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improve solvability of seperated rotation/translation

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This commit is contained in:
Stefan Tröger 2013-12-21 20:01:55 +01:00
parent 81ccdeb331
commit 61a47d7c22
2 changed files with 13 additions and 11 deletions
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12
src/Mod/Assembly/App/opendcm/core/imp/kernel_imp.hpp
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@ -160,9 +160,7 @@ int Dogleg<Kernel>::solve(typename Kernel::MappedEquationSystem& sys, Functor& r
#ifdef USE_LOGGING #ifdef USE_LOGGING
BOOST_LOG(log)<< "initial jacobi: "<<std::endl<<sys.Jacobi<<std::endl BOOST_LOG(log)<< "initial jacobi: "<<std::endl<<sys.Jacobi<<std::endl
<< "residual: "<<sys.Residual.transpose()<<std::endl << "residual: "<<sys.Residual.transpose()<<std::endl
<< "maximal differential: "<<sys.Jacobi.template lpNorm<Eigen::Infinity>() << "maximal differential: "<<sys.Jacobi.template lpNorm<Eigen::Infinity>();
<< std::endl<<"Real Jacobi: "<<sys.m_jacobi<<std::endl
<< "Real residual: "<<sys.m_residual.transpose()<<std::endl;
#endif #endif
sys.removeLocalGradientZeros(); sys.removeLocalGradientZeros();
@ -219,14 +217,12 @@ int Dogleg<Kernel>::solve(typename Kernel::MappedEquationSystem& sys, Functor& r
number_type rho; number_type rho;
//get the update step //get the update step
calculateStep(g, sys.Jacobi, sys.Residual, h_dl, delta); calculateStep(g, sys.Jacobi, sys.Residual, h_dl, delta);
#ifdef USE_LOGGING #ifdef USE_LOGGING
BOOST_LOG(log)<<"Step in iter "<<iter<<std::endl BOOST_LOG(log)<< "Step in iter "<<iter<<std::endl
<< "Step: "<<h_dl.transpose()<<std::endl << "Step: "<<h_dl.transpose()<<std::endl
<< "Jacobi: "<<sys.Jacobi<<std::endl << "Jacobi: "<<sys.Jacobi<<std::endl;
<< "Real Jacobi: "<<sys.m_jacobi<<std::endl
<< "Residual: "<<F_old.transpose()<<std::endl;
#endif #endif
// calculate the linear model // calculate the linear model

12
src/Mod/Assembly/App/opendcm/module3d/imp/solver_imp.hpp
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@ -25,6 +25,8 @@
#include <boost/graph/undirected_dfs.hpp> #include <boost/graph/undirected_dfs.hpp>
#include <opendcm/core/kernel.hpp>
#ifdef DCM_EXTERNAL_CORE #ifdef DCM_EXTERNAL_CORE
#include "opendcm/core/imp/kernel_imp.hpp" #include "opendcm/core/imp/kernel_imp.hpp"
#include "opendcm/core/imp/clustergraph_imp.hpp" #include "opendcm/core/imp/clustergraph_imp.hpp"
@ -359,9 +361,13 @@ void SystemSolver<Sys>::solveCluster(boost::shared_ptr<Cluster> cluster, Sys& sy
#endif #endif
//cool, lets do uncylic. first all rotational constraints with rotational parameters //cool, lets do uncylic. first all rotational constraints with rotational parameters
mes.setAccess(rotation); mes.setAccess(rotation);
//solve can be done without catching exceptions, because this only fails if the system in
//unsolvable //solve can be done without catching exceptions, because this only fails if the system is
DummyScaler re; //unsolvable. We need the rescaler here two as unscaled rotations may be unprecise if the
//parts are big (as ne the normals are always 1) and then distances may not be possible
//to solve correctly with only translations
Rescaler re(cluster, mes);
re();
sys.kernel().solve(mes, re); sys.kernel().solve(mes, re);
//now let's see if we have to go on with the translations //now let's see if we have to go on with the translations