def circle_plane(self):
x0 = np.array([1.0, 2.0])
lam0 = 1.0
rho0 = 0.1
funcs = (val_c, grad_c, hess_c, val_ff, grad_ff, hess_ff)
args_f = ()
x_opt, val_opt, iterations, lam_opt, rho_opt = filterSQP(x0, lam0, rho0, funcs, args_f)
print 'x_opt', x_opt, 'val_opt', val_opt
Assert(abs(x_opt[0] / - 0.2 ** 0.5 - 1)) < 1.2e-15
Assert(abs(x_opt[1] / - 0.8 ** 0.5 - 1)) < 1.2e-15
def estimate_orientation(process_args, image_file_str):
seterr(divide='ignore') ## Avoid zero divide warnings
tt_total = utime()
## Edgel extraction parameters
gmethod = process_args['grid']['method']
gspc = process_args['grid']['size']
glim = process_args['grid']['lim']
## Optimization parameters
ransac_iterations = process_args['ransac_itr']
optimization_tolerance = process_args['op_tol']
## Parameters from the error function. Default is Tukey bisquare with s=0.15
error_function_parameters = array(process_args['err_func'])
intrinsic_parameters = process_args['int_parm']
#################################################################
## Load image and initialize pic object
tt_init = utime()
## Creates picture object
pic = Picture(intrinsic_parameters, image_file_str)
if process_args['smooth'] is not None:
pic.smooth(process_args['smooth'])
## Extract the edgels from the image using the grid mask
tt_edgel_extraction = utime()
pic.extract_edgels(gspc, glim, method=gmethod)
tt_edgel_extraction = utime() - tt_edgel_extraction
## Caculate the edgel normals (interpretation plane), and Jacobians.
pic.calculate_edgel_normals()
pic.calculate_edgel_jacobians()
## Calculate initial estimate
tt_initial_estimate = utime()
qini = pic.random_search(ransac_iterations, error_function_parameters)
qini = qini.canonical()
tt_initial_estimate = utime() - tt_initial_estimate
## Perform second-stage continuous optimization procedure, based on FilterSQP.
tt_filtersqp = utime()
sqp_funcs = (val_c, grad_c, hess_c, val_f, grad_f, hess_f)
args_f = (pic.edgels, pic.i_param, error_function_parameters)
filterSQPout = filtersqp.filterSQP(
qini.q, .0, 1e-3, sqp_funcs, args_f, delta_tol=optimization_tolerance
)
# try:
# filterSQPout = filtersqp.filterSQP(
# qini.q, .0, 1e-3, sqp_funcs, args_f, delta_tol=optimization_tolerance
# )
# except:
# print '*** Numerical error for input:'
# print {'img_md5': get_hash(image_file_str),
# 'proc_args': process_args}
# raise SystemExit
xo, err, sqp_iters,Llam,Lrho = filterSQPout
qopt = Quat(xo)
tt_filtersqp = utime() - tt_filtersqp
tt_total = utime() - tt_total
first_orientation_estimate = qini.canonical().q.tolist()
final_orientation_estimate = qopt.canonical().q.tolist()
output_data = {
'input': {'img_md5': get_hash(image_file_str),
'proc_args': process_args},
'time': {
'total': tt_total,
'edgel': tt_edgel_extraction,
'ransac': tt_initial_estimate,
'sqp': tt_filtersqp
},
'Nedgels': pic.edgels.shape[0],
'sqp_itr': sqp_iters,
'ransac_ori_est': first_orientation_estimate,
'ori_est': final_orientation_estimate,
}
return output_data, pic
