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#ifndef SOLVER_H
#define SOLVER_H
#include <QTextStream>
#include "alignset.h"
#include "parameters.h"
#include "../../external/levmar-2.3/lm.h"
#include <iostream>
#include <fstream>
//These values changed from levmar definitions
#define LM_INIT_MU 1E-03
#define LM_STOP_THRESH 1E-17
#define LM_CONV_THRESH 1E-05
#define LM_DIFF_DELTA 1E-06
#define LM_MAX_ITER 100
class AlignSet;
class MutualInfo;
class Solver {
typedef vcg::Shot<float> Shot;
typedef vcg::Box3<float> Box;
public:
AlignSet *align;
MutualInfo *mutual;
Parameters p;
bool optimize_focal; //if true also focal value is optimized
bool fine_alignment; //if true also focal value is optimized
double variance; // 1/10th of the expected variance in the parameters
double tolerance; // newuoa terminates when minimum is closest then tolerance
int maxiter; // max number of function evaluations in NEWUOA
double mIweight; //need to weight the MI function and the error function of the correspondences
double start, end; //starting and ending value of the function
int f_evals; //number of function evaluations
int f_evals_total; //total number of function evaluations (for test)
std::ofstream myfile; //for debugging
Solver();
double operator()(int ndim, double *x);
int optimize(AlignSet *align, MutualInfo *mutual, Shot &shot);
int iterative(AlignSet *align, MutualInfo *mutual, Shot &shot);
//int globalConvergence(AlignSet *align, MutualInfo *mutual, Shot &shot);
//int convergence(AlignSet *align, MutualInfo *mutual, Shot &shot, QTextStream &stream);
//int graphs(AlignSet *align, MutualInfo *mutual, Shot &shot, QTextStream &stream);
static void value(double *p, double *x, int m, int n, void *data);
int levmar(AlignSet *align, MutualInfo *mutual, Shot &shot); //never used
bool tsai(AlignSet *align, Shot &shot);
bool levmar(AlignSet *align,Shot &shot);
private:
double opts[5]; //0 -> initial mu
//1 -> minimum JTe
//2 -> minimum Dp
//3 -> minimum sum(d*d)
//4 -> delta for finite differe
double info[LM_INFO_SZ];
template<class Correlation>
double calculateError(std::list<Correlation> *corrs, Shot &shot);
double calculateError2( Shot &shot);
};
#endif
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