1 | /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*- */ |
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2 | #include <stdio.h> |
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3 | |
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4 | #define WANT_STREAM // include.h will get stream fns |
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5 | #define WANT_MATH // include.h will get math fns |
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6 | // newmatap.h will get include.h |
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7 | #include <newmatap.h> // need matrix applications |
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8 | #include <newmatio.h> // need matrix output routines |
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9 | #include <newmatrc.h> |
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10 | |
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11 | #include "PCASplit.h" |
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12 | |
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13 | #ifdef use_namespace |
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14 | using namespace NEWMAT; // access NEWMAT namespace |
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15 | #endif |
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16 | |
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17 | using namespace PCA; |
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18 | |
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19 | PCASplit::PCASplit() : |
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20 | _maxLevel(4), |
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21 | _minDistance(0.5f), |
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22 | _distanceScale(0.2f), |
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23 | _indexCount(0), |
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24 | _finalMaxLevel(0) |
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25 | { |
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26 | _indices = new unsigned int[MAX_INDEX]; |
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27 | _memClusterChunk1 = new ClusterListNode[MAX_INDEX]; |
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28 | _memClusterChunk2 = new ClusterListNode[MAX_INDEX]; |
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29 | _curMemClusterChunk = _memClusterChunk1; |
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30 | _memClusterChunkIndex = 0; |
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31 | } |
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32 | |
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33 | PCASplit::~PCASplit() |
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34 | { |
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35 | delete [] _indices; |
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36 | delete [] _memClusterChunk1; |
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37 | delete [] _memClusterChunk2; |
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38 | } |
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39 | |
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40 | void |
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41 | PCASplit::computeCentroid(Point *data, int count, Vector3& mean) |
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42 | { |
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43 | float sumx = 0, sumy = 0, sumz = 0; |
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44 | float size = 0; |
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45 | float sumsize = 0; |
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46 | for (int i = 0; i < count; ++i) { |
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47 | size = data[i].size; |
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48 | sumx += data[i].position.x * size; |
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49 | sumy += data[i].position.y * size; |
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50 | sumz += data[i].position.z * size; |
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51 | sumsize += size; |
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52 | } |
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53 | sumsize = 1.0f / sumsize; |
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54 | mean.set(sumx * sumsize, sumy * sumsize, sumz * sumsize); |
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55 | } |
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56 | |
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57 | void |
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58 | PCASplit::computeCovariant(Point *data, int count, const Vector3& mean, |
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59 | float *m) |
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60 | { |
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61 | memset(m, 0, sizeof(float) * 9); |
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62 | |
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63 | for (int i = 0; i < count; ++i) { |
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64 | m[0] += (data[i].position.x - mean.x) * (data[i].position.x - mean.x); |
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65 | m[1] += (data[i].position.x - mean.x) * (data[i].position.y - mean.y); |
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66 | m[2] += (data[i].position.x - mean.x) * (data[i].position.z - mean.z); |
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67 | m[4] += (data[i].position.y - mean.y) * (data[i].position.y - mean.y); |
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68 | m[5] += (data[i].position.y - mean.y) * (data[i].position.z - mean.z); |
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69 | m[8] += (data[i].position.z - mean.z) * (data[i].position.z - mean.z); |
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70 | } |
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71 | |
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72 | float invCount = 1.0f / (count - 1); |
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73 | m[0] *= invCount; |
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74 | m[1] *= invCount; |
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75 | m[2] *= invCount; |
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76 | m[4] *= invCount; |
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77 | m[5] *= invCount; |
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78 | m[8] *= invCount; |
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79 | m[3] = m[1]; |
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80 | m[6] = m[2]; |
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81 | m[7] = m[5]; |
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82 | } |
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83 | |
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84 | void |
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85 | PCASplit::computeDistortion(Point *data, int count, const Vector3& mean, |
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86 | float& distortion, float& finalSize) |
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87 | { |
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88 | distortion = 0.0f; |
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89 | finalSize = 0.0f; |
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90 | |
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91 | float maxSize = 0.0f; |
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92 | float distance; |
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93 | for (int i = 0; i < count; ++i) { |
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94 | // sum |
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95 | distance = mean.distanceSquare(data[i].position.x, data[i].position.y, data[i].position.z); |
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96 | distortion += distance; |
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97 | |
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98 | if (data[i].size > maxSize) { |
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99 | maxSize = data[i].size; |
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100 | } |
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101 | |
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102 | /* |
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103 | finalSize += data[i].size * sqrt(distance); |
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104 | */ |
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105 | if (distance > finalSize) { |
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106 | finalSize = distance; |
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107 | } |
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108 | } |
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109 | // equation 2 |
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110 | //finalSize = 0.5f * sqrt (finalSize) / (float) (count - 1) + maxSize; |
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111 | finalSize = sqrt (finalSize) + maxSize; |
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112 | } |
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113 | |
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114 | void |
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115 | PCASplit::init() |
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116 | { |
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117 | _curClusterNode = NULL; |
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118 | _curClusterCount = 0; |
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119 | } |
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120 | |
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121 | Cluster * |
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122 | PCASplit::createClusterBlock(ClusterListNode *clusterList, int count, int level) |
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123 | { |
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124 | static int cc = 0; |
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125 | cc += count; |
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126 | Cluster *clusterBlock = new Cluster[count]; |
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127 | |
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128 | _clusterHeader->numOfClusters[level - 1] = count; |
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129 | _clusterHeader->startPointerCluster[level - 1] = clusterBlock; |
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130 | |
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131 | TRACE("Cluster created %d [in level %d]:total %d\n", count, level, cc); |
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132 | |
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133 | int i = 0; |
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134 | ClusterListNode *clusterNode = clusterList; |
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135 | while (clusterNode) { |
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136 | clusterBlock[i].centroid = clusterList->data->centroid_t; |
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137 | clusterBlock[i].level = level; |
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138 | clusterBlock[i].scale = clusterList->data->scale_t; |
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139 | |
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140 | clusterNode = clusterNode->next; |
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141 | ++i; |
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142 | } |
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143 | if (count != i) { |
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144 | ERROR("Problem walking clusterList: count: %d, i: %d\n", count, i); |
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145 | } |
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146 | return clusterBlock; |
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147 | } |
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148 | |
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149 | ClusterAccel * |
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150 | PCASplit::doIt(Point *data, int count) |
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151 | { |
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152 | init(); |
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153 | |
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154 | _clusterHeader = new ClusterAccel(_maxLevel); |
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155 | |
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156 | Cluster *root = new Cluster; |
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157 | Cluster_t *cluster_t = new Cluster_t(); |
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158 | cluster_t->points_t = data; |
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159 | cluster_t->numOfPoints_t = count; |
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160 | root->level = 1; |
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161 | |
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162 | _clusterHeader->root = root; |
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163 | _clusterHeader->numOfClusters[0] = 1; |
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164 | _clusterHeader->startPointerCluster[0] = root; |
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165 | |
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166 | Vector3 mean; |
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167 | float distortion, scale; |
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168 | |
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169 | computeCentroid(cluster_t->points_t, cluster_t->numOfPoints_t, mean); |
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170 | computeDistortion(cluster_t->points_t, cluster_t->numOfPoints_t, mean, |
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171 | distortion, scale); |
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172 | |
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173 | cluster_t->centroid_t = mean; |
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174 | cluster_t->scale_t = scale; |
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175 | |
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176 | float mindistance = _minDistance; |
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177 | int level = 2; |
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178 | |
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179 | ClusterListNode *clustNodeList = &(_memClusterChunk2[0]); |
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180 | clustNodeList->data = cluster_t; |
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181 | clustNodeList->next = NULL; |
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182 | |
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183 | _curRoot = root; |
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184 | do { |
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185 | analyze(clustNodeList, _curRoot, level, mindistance); |
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186 | |
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187 | mindistance *= _distanceScale; |
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188 | ++level; |
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189 | |
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190 | // swap memory buffer & init |
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191 | _curMemClusterChunk = (_curMemClusterChunk == _memClusterChunk1) ? |
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192 | _memClusterChunk2 : _memClusterChunk1; |
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193 | _memClusterChunkIndex = 0; |
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194 | |
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195 | clustNodeList = _curClusterNode; |
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196 | } while (level <= _maxLevel); |
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197 | |
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198 | return _clusterHeader; |
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199 | } |
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200 | |
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201 | void |
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202 | PCASplit::addLeafCluster(Cluster_t *cluster) |
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203 | { |
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204 | ClusterListNode *clusterNode = |
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205 | &_curMemClusterChunk[_memClusterChunkIndex++]; |
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206 | clusterNode->data = cluster; |
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207 | clusterNode->next = _curClusterNode; |
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208 | _curClusterNode = clusterNode; |
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209 | ++_curClusterCount; |
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210 | } |
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211 | |
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212 | void |
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213 | PCASplit::split(Point *data, int count, float limit) |
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214 | { |
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215 | Vector3 mean; |
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216 | float m[9]; |
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217 | |
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218 | computeCentroid(data, count, mean); |
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219 | float scale, distortion; |
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220 | computeDistortion(data, count, mean, distortion, scale); |
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221 | |
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222 | //if (distortion < limit) |
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223 | if (scale < limit) { |
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224 | Cluster_t *cluster_t = new Cluster_t(); |
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225 | cluster_t->centroid_t = mean; |
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226 | cluster_t->points_t = data; |
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227 | cluster_t->numOfPoints_t = count; |
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228 | cluster_t->scale_t = scale; |
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229 | addLeafCluster(cluster_t); |
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230 | return; |
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231 | } |
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232 | |
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233 | computeCovariant(data, count, mean, m); |
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234 | |
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235 | // Begin newmat11 dependency |
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236 | |
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237 | SymmetricMatrix A(3); |
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238 | for (int i = 1; i <= 3; ++i) { |
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239 | for (int j = 1; j <= i; ++j) { |
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240 | A(i, j) = m[(i - 1) * 3 + j - 1]; |
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241 | } |
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242 | } |
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243 | |
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244 | Matrix U; |
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245 | DiagonalMatrix D; |
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246 | eigenvalues(A, D ,U); |
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247 | Vector3 emax(U(1, 3), U(2, 3), U(3, 3)); |
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248 | |
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249 | // End newmat11 dependency |
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250 | |
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251 | int left = 0, right = count - 1; |
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252 | |
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253 | Point p; |
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254 | for (;left < right;) { |
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255 | while (left < count && emax.dot(data[left].position - mean) >= 0.0f) { |
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256 | ++left; |
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257 | } |
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258 | while (right >= 0 && emax.dot(data[right].position - mean) < 0.0f) { |
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259 | --right; |
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260 | } |
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261 | if (left > right) { |
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262 | break; |
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263 | } |
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264 | |
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265 | p = data[left]; |
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266 | data[left] = data[right]; |
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267 | data[right] = p; |
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268 | ++left, --right; |
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269 | } |
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270 | |
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271 | if (left == 0 || right == count - 1) { |
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272 | TRACE("error\n"); |
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273 | exit(1); |
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274 | } else { |
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275 | split(data, left, limit); |
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276 | split(data + left, count - left, limit); |
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277 | } |
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278 | } |
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279 | |
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280 | void |
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281 | PCASplit::analyze(ClusterListNode *clusterNode, Cluster *parent, int level, |
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282 | float limit) |
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283 | { |
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284 | if (level > _maxLevel) { |
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285 | return; |
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286 | } |
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287 | if (level > _finalMaxLevel) { |
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288 | _finalMaxLevel = level; |
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289 | } |
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290 | |
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291 | init(); |
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292 | |
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293 | ClusterListNode *clNode = clusterNode; |
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294 | |
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295 | // initialize the indexCount of indices |
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296 | _indexCount = 0; |
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297 | while (clNode) { |
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298 | if (clNode->data) { |
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299 | split(clNode->data->points_t, clNode->data->numOfPoints_t, limit); |
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300 | _indices[_indexCount++] = _curClusterCount; |
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301 | } |
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302 | clNode = clNode->next; |
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303 | } |
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304 | |
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305 | //Vector3 mean; |
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306 | //computeCentroid(cluster->points, cluster->numOfPoints, mean); |
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307 | |
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308 | // the process values of split are in _curClusterNode and _curClusterCount |
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309 | ClusterListNode *curClusterNode = _curClusterNode; |
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310 | unsigned int curClusterNodeCount = _curClusterCount; |
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311 | |
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312 | if (curClusterNodeCount) { |
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313 | // create and init centroid |
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314 | Cluster *retClusterBlock = |
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315 | createClusterBlock(curClusterNode, curClusterNodeCount, level); |
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316 | |
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317 | _curRoot = retClusterBlock; |
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318 | |
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319 | if (level == _maxLevel) { |
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320 | ClusterListNode *node = curClusterNode; |
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321 | if (_indexCount > 0) { |
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322 | // for parent |
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323 | Point *points = new Point[curClusterNodeCount]; |
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324 | |
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325 | parent[0].setChildren(retClusterBlock, _indices[0]); |
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326 | parent[0].setPoints(points, _indices[0]); |
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327 | |
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328 | for (unsigned int i = 0, in = 0; i < curClusterNodeCount; ++i) { |
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329 | if (i >= _indices[in]) { |
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330 | in++; |
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331 | parent[in].setChildren(retClusterBlock + _indices[in - 1], _indices[in] - _indices[in - 1]); |
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332 | parent[in].setPoints(points + _indices[in - 1], _indices[in] - _indices[in - 1]); |
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333 | } |
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334 | |
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335 | retClusterBlock[i].scale = node->data->scale_t; |
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336 | retClusterBlock[i].centroid = node->data->centroid_t; |
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337 | retClusterBlock[i].points = node->data->points_t; |
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338 | retClusterBlock[i].numOfPoints = node->data->numOfPoints_t; |
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339 | retClusterBlock[i].color.set(float(rand()) / RAND_MAX, |
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340 | float(rand()) / RAND_MAX, |
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341 | float(rand()) / RAND_MAX, |
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342 | 0.2); |
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343 | |
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344 | points[i].position = node->data->centroid_t; |
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345 | points[i].color.set(1.0f, 1.0f, 1.0f, 0.2f); |
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346 | points[i].size = node->data->scale_t; |
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347 | |
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348 | node = node->next; |
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349 | } |
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350 | } |
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351 | } else { |
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352 | Point *points = new Point[curClusterNodeCount]; |
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353 | ClusterListNode *node = curClusterNode; |
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354 | |
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355 | if (_indexCount > 0) { |
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356 | parent[0].setPoints(points, _indices[0]); |
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357 | parent[0].setChildren(retClusterBlock, _indices[0]); |
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358 | for (int k = 1; k < _indexCount; ++k) { |
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359 | parent[k].setPoints(points + _indices[k - 1], |
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360 | _indices[k] - _indices[k - 1]); |
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361 | parent[k].setChildren(retClusterBlock + _indices[k - 1], |
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362 | _indices[k] - _indices[k - 1]); |
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363 | } |
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364 | |
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365 | // set points of sub-clusters |
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366 | for (unsigned int i = 0; i < curClusterNodeCount; ++i) { |
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367 | points[i].position = node->data->centroid_t; |
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368 | points[i].color.set(1.0f, 1.0f, 1.0f, 0.2f); |
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369 | points[i].size = node->data->scale_t; |
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370 | node = node->next; |
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371 | } |
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372 | } |
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373 | } |
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374 | } |
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375 | } |
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