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solveByBisection.m
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% clc, clear all
% load("correspondences.mat")
% bisection_t = struct('s', [], 'sim', [], 'H', [], 'dstar', [], 'f', [], ...
% 'sum_cost', [], 'costs', [], 'centroid_t', []);
% bisection_t(1).s = 0.1;
% bisection_t(2).s = 10;
% opts.max_iter = 20;
% opts.cost_threshold = 1e-3;
% opts.quite = 1;
% opts.show_statistic = 1; % 0: no outputs, 1: rough outputs 2: detailed
% opts.draw_results = 0;
% [out_t, bisection_t] = solveByBisection_t(opts, correspondences, bisection_t);
function [out_t, bisection_t] = solveByBisection(...
opts, correspondences, bisection_t, centroid)
% if ~exist('centroid', 'var') || isempty(centroid)
% centroid_t = computeCentroid(correspondences);
% centroid = Point(centroid_t.model.x - centroid_t.point.x);
% end
% gt_T.t = [-0.12423
% -2.5415
% 0.27721];
% gt_T.R = [-0.66012 -0.74424 0.10168
% 0.42388 -0.48083 -0.76755
% 0.62013 -0.46358 0.63288];
iter = 1;
cost = 1e3;
grad_s = 1e3;
pre_s = 1e3;
if ~exist('centroid', 'var') || isempty(centroid)
centroid = [];
end
while iter < opts.max_iter && ...
abs(cost) > opts.cost_threshold && ...
grad_s > opts.s_grad_threshold
% centroid = Point();
% centroid_t = computeCentroid(correspondences);
% centroid = Point(-(centroid_t.model.x - centroid_t.point.x));
% centroid.x
% disp("====================== Before ========================")
% disp("------------------- s -------------------")
% bisection_t.s
bisection_t(1) = solveRCQPAndSignedCost(opts, ...
correspondences, centroid, bisection_t(1).s);
bisection_t(2) = solveRCQPAndSignedCost(opts, ...
correspondences, centroid, bisection_t(2).s);
s = (bisection_t(1).s + bisection_t(2).s)/ 2;
new_t = solveRCQPAndSignedCost(opts, ...
correspondences, centroid, s);
grad_s = abs(pre_s - s);
% new_t.H
% trans = new_t.H.t
% trans_s = trans ./ s
% [correspondences, bisection_t(1).H, ...
% bisection_t(1).dstar, bisection_t(1).f] = ...
% solveRCQP(opts, correspondences, bisection_t(1).s);
% bisection_t(1).cost = sum(correspondences.signed_cost(...
% SimPose(...
% bisection_t(1).H.t, bisection_t(1).H.R, bisection_t(1).s), ...
% centroid));
% [correspondences, bisection_t(2).H, ...
% bisection_t(2).dstar, bisection_t(2).f] = ...
% solveRCQP(opts, correspondences, bisection_t(2).s);
% bisection_t(2).cost = sum(correspondences.signed_cost(...
% SimPose(...
% bisection_t(2).H.t, bisection_t(2).H.R, bisection_t(2).s), ...
% centroid));
%
% s = (bisection_t(1).s + bisection_t(2).s)/ 2;
% [correspondences, H, dstar, f] = solveRCQP(opts, correspondences, s);
% cost = sum(correspondences.signed_cost(...
% SimPose(H.t, H.R, s), centroid));
printConvexSolverResults(opts, iter, new_t, bisection_t)
%% plots
if opts.draw_results
[axes_h, ~] = createFigHandleWithNumber(3, 20, ...
"Debug signed distance",1,1);
cur_axes = 1;
plotCorrespondences(axes_h, cur_axes, ...
bisection_t(1).centroid_t.point, ...
correspondences, bisection_t(1).H, bisection_t(1).s, "s1: ")
cur_axes = 2;
plotCorrespondences(axes_h, cur_axes, ...
bisection_t(2).centroid_t.point, ...
correspondences, bisection_t(2).H, bisection_t(2).s, "s2: ")
cur_axes = 3;
plotCorrespondences(axes_h, cur_axes, ...
new_t.centroid_t.point, ...
correspondences, new_t.H, new_t.s, "New s: ")
end
%% update new s
% if new_t.sum_signed_cost < 0
% % new data
% bisection_t(2).s = s;
% bisection_t(2).sum_signed_cost = new_t.sum_signed_cost;
%
% else
% % new data
% bisection_t(1).s = s;
% bisection_t(1).sum_signed_cost = new_t.sum_signed_cost;
% end
if bisection_t(1).sum_cost < bisection_t(2).sum_cost
% new data
bisection_t(2).s = s;
bisection_t(2).sum_cost = new_t.sum_cost;
else
% new data
bisection_t(1).s = s;
bisection_t(1).sum_cost = new_t.sum_cost;
end
out_t = new_t;
% out_t.s = new_t.s;
% out_t.sim = new_t.sim;
% out_t.H = new_t.H;
% out_t.dstar = new_t.dstar;
% out_t.f = new_t.f;
cost = new_t.f;
iter = iter + 1;
end
end