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PFSolver.hpp
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PFSolver.hpp
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#include "opencv2/core.hpp"
#include "opencv2/core/core_c.h"
#include <algorithm>
#include <typeinfo>
#include <cmath>
#define WEIGHTED
namespace cv{
//!particle filtering class
class PFSolver : public MinProblemSolver{
public:
class Function : public MinProblemSolver::Function
{
public:
//!if parameters have no sense due to some reason (e.g. lie outside of function domain), this function "corrects" them,
//!that is brings to the function domain
virtual void correctParams(double* /*optParams*/)const{}
//!is used when there is a dependence on the number of iterations done in calc(), note that levels are counted starting from 1
virtual void setLevel(int /*level*/, int /*levelsNum*/){}
};
PFSolver();
void getOptParam(OutputArray params)const;
int iteration();
double minimize(InputOutputArray x) CV_OVERRIDE;
void setParticlesNum(int num);
int getParticlesNum();
void setAlpha(double AlphaM);
double getAlpha();
void getParamsSTD(OutputArray std)const;
void setParamsSTD(InputArray std);
Ptr<MinProblemSolver::Function> getFunction() const CV_OVERRIDE;
void setFunction(const Ptr<MinProblemSolver::Function>& f) CV_OVERRIDE;
TermCriteria getTermCriteria() const CV_OVERRIDE;
void setTermCriteria(const TermCriteria& termcrit) CV_OVERRIDE;
private:
Mat_<double> _std,_particles,_logweight;
Ptr<MinProblemSolver::Function> _Function;
PFSolver::Function* _real_function;
TermCriteria _termcrit;
int _maxItNum,_iter,_particlesNum;
double _alpha;
inline void normalize(Mat_<double>& row);
RNG rng;
};
CV_EXPORTS_W Ptr<PFSolver> createPFSolver(const Ptr<MinProblemSolver::Function>& f=Ptr<MinProblemSolver::Function>(),InputArray std=Mat(),
TermCriteria termcrit=TermCriteria(TermCriteria::MAX_ITER,5,0.0),int particlesNum=100,double alpha=0.6);
PFSolver::PFSolver(){
_Function=Ptr<MinProblemSolver::Function>();
_real_function=NULL;
_std=Mat_<double>();
rng=RNG(getTickCount());
}
void PFSolver::getOptParam(OutputArray params)const{
params.create(1,_std.rows,CV_64FC1);
Mat mat(1,_std.rows,CV_64FC1);
#ifdef WEIGHTED
mat.setTo(0.0);
for(int i=0;i<_particles.rows;i++){
mat+=_particles.row(i)/exp(-_logweight(0,i));
}
_real_function->correctParams((double*)mat.data);
mat.copyTo(params);
#else
params.create(1,_std.rows,CV_64FC1);
Mat optimus=_particles.row(std::max_element(_logweight.begin(),_logweight.end())-_logweight.begin());
_real_function->correctParams(optimus.data);
optimus.copyTo(params);
#endif
}
int PFSolver::iteration(){
if(_iter>=_maxItNum){
return _maxItNum+1;
}
_real_function->setLevel(_iter+1,_maxItNum);
//perturb
for(int j=0;j<_particles.cols;j++){
double sigma=_std(0,j);
for(int i=0;i<_particles.rows;i++){
_particles(i,j)+=rng.gaussian(sigma);
}
}
//measure
for(int i=0;i<_particles.rows;i++){
_real_function->correctParams((double*)_particles.row(i).data);
_logweight(0,i)=-(_real_function->calc((double*)_particles.row(i).data));
}
//normalize
normalize(_logweight);
//replicate
Mat_<double> new_particles(_particlesNum,_std.cols);
int num_particles=0;
for(int i=0;i<_particles.rows;i++){
int num_replicons=cvFloor(new_particles.rows/exp(-_logweight(0,i)));
for(int j=0;j<num_replicons;j++,num_particles++){
_particles.row(i).copyTo(new_particles.row(num_particles));
}
}
//Mat_<double> maxrow=_particles.row(std::max_element(_logweight.begin(),_logweight.end())-_logweight.begin());
double max_element;
minMaxLoc(_logweight, 0, &max_element);
Mat_<double> maxrow=_particles.row((int)max_element);
for(;num_particles<new_particles.rows;num_particles++){
maxrow.copyTo(new_particles.row(num_particles));
}
if(_particles.rows!=new_particles.rows){
_particles=new_particles;
}else{
new_particles.copyTo(_particles);
}
_std=_std*_alpha;
_iter++;
return _iter;
}
double PFSolver::minimize(InputOutputArray x){
CV_Assert(_Function.empty()==false);
CV_Assert(_std.rows==1 && _std.cols>0);
Mat mat_x=x.getMat();
CV_Assert(mat_x.type()==CV_64FC1 && MIN(mat_x.rows,mat_x.cols)==1 && MAX(mat_x.rows,mat_x.cols)==_std.cols);
_iter=0;
_particles=Mat_<double>(_particlesNum,_std.cols);
if(mat_x.rows>1){
mat_x=mat_x.t();
}
for(int i=0;i<_particles.rows;i++){
mat_x.copyTo(_particles.row(i));
}
_logweight.create(1,_particles.rows);
_logweight.setTo(-log((double)_particles.rows));
return 0.0;
}
void PFSolver::setParticlesNum(int num){
CV_Assert(num>0);
_particlesNum=num;
}
int PFSolver::getParticlesNum(){
return _particlesNum;
}
void PFSolver::setAlpha(double AlphaM){
CV_Assert(0<AlphaM && AlphaM<=1);
_alpha=AlphaM;
}
double PFSolver::getAlpha(){
return _alpha;
}
Ptr<MinProblemSolver::Function> PFSolver::getFunction() const{
return _Function;
}
void PFSolver::setFunction(const Ptr<MinProblemSolver::Function>& f){
CV_Assert(f.empty()==false);
Ptr<MinProblemSolver::Function> non_const_f(f);
MinProblemSolver::Function* f_ptr=static_cast<MinProblemSolver::Function*>(non_const_f);
PFSolver::Function *pff=dynamic_cast<PFSolver::Function*>(f_ptr);
CV_Assert(pff!=NULL);
_Function=f;
_real_function=pff;
}
TermCriteria PFSolver::getTermCriteria() const{
return TermCriteria(TermCriteria::MAX_ITER,_maxItNum,0.0);
}
void PFSolver::setTermCriteria(const TermCriteria& termcrit){
CV_Assert(termcrit.type==TermCriteria::MAX_ITER && termcrit.maxCount>0);
_maxItNum=termcrit.maxCount;
}
void PFSolver::getParamsSTD(OutputArray std)const{
std.create(1,_std.cols,CV_64FC1);
_std.copyTo(std);
}
void PFSolver::setParamsSTD(InputArray std){
Mat m=std.getMat();
CV_Assert(MIN(m.cols,m.rows)==1 && m.type()==CV_64FC1);
int ndim=MAX(m.cols,m.rows);
if(ndim!=_std.cols){
_std=Mat_<double>(1,ndim);
}
if(m.rows==1){
m.copyTo(_std);
}else{
Mat std_t=Mat_<double>(ndim,1,(double*)_std.data);
m.copyTo(std_t);
}
}
Ptr<PFSolver> createPFSolver(const Ptr<MinProblemSolver::Function>& f,InputArray std,TermCriteria termcrit,int particlesNum,double alpha){
Ptr<PFSolver> ptr(new PFSolver());
if(f.empty()==false){
ptr->setFunction(f);
}
Mat mystd=std.getMat();
if(mystd.cols!=0 || mystd.rows!=0){
ptr->setParamsSTD(std);
}
ptr->setTermCriteria(termcrit);
ptr->setParticlesNum(particlesNum);
ptr->setAlpha(alpha);
return ptr;
}
void PFSolver::normalize(Mat_<double>& row){
double logsum=0.0;
//double max=*(std::max_element(row.begin(),row.end()));
double max;
minMaxLoc(row, 0, &max);
row-=max;
for(int i=0;i<row.cols;i++){
logsum+=exp(row(0,i));
}
logsum=log(logsum);
row-=logsum;
}
}