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74 lines
2.4 KiB
C++
74 lines
2.4 KiB
C++
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/*
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Copyright (c) 2010-2026, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "PatternSearchSolver.h"
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#include <algorithm>
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void PatternSearchSolver::solve(const CalibrationProblem & problem, bool estimateTranslation, double p[6]) const
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{
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double steps[6];
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std::copy(kInitialSteps, kInitialSteps + 6, steps);
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if(!estimateTranslation)
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{
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steps[0] = steps[1] = steps[2] = 0.0;
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}
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double best = problem.score(correctionFrom(p));
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for(int level = 0; level < levels_; ++level)
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{
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bool improved = true;
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while(improved)
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{
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improved = false;
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for(int k = 0; k < 6; ++k)
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{
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if(steps[k] == 0.0)
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{
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continue;
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}
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for(int sign = -1; sign <= 1; sign += 2)
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{
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double q[6];
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std::copy(p, p + 6, q);
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q[k] += sign * steps[k];
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const double s = problem.score(correctionFrom(q));
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if(s > best + 1e-7)
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{
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best = s;
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std::copy(q, q + 6, p);
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improved = true;
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}
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}
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}
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}
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for(double & s : steps)
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{
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s /= 2.0;
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}
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}
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}
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