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//
// Copyright 2006 Johannes Hofmann <Johannes.Hofmann@gmx.de>
//
// This software may be used and distributed according to the terms
// of the GNU General Public License, incorporated herein by reference.
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <gsl/gsl_rng.h>
#include <gsl/gsl_randist.h>
#include <gsl/gsl_vector.h>
#include <gsl/gsl_blas.h>
#include <gsl/gsl_multifit_nlin.h>
#include "ProjectionTangentialLSQ.H"
static double sec(double a) {
return 1.0 / cos(a);
}
#include "lsq_funcs.c"
int
ProjectionTangentialLSQ::comp_params(const Hills *h, ViewParams *parms) {
const Hill *tmp, *m1, *m2;
double scale_tmp;
int distortion_correct = 0;
if (h->get_num() < 2) {
fprintf(stderr, "Please position at least 2 hills\n");
return 1;
} else if (h->get_num() > 3) {
fprintf(stderr, "Performing calibration\n");
distortion_correct = 1;
parms->k0 = 0.0;
parms->k1 = 0.0;
}
m1 = h->get(0);
m2 = h->get(1);
scale_tmp = comp_scale(m1->alph, m2->alph, m1->x, m2->x);
if (isnan(scale_tmp) || scale_tmp < 100.0) {
// try again with mountains swapped
tmp = m1;
m1 = m2;
m2 = tmp;
scale_tmp = comp_scale(m1->alph, m2->alph, m1->x, m2->x);
}
if (isnan(scale_tmp) || scale_tmp < 100.0) {
return 1;
} else {
parms->a_center = m1->alph;
parms->scale = scale_tmp;
parms->a_nick = 0.0;
parms->a_tilt = 0.0;
lsq(h, parms, 0);
if (distortion_correct) {
lsq(h, parms, 1);
}
return 0;
}
}
struct data {
int distortion_correct;
const Hills *h;
const ViewParams *old_params;
};
#define CALL(A) A(c_view, c_nick, c_tilt, scale, k0, k1, m->alph, m->a_nick)
static int
lsq_f (const gsl_vector * x, void *data, gsl_vector * f) {
struct data *dat = (struct data *) data;
double c_view, c_nick, c_tilt, scale, k0, k1;
c_view = gsl_vector_get (x, 0);
c_nick = gsl_vector_get (x, 1);
c_tilt = gsl_vector_get (x, 2);
scale = gsl_vector_get (x, 3);
if (dat->distortion_correct) {
k0 = gsl_vector_get (x, 4);
k1 = gsl_vector_get (x, 5);
} else {
k0 = dat->old_params->k0;
k1 = dat->old_params->k1;
}
for (int i=0; i<dat->h->get_num(); i++) {
Hill *m = dat->h->get(i);
double mx = CALL(mac_x);
double my = CALL(mac_y);
gsl_vector_set (f, i*2, mx - m->x);
gsl_vector_set (f, i*2+1, my - m->y);
}
return GSL_SUCCESS;
}
static int
lsq_df (const gsl_vector * x, void *data, gsl_matrix * J) {
struct data *dat = (struct data *) data;
double c_view, c_nick, c_tilt, scale, k0, k1;
c_view = gsl_vector_get (x, 0);
c_nick = gsl_vector_get (x, 1);
c_tilt = gsl_vector_get (x, 2);
scale = gsl_vector_get (x, 3);
if (dat->distortion_correct) {
k0 = gsl_vector_get (x, 4);
k1 = gsl_vector_get (x, 5);
} else {
k0 = dat->old_params->k0;
k1 = dat->old_params->k1;
}
for (int i=0; i<dat->h->get_num(); i++) {
Hill *m = dat->h->get(i);
gsl_matrix_set (J, 2*i, 0, CALL(mac_x_dc_view));
gsl_matrix_set (J, 2*i, 1, CALL(mac_x_dc_nick));
gsl_matrix_set (J, 2*i, 2, CALL(mac_x_dc_tilt));
gsl_matrix_set (J, 2*i, 3, CALL(mac_x_dscale));
if (dat->distortion_correct) {
gsl_matrix_set (J, 2*i, 4, CALL(mac_x_dk0));
gsl_matrix_set (J, 2*i, 5, CALL(mac_x_dk1));
}
gsl_matrix_set (J, 2*i+1, 0, CALL(mac_y_dc_view));
gsl_matrix_set (J, 2*i+1, 1, CALL(mac_y_dc_nick));
gsl_matrix_set (J, 2*i+1, 2, CALL(mac_y_dc_tilt));
gsl_matrix_set (J, 2*i+1, 3, CALL(mac_y_dscale));
if (dat->distortion_correct) {
gsl_matrix_set (J, 2*i+1, 4, CALL(mac_y_dk0));
gsl_matrix_set (J, 2*i+1, 5, CALL(mac_y_dk1));
}
}
return GSL_SUCCESS;
}
static int
lsq_fdf (const gsl_vector * x, void *data, gsl_vector * f, gsl_matrix * J) {
lsq_f (x, data, f);
lsq_df (x, data, J);
return GSL_SUCCESS;
}
int
ProjectionTangentialLSQ::lsq(const Hills *h, ViewParams *parms,
int distortion_correct) {
const gsl_multifit_fdfsolver_type *T;
gsl_multifit_fdfsolver *s;
gsl_multifit_function_fdf f;
struct data dat;
double x_init[8];
gsl_vector_view x;
int status;
int num_params = distortion_correct?6:4;
dat.distortion_correct = distortion_correct;
dat.h = h;
dat.old_params = parms;
x_init[0] = parms->a_center;
x_init[1] = parms->a_nick;
x_init[2] = parms->a_tilt;
x_init[3] = parms->scale;
x_init[4] = parms->k0;
x_init[5] = parms->k1;
x = gsl_vector_view_array (x_init, num_params);
f.f = &lsq_f;
f.df = &lsq_df;
f.fdf = &lsq_fdf;
f.n = h->get_num() * 2;
f.p = num_params;
f.params = &dat;
T = gsl_multifit_fdfsolver_lmsder;
s = gsl_multifit_fdfsolver_alloc (T, h->get_num() * 2, num_params);
gsl_multifit_fdfsolver_set (s, &f, &x.vector);
for (int i=0; i<100; i++) {
status = gsl_multifit_fdfsolver_iterate (s);
if (status) {
fprintf(stderr, "gsl_multifit_fdfsolver_iterate: %d\n", status);
break;
}
}
parms->a_center = gsl_vector_get(s->x, 0);
parms->a_nick = gsl_vector_get(s->x, 1);
parms->a_tilt = gsl_vector_get(s->x, 2);
parms->scale = gsl_vector_get(s->x, 3);
if (distortion_correct) {
parms->k0 = gsl_vector_get(s->x, 4);
parms->k1 = gsl_vector_get(s->x, 5);
}
gsl_multifit_fdfsolver_free (s);
fprintf(stderr, "k0 %f, k1 %f\n", parms->k0, parms->k1);
return 0;
}
void
ProjectionTangentialLSQ::get_coordinates(double alph, double a_nick,
const ViewParams *parms, double *x, double *y) {
*x = mac_x(parms->a_center, parms->a_nick, parms->a_tilt, parms->scale,
parms->k0, parms->k1, alph, a_nick);
*y = mac_y(parms->a_center, parms->a_nick, parms->a_tilt, parms->scale,
parms->k0, parms->k1, alph, a_nick);
}
double
ProjectionTangentialLSQ::comp_scale(double a1, double a2, double d1, double d2) {
double sign1 = 1.0;
double sc, tan_a1, tan_a2;
tan_a1 = tan(a1);
tan_a2 = tan(a2);
sc = ((((1.0 + (tan_a1 * tan_a2)) * (d1 - d2)) - (sign1 * pow((((1.0 + pow((tan_a1 * tan_a2), 2.0)) * ((d1 * d1) + (d2 * d2))) + (2.0 * ((tan_a1 * tan_a2 * pow((d1 + d2), 2.0)) - (d1 * d2 * (((tan_a1 * tan_a1) * (2.0 + (tan_a2 * tan_a2))) + 1.0 + (2.0 * (tan_a2 * tan_a2))))))), (1.0 / 2.0)))) / (2.0 * (tan_a1 - tan_a2)));
return sc;
}
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