><b>Definition:</b> <a href="math_2utility_8h_source.html#l00061">utility.h:61</a></div></div>
<div class="ttc" id="namespacemeow_html_a43a73b75f2e23c8172d2098d57eaf75a"><div class="ttname"><a href="namespacemeow.html#a43a73b75f2e23c8172d2098d57eaf75a">meow::ransac</a></div><div class="ttdeci">std::vector< Data > ransac(std::vector< Data > const &data, WeightingClass const &w, size_t N, double p0, double P)</div><div class="ttdoc">Run the RANSAC method to approach the best solution. </div><div class="ttdef"><b>Definition:</b> <a href="methods_8h_source.html#l00058">methods.h:58</a></div></div>
<div class="ttc" id="classmeow_1_1Matrix_html_a869be60b593d7ce7101ee7ac788b0dd0"><div class="ttname"><a href="classmeow_1_1Matrix.html#a869be60b593d7ce7101ee7ac788b0dd0">meow::Matrix::transpose</a></div><div class="ttdeci">Matrix transpose() const </div><div class="ttdoc">return itself's transpose matrix </div><div class="ttdef"><b>Definition:</b> <a href="Matrix_8h_source.html#l00435">Matrix.h:435</a></div></div>
<div class="ttc" id="Matrix_8h_html"><div class="ttname"><a href="Matrix_8h.html">Matrix.h</a></div></div>
<div class="ttc" id="Vector_8h_html"><div class="ttname"><a href="Vector_8h.html">Vector.h</a></div></div>
<div class="ttc" id="classmeow_1_1Matrix_html"><div class="ttname"><a href="classmeow_1_1Matrix.html">meow::Matrix< Scalar ></a></div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- HTML footer for doxygen 1.8.3.1-->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
<ul>
<li class="navelem"><a class="el" href="dir_92fecd8d02dd5e7a67429447fdf0f60f.html">meowpp</a></li><li class="navelem"><a class="el" href="dir_77e0ab67466b1e7d76f50725a5ab9910.html">math</a></li><li class="navelem"><a class="el" href="methods_8h.html">methods.h</a></li>
<li class="footer">Generated on Mon Sep 8 2014 21:25:40 for Templates -- Meow by
<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.6 </li>
</ul>
</div>
</body>
</html>
|
