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<div class="title">loc_levenberg_marquardt.h</div> </div>
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<a href="loc__levenberg__marquardt_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Copyright (C) 2020 Zakaria Kasmi <zkasmi@inf.fu-berlin.de></span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> * 2020 Freie Universität Berlin</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * This file is subject to the terms and conditions of the GNU Lesser General</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * Public License v2.1. See the file LICENSE in the top level directory for more</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * details.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#ifndef LOC_LEVENBERG_MARQUARDT_H_</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#define LOC_LEVENBERG_MARQUARDT_H_</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  </div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#include <inttypes.h></span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#include "<a class="code" href="matrix_8h.html">matrix.h</a>"</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  </div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> uint8_t <a class="code" href="loc__levenberg__marquardt_8h.html#a09fdd720ff5c5658e160657153ee615f">loc_levenberg_marquardt</a>(uint8_t ref_points_num,</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_points_matrix[ref_points_num][3],</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> start_pos[3],</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> measured_data_vec[ref_points_num],</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> eps, <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> tau, <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> beta0,</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> beta1, uint8_t max_iter_num,</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> est_pos[3],</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordtype">void</span> (*f_i)(uint8_t ref_points_num,</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_point_mat[ref_points_num][3],</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[3], <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> d_vec[], <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> f_vec[]),</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordtype">void</span> (*jacobian_get_JTJ)(uint8_t ref_points_num,</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_point_matrix[][3],</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[3],</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> data_vec[ref_points_num],</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> JTJ[3][3]),</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordtype">void</span> (*jacobian_get_JTf)(uint8_t ref_points_num,</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_point_matrix[][3],</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[3],</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> data_vec[ref_points_num],</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> JTf[3]),</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordtype">void</span> (*jacobian_get_J_mul_s)(uint8_t ref_points_num,</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_point_matrix[][3],</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[3],</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> s[3],</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> J_s[ref_points_num])</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  );</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> <a class="code" href="loc__levenberg__marquardt_8h.html#a9b2c27f650c9db97f2923b645a8ca5f6">loc_levenberg_marquardt_correction</a>(uint8_t ref_points_num,</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_points_matrix[ref_points_num][3],</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[3],</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> measured_data_vec[ref_points_num],</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> mu, <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> s[3],</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keywordtype">void</span> (*f_i)(uint8_t ref_point_num,</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_point_mat[ref_points_num][3],</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[3],</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> d_vec[], <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> f_vec[]),</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordtype">void</span> (*jacobian_get_JTJ)(</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  uint8_t ref_points_num,</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_point_matrix[ref_points_num][3],</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[3],</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> data_vec[ref_points_num],</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> JTJ[3][3]),</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordtype">void</span> (*jacobian_get_JTf)(</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  uint8_t ref_points_num,</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_point_matrix[ref_points_num][3],</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[3],</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> data_vec[ref_points_num],</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> JTf[3]),</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordtype">void</span> (*jacobian_get_J_mul_s)(</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  uint8_t ref_points_num,</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_point_matrix[ref_points_num][3],</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[3], <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> s[3],</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> J_s[ref_points_num])</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  );</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> <a class="code" href="loc__levenberg__marquardt_8h.html#a34f52d51278453ca0fc0818a1f73a357">loc_levenberg_marquardt_get_mu0</a>(<a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> tau, <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> JTJ[3][3]);</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  </div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="comment">//compute: J'J + mu^2*I</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  </div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> <span class="keywordtype">void</span> <a class="code" href="loc__levenberg__marquardt_8h.html#a4bad4d347859b95ac176779b34f26f8e">loc_levenberg_marquardt_get_JTJ_mu2_I</a>(uint8_t ref_points_num,</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_points_matrix[ref_points_num][3],</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[3],</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> measured_data_vec[ref_points_num], <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> mu,</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> JTJ_mu2_I[3][3],</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keywordtype">void</span> (*jacobian_get_JTJ)(</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  uint8_t ref_points_num,</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_point_matrix[ref_points_num][3],</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> point[3],</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> data_vec[ref_points_num],</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> JTJ[3][3])</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  );</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  </div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span> <span class="preprocessor">#endif </span><span class="comment">/* LOC_LEVENBERG_MARQUARDT_H_*/</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aloc__levenberg__marquardt_8h_html_a34f52d51278453ca0fc0818a1f73a357"><div class="ttname"><a href="loc__levenberg__marquardt_8h.html#a34f52d51278453ca0fc0818a1f73a357">loc_levenberg_marquardt_get_mu0</a></div><div class="ttdeci">matrix_t loc_levenberg_marquardt_get_mu0(matrix_t tau, matrix_t JTJ[3][3])</div><div class="ttdoc">Compute the initial value of the Levenberg–Marquardt (LVM) algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="loc__levenberg__marquardt_8c_source.html#l00223">loc_levenberg_marquardt.c:223</a></div></div>
<div class="ttc" id="aloc__levenberg__marquardt_8h_html_a09fdd720ff5c5658e160657153ee615f"><div class="ttname"><a href="loc__levenberg__marquardt_8h.html#a09fdd720ff5c5658e160657153ee615f">loc_levenberg_marquardt</a></div><div class="ttdeci">uint8_t loc_levenberg_marquardt(uint8_t ref_points_num, matrix_t ref_points_matrix[ref_points_num][3], matrix_t start_pos[3], matrix_t measured_data_vec[ref_points_num], matrix_t eps, matrix_t tau, matrix_t beta0, matrix_t beta1, uint8_t max_iter_num, matrix_t est_pos[3], void(*f_i)(uint8_t ref_points_num, matrix_t ref_point_mat[ref_points_num][3], matrix_t point[3], matrix_t d_vec[], matrix_t f_vec[]), void(*jacobian_get_JTJ)(uint8_t ref_points_num, matrix_t ref_point_matrix[][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTJ[3][3]), void(*jacobian_get_JTf)(uint8_t ref_points_num, matrix_t ref_point_matrix[][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTf[3]), void(*jacobian_get_J_mul_s)(uint8_t ref_points_num, matrix_t ref_point_matrix[][3], matrix_t point[3], matrix_t s[3], matrix_t J_s[ref_points_num]))</div><div class="ttdoc">Implements the Levenberg–Marquardt (LVM) algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="loc__levenberg__marquardt_8c_source.html#l00126">loc_levenberg_marquardt.c:126</a></div></div>
<div class="ttc" id="aloc__levenberg__marquardt_8h_html_a9b2c27f650c9db97f2923b645a8ca5f6"><div class="ttname"><a href="loc__levenberg__marquardt_8h.html#a9b2c27f650c9db97f2923b645a8ca5f6">loc_levenberg_marquardt_correction</a></div><div class="ttdeci">matrix_t loc_levenberg_marquardt_correction(uint8_t ref_points_num, matrix_t ref_points_matrix[ref_points_num][3], matrix_t point[3], matrix_t measured_data_vec[ref_points_num], matrix_t mu, matrix_t s[3], void(*f_i)(uint8_t ref_point_num, matrix_t ref_point_mat[ref_points_num][3], matrix_t point[3], matrix_t d_vec[], matrix_t f_vec[]), void(*jacobian_get_JTJ)(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTJ[3][3]), void(*jacobian_get_JTf)(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTf[3]), void(*jacobian_get_J_mul_s)(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t s[3], matrix_t J_s[ref_points_num]))</div><div class="ttdoc">Implements the correction-function of the Levenberg–Marquardt (LVM) algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="loc__levenberg__marquardt_8c_source.html#l00034">loc_levenberg_marquardt.c:34</a></div></div>
<div class="ttc" id="amatrix_8h_html"><div class="ttname"><a href="matrix_8h.html">matrix.h</a></div><div class="ttdoc">Matrix computations.</div></div>
<div class="ttc" id="aloc__levenberg__marquardt_8h_html_a4bad4d347859b95ac176779b34f26f8e"><div class="ttname"><a href="loc__levenberg__marquardt_8h.html#a4bad4d347859b95ac176779b34f26f8e">loc_levenberg_marquardt_get_JTJ_mu2_I</a></div><div class="ttdeci">void loc_levenberg_marquardt_get_JTJ_mu2_I(uint8_t ref_points_num, matrix_t ref_points_matrix[ref_points_num][3], matrix_t point[3], matrix_t measured_data_vec[ref_points_num], matrix_t mu, matrix_t JTJ_mu2_I[3][3], void(*jacobian_get_JTJ)(uint8_t ref_points_num, matrix_t ref_point_matrix[ref_points_num][3], matrix_t point[3], matrix_t data_vec[ref_points_num], matrix_t JTJ[3][3]))</div><div class="ttdoc">Compute the matrix .</div><div class="ttdef"><b>Definition:</b> <a href="loc__levenberg__marquardt_8c_source.html#l00236">loc_levenberg_marquardt.c:236</a></div></div>
<div class="ttc" id="amatrix_8h_html_af38ac6b76d645fea9abd6caeb4d9dd31"><div class="ttname"><a href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a></div><div class="ttdeci">#define matrix_t</div><div class="ttdoc">Define the data type of the matrix elements.</div><div class="ttdef"><b>Definition:</b> <a href="matrix_8h_source.html#l00038">matrix.h:38</a></div></div>
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