public static TermBuilder EulerPower_(Term power)
{
TermBuilder builder = new TermBuilder();
builder.term.EulerPower = power;
return(builder);
}
public Term GetDeterminant()
{
Contract.Requires(RowsCount == ColsCount);
if (RowsCount > 2) // General case
{
// get minor determinants (recursively)
var minorDets = new Term[RowsCount];
for (int i = 0; i < minorDets.Length; ++i)
{
minorDets[i] = GetMinor(i, 0).GetDeterminant();
}
// negate every second determinant
for (int i = 1; i < minorDets.Length; i += 2)
{
minorDets[i] = -1 * minorDets[i];
}
return(TermBuilder.Sum(minorDets));
}
else if (RowsCount == 2)
{
return(rows[0][0] * rows[1][1] - rows[1][0] * rows[0][1]); // 2D determinant
}
else // RowsCount == 1
{
return(rows[0][0]); // 1D determinant - simply the term value
}
}
public static TermBuilder Coefficient_(double coefficient)
{
TermBuilder builder = new TermBuilder();
builder.term.Coefficient = new Constant(coefficient);
return(builder);
}
public static TermBuilder Variable_(Variable variable, Operation power)
{
TermBuilder builder = new TermBuilder();
builder.term.TermVariables[variable] = power;
return(builder);
}
protected override Tuple <Term, Term[]> Reconstruct(SnappedStraightGenCylinder snappedPrimitive, Dictionary <FeatureCurve, ISet <Annotation> > curvesToAnnotations)
{
var silhouettesCount =
(new PointsSequence[] { snappedPrimitive.LeftSilhouette, snappedPrimitive.RightSilhouette })
.Count(curve => curve != null);
var featuresCount = snappedPrimitive.FeatureCurves
.Cast <CircleFeatureCurve>()
.Count(curve => curve.SnappedTo != null);
// get annotated feature curves of this primitive.
var annotated = new HashSet <FeatureCurve>(curvesToAnnotations.Keys.Where(key => curvesToAnnotations[key].Count > 0));
annotated.Intersect(snappedPrimitive.FeatureCurves);
// default objective function and no constraints.. if we can't match a case, we don't optimize.
Tuple <Term, Term[]> result = Tuple.Create(TermBuilder.Constant(0), new Term[0]);
if (silhouettesCount == 2 && featuresCount == 2)
{
result = FullInfo(snappedPrimitive);
}
else if (silhouettesCount == 1 && featuresCount == 2)
{
result = SingleSilhouetteTwoFeatures(snappedPrimitive, annotated);
}
else if (silhouettesCount == 2 && featuresCount == 1)
{
result = SingleFeatureTwoSilhouettes(snappedPrimitive, annotated);
}
return(result);
}
/// <summary>
/// Generates a term that gets smaller as the given 2D point fits a 3D points set projection.
/// </summary>
/// <param name="pointsSet">A representation for the 3D points set</param>
/// <param name="point">The 2D point</param>
/// <returns>The term that measures fitness of <paramref name="point"/> being on the 2D projection of the set specified by <paramref name="pointsSet"/></returns>
public static Term Compute(CircleFeatureCurve pointsSet, Point point)
{
// here we explicitly assume that the view vector is (0, 0, 1) or (0, 0, -1)
var x_ = point.X;
var y_ = point.Y;
var cx = pointsSet.Center.X;
var cy = pointsSet.Center.Y;
var cz = pointsSet.Center.Z;
var nx = pointsSet.Normal.X;
var ny = pointsSet.Normal.Y;
var nz = pointsSet.Normal.Z;
var r = pointsSet.Radius;
var dx = cx - x_;
var dy = cy + y_;
var lhs = TermBuilder.Sum(
TermBuilder.Power(dx * nz, 2),
TermBuilder.Power(dy * nz, 2),
TermBuilder.Power(dx * nx + dy * ny, 2));
var rhs = TermBuilder.Power(r * nz, 2);
return(TermBuilder.Power(lhs - rhs, 2));
}
public SubstitutionResult Visit(Sum sum)
{
var summmandResults = sum.Terms.Select(x => x.Accept(this)).ToArray();
var nonConstants = new List <Term>();
double sumValue = 0;
foreach (var summandResult in summmandResults)
{
double value;
if (TryGetConstant(summandResult, out value))
{
sumValue += value;
}
else
{
nonConstants.Add(summandResult.Term);
}
}
if (nonConstants.Count == 0) // all are constants
{
return(CreateResult(sumValue));
}
else
{
var newSummands = nonConstants.Concat(Enumerable.Repeat(TermBuilder.Constant(sumValue), 1));
return(CreateResult(TermBuilder.Sum(newSummands)));
}
}
private static OptimizationProblem GetOptimizationProblem(IEnumerable <PrimitiveEditConstraint> constraints)
{
// generate constraint terms
var constraintTerms = new List <Term>();
var paramsToVars = new Dictionary <IEditParameter, ParameterVariable[]>();
foreach (var constraint in constraints)
{
TryAxisOnLine(constraintTerms, paramsToVars, constraint);
TryPointOnPlane(constraintTerms, paramsToVars, constraint);
}
// get variables
var variables =
(from vars in paramsToVars.Values
from var in vars
select var).ToArray();
// construct objective --> sum of squared distances to current values
var values = GetCurrentValues(variables);
var objective = TermUtils.SafeSum(
from i in Enumerable.Range(0, variables.Length)
select TermBuilder.Power(variables[i] - values[i], 2));
return(new OptimizationProblem
{
Constraints = constraintTerms.ToArray(),
Variables = variables,
Objective = objective,
});
}
static void Main(string[] args)
{
// we will use a function of two variables
Variable x = new Variable();
Variable y = new Variable();
// func(x, y) = (x + y) * exp(x - y)
var func = (x + y) * TermBuilder.Exp(x - y);
// create compiled term and use it for many gradient/value evaluations
var compiledFunc = func.Compile(x, y);
// we can now efficiently compute the gradient of "func" 64 times with different inputs.
// compilation helps when we need many evaluations of the same function.
for (int i = 0; i < 64; ++i)
{
var xVal = i / 64.0;
var yVal = 1 + i / 128.0;
var diffResult = compiledFunc.Differentiate(xVal, yVal);
var gradient = diffResult.Item1;
var value = diffResult.Item2;
Console.WriteLine("The value of func at x = {0}, y = {1} is {2} and the gradient is ({3}, {4})",
xVal, yVal, value, gradient[0], gradient[1]);
}
}
public void ProductContract()
{
Assert.Throws <ArgumentNullException>(() => TermBuilder.Product(x, null));
Assert.Throws <ArgumentNullException>(() => TermBuilder.Product(null, x));
Assert.Throws <ArgumentNullException>(() => TermBuilder.Product(x, y, null));
Assert.Throws <ArgumentException>(() => TermBuilder.Product(x, y, Vec(x, null)));
Assert.IsType <Product>(TermBuilder.Product(x, y));
}
public void SumValidationContract()
{
Assert.Throws <ArgumentNullException>(() => TermBuilder.Sum(null));
Assert.Throws <ArgumentNullException>(() => TermBuilder.Sum(x, null));
Assert.Throws <ArgumentNullException>(() => TermBuilder.Sum(null, x));
Assert.Throws <ArgumentNullException>(() => TermBuilder.Sum(x, y, null));
Assert.Throws <ArgumentException>(() => TermBuilder.Sum(x, y, Vec(x, null)));
Assert.Throws <ArgumentException>(() => TermBuilder.Sum(Vec(x, null)));
}
public IEnumerable <double[]> Solve(Term objective, IEnumerable <Term> constraints, Variable[] variables, double[] startPoint)
{
var constraintSquares = constraints.Select(c => TermBuilder.Power(c, 2));
var penalizedObjective = objective + penaltyWeight * TermUtils.SafeSum(constraintSquares);
var compiledPenalizedObjective = penalizedObjective.Compile(variables);
var solution = unconstrainedOptimizer.Solve(x => compiledPenalizedObjective.Differentiate(x), startPoint, gradientNormThreshold);
yield return(solution);
}
protected override Tuple <Term, Term[]> Reconstruct(SnappedSphere snappedPrimitive, Dictionary <FeatureCurve, ISet <Annotation> > curvesToAnnotations)
{
var circle = CircleFitter.Fit(snappedPrimitive.ProjectionParallelCircle.SnappedTo.Points);
var result =
TermBuilder.Power(snappedPrimitive.Center.X - circle.Center.X, 2) +
TermBuilder.Power(snappedPrimitive.Center.Y + circle.Center.Y, 2) +
TermBuilder.Power(snappedPrimitive.Radius - circle.Radius, 2);
return(Tuple.Create(result, NO_TERMS));
}
public static Term DiffSquared(Term[] left, Term[] right)
{
Contract.Requires(left != null);
Contract.Requires(right != null);
Contract.Requires(left.Length == right.Length);
var toSum = from i in System.Linq.Enumerable.Range(0, left.Length)
select TermBuilder.Power(left[i] - right[i], 2);
return(TermBuilder.Sum(toSum));
}
public static Term SoftMin(Term[] terms, double exponent = 6)
{
Contract.Requires(terms != null);
Contract.Requires(terms.Length > 0);
Contract.Requires(Contract.ForAll(terms, term => term != null));
Contract.Requires(exponent > 1);
Contract.Ensures(Contract.Result <Term>() != null);
var powers = terms.Select(term => TermBuilder.Power(term, -exponent));
return(TermBuilder.Power(TermBuilder.Sum(powers), -1 / exponent));
}
public void PowerContract()
{
Assert.Throws <ArgumentNullException>(() => TermBuilder.Power(null, 1));
Assert.Throws <ArgumentNullException>(() => TermBuilder.Power(x, null));
Assert.Throws <ArgumentNullException>(() => TermBuilder.Power(null, x));
Assert.IsType <ConstPower>(TermBuilder.Power(x, 1));
Assert.Throws <ArgumentException>(() => TermBuilder.Power(x, double.NaN));
Assert.Throws <ArgumentException>(() => TermBuilder.Power(x, double.PositiveInfinity));
Assert.IsType <TermPower>(TermBuilder.Power(x, y));
Assert.IsType <TermPower>(TermBuilder.Power(1, y));
}
private Term[] GetConcreteAnnotationTerm(OnSphere onSphere)
{
var center = onSphere.SphereOwned.Center;
var radius = onSphere.SphereOwned.Radius;
var touchingPoint = onSphere.CenterTouchesSphere.Center;
var touchingNormal = onSphere.CenterTouchesSphere.Normal;
var radiusConstraint = (center - touchingPoint).NormSquared - TermBuilder.Power(radius, 2);
var normalConstraint = VectorParallelism(center - touchingPoint, touchingNormal);
return(normalConstraint.Append(radiusConstraint).ToArray());
}
private static Term MeanSquaredError(Term[] terms, double[] values)
{
Contract.Requires(terms != null);
Contract.Requires(values != null);
Contract.Requires(terms.Length == values.Length);
Contract.Requires(Contract.ForAll(terms, term => term != null));
Contract.Ensures(Contract.Result <Term>() != null);
var errorTerms = from i in Enumerable.Range(0, terms.Length)
select TermBuilder.Power(terms[i] + (-values[i]), 2);
return((1 / (double)terms.Length) * TermUtils.SafeSum(errorTerms));
}
private static Tuple <Term, Term[]> CreateSGCTerms(SnappedStraightGenCylinder snappedPrimitive, double[] radii, Point spineStart, Point spineEnd)
{
var constraints = new Term[] { snappedPrimitive.Axis.NormSquared - 1 };
if (radii.Length > 0)
{
var featureCurveTerms =
from item in snappedPrimitive.FeatureCurves.Cast <CircleFeatureCurve>()
where item != null
where item.SnappedTo != null
from term in ProjectionFit.Compute(item)
select term;
var featureCurvesTerm = 0.1 * TermUtils.SafeAvg(featureCurveTerms);
// the difference between the primitive's radii and the computed radii is minimized
var radiiApproxTerm = TermUtils.SafeAvg(
from i in Enumerable.Range(0, snappedPrimitive.Components.Length)
let component = snappedPrimitive.Components[i]
let radius = radii[i]
select TermBuilder.Power(component.Radius - radius, 2));
// the smoothness of the primitive's radii (laplacian norm) is minimized
var radiiSmoothTerm = TermUtils.SafeAvg(
from pair in snappedPrimitive.Components.SeqTripples()
let r1 = pair.Item1.Radius
let r2 = pair.Item2.Radius
let r3 = pair.Item3.Radius
select TermBuilder.Power(r2 - 0.5 * (r1 + r3), 2)); // how far is r2 from the avg of r1 and r3
// we specifically wish to give higher weight to first and last radii, so we have
// an additional first/last radii term.
var endpointsRadiiTerm =
TermBuilder.Power(radii[0] - snappedPrimitive.Components.First().Radius, 2) +
TermBuilder.Power(radii.Last() - snappedPrimitive.Components.Last().Radius, 2);
// objective - weighed average of all terms
var objective =
radiiApproxTerm +
radiiSmoothTerm +
featureCurvesTerm +
endpointsRadiiTerm;
return(Tuple.Create(objective, constraints));
}
else
{
return(Tuple.Create((Term)0, constraints)); // if we can't extract radii approximation, we don't do any snapping
}
}
private static ICompiledTerm ConstructTerm(Coefficient[][] coefficients, Variable[] variables)
{
var squareTerms =
from i in Enumerable.Range(0, coefficients.Length)
let termCoefficients = coefficients[i]
let sumTerms = from j in Enumerable.Range(0, termCoefficients.Length)
select termCoefficients[j].Value * variables[termCoefficients[j].Index]
let sum = TermBuilder.Sum(sumTerms)
select TermBuilder.Power(sum, 2);
var finalTerm = TermBuilder.Sum(squareTerms);
var compiled = finalTerm.Compile(variables);
return(compiled);
}
public SubstitutionResult Visit(Log log)
{
var argResult = log.Arg.Accept(this);
double argValue;
if (TryGetConstant(argResult, out argValue))
{
return(CreateResult(Math.Log(argValue)));
}
else
{
return(CreateResult(TermBuilder.Log(argResult.Term)));
}
}
static void Main(string[] args)
{
Variable x = new Variable();
// f(x) = e^(-x) + x - 2
// it has two roots. See plot.png image attached to this project.
var func = TermBuilder.Exp(-x) + x - 2;
// find the root near 2
var root1 = RootFinder.NewtonRaphson(func, x, 2);
// find the root near -1
var root2 = RootFinder.NewtonRaphson(func, x, -1);
Console.WriteLine("The equation e^(-x) + x - 2 = 0 has two solutions:\nx = {0}\nx = {1}", root1, root2);
}
static void Main(string[] args)
{
var x = new Variable();
var y = new Variable();
var z = new Variable();
// f(x, y, z) = (x-2)² + (y+4)² + (z-1)²
// the min should be (x, y, z) = (2, -4, 1)
var func = TermBuilder.Power(x - 2, 2) + TermBuilder.Power(y + 4, 2) + TermBuilder.Power(z - 1, 2);
var compiled = func.Compile(x, y, z);
// perform optimization
var vec = new double[3];
vec = GradientDescent(compiled, vec, stepSize: 0.01, iterations: 1000);
Console.WriteLine("The approx. minimizer is: {0}, {1}, {2}", vec[0], vec[1], vec[2]);
}
protected Term EndpointsProjectionFit(CircleFeatureCurve pointsSet, Point p1, Point p2)
{
var x1 = p1.X;
var y1 = -p1.Y;
var x2 = p2.X;
var y2 = -p2.Y;
var cx = pointsSet.Center.X;
var cy = pointsSet.Center.Y;
var r = pointsSet.Radius;
var eq1 = TermBuilder.Power(x1 - cx, 2) + TermBuilder.Power(y1 - cy, 2) - TermBuilder.Power(r, 2);
var eq2 = TermBuilder.Power(x2 - cx, 2) + TermBuilder.Power(y2 - cy, 2) - TermBuilder.Power(r, 2);
var result = TermBuilder.Power(eq1, 2) + TermBuilder.Power(eq2, 2);
return(result);
}
public static Term SafeSum(IEnumerable <Term> terms)
{
Contract.Requires(terms != null);
Contract.Requires(Contract.ForAll(terms, term => term != null));
Contract.Ensures(Contract.Result <Term>() != null);
terms = terms.Where(term => !(term is Zero));
if (!terms.Any())
{
return(0);
}
else if (!terms.Skip(1).Any())
{
return(terms.First());
}
else
{
return(TermBuilder.Sum(terms));
}
}
static void Main(string[] args)
{
// we will use a function of two variables
Variable x = new Variable();
Variable y = new Variable();
// func(x, y) = (x + y) * exp(x - y)
var func = (x + y) * TermBuilder.Exp(x - y);
// define the ordering of variables, and a point where the function will be evaluated/differentiated
Variable[] vars = { x, y };
double[] point = { 1, -2 };
// calculate the value and the gradient at the point (x, y) = (1, -2)
double eval = func.Evaluate(vars, point);
double[] gradient = func.Differentiate(vars, point);
// write the results
Console.WriteLine("f(1, -2) = " + eval);
Console.WriteLine("Gradient of f at (1, -2) = ({0}, {1})", gradient[0], gradient[1]);
}
private Term PrepareStDevFunction(int count = 5)
{
Term stDev = null;
for (int i = 0; i < count; ++i)
{
Variable w = new Variable();
if (!variables.ContainsKey(i))
{
variables.Add(i, w);
}
var std_mul_w = TermBuilder.Power(variables[i], 2) * TermBuilder.Power(stDevs[i], 2);
if (i == 0)
{
stDev = std_mul_w;
}
else
{
stDev += std_mul_w;
}
for (int k = i + 1; k < count; ++k)
{
Variable w2 = new Variable();
if (!variables.ContainsKey(k))
{
variables.Add(k, w2);
}
var cov = 2 * matCov[i, k] * variables[i] * variables[k];
stDev += cov;
}
}
stDev = TermBuilder.Power(stDev, 0.5);
return(stDev);
}
private AutoDiff.Term ConvertToAutoDiff(ISymbolicExpressionTreeNode node)
{
if (node.Symbol is Constant)
{
initialConstants.Add(((ConstantTreeNode)node).Value);
var var = new AutoDiff.Variable();
variables.Add(var);
return(var);
}
if (node.Symbol is Variable || node.Symbol is BinaryFactorVariable)
{
var varNode = node as VariableTreeNodeBase;
var factorVarNode = node as BinaryFactorVariableTreeNode;
// factor variable values are only 0 or 1 and set in x accordingly
var varValue = factorVarNode != null ? factorVarNode.VariableValue : string.Empty;
var par = FindOrCreateParameter(parameters, varNode.VariableName, varValue);
if (makeVariableWeightsVariable)
{
initialConstants.Add(varNode.Weight);
var w = new AutoDiff.Variable();
variables.Add(w);
return(AutoDiff.TermBuilder.Product(w, par));
}
else
{
return(varNode.Weight * par);
}
}
if (node.Symbol is FactorVariable)
{
var factorVarNode = node as FactorVariableTreeNode;
var products = new List <Term>();
foreach (var variableValue in factorVarNode.Symbol.GetVariableValues(factorVarNode.VariableName))
{
var par = FindOrCreateParameter(parameters, factorVarNode.VariableName, variableValue);
initialConstants.Add(factorVarNode.GetValue(variableValue));
var wVar = new AutoDiff.Variable();
variables.Add(wVar);
products.Add(AutoDiff.TermBuilder.Product(wVar, par));
}
return(AutoDiff.TermBuilder.Sum(products));
}
if (node.Symbol is LaggedVariable)
{
var varNode = node as LaggedVariableTreeNode;
var par = FindOrCreateParameter(parameters, varNode.VariableName, string.Empty, varNode.Lag);
if (makeVariableWeightsVariable)
{
initialConstants.Add(varNode.Weight);
var w = new AutoDiff.Variable();
variables.Add(w);
return(AutoDiff.TermBuilder.Product(w, par));
}
else
{
return(varNode.Weight * par);
}
}
if (node.Symbol is Addition)
{
List <AutoDiff.Term> terms = new List <Term>();
foreach (var subTree in node.Subtrees)
{
terms.Add(ConvertToAutoDiff(subTree));
}
return(AutoDiff.TermBuilder.Sum(terms));
}
if (node.Symbol is Subtraction)
{
List <AutoDiff.Term> terms = new List <Term>();
for (int i = 0; i < node.SubtreeCount; i++)
{
AutoDiff.Term t = ConvertToAutoDiff(node.GetSubtree(i));
if (i > 0)
{
t = -t;
}
terms.Add(t);
}
if (terms.Count == 1)
{
return(-terms[0]);
}
else
{
return(AutoDiff.TermBuilder.Sum(terms));
}
}
if (node.Symbol is Multiplication)
{
List <AutoDiff.Term> terms = new List <Term>();
foreach (var subTree in node.Subtrees)
{
terms.Add(ConvertToAutoDiff(subTree));
}
if (terms.Count == 1)
{
return(terms[0]);
}
else
{
return(terms.Aggregate((a, b) => new AutoDiff.Product(a, b)));
}
}
if (node.Symbol is Division)
{
List <AutoDiff.Term> terms = new List <Term>();
foreach (var subTree in node.Subtrees)
{
terms.Add(ConvertToAutoDiff(subTree));
}
if (terms.Count == 1)
{
return(1.0 / terms[0]);
}
else
{
return(terms.Aggregate((a, b) => new AutoDiff.Product(a, 1.0 / b)));
}
}
if (node.Symbol is Absolute)
{
var x1 = ConvertToAutoDiff(node.GetSubtree(0));
return(abs(x1));
}
if (node.Symbol is AnalyticQuotient)
{
var x1 = ConvertToAutoDiff(node.GetSubtree(0));
var x2 = ConvertToAutoDiff(node.GetSubtree(1));
return(x1 / (TermBuilder.Power(1 + x2 * x2, 0.5)));
}
if (node.Symbol is Logarithm)
{
return(AutoDiff.TermBuilder.Log(
ConvertToAutoDiff(node.GetSubtree(0))));
}
if (node.Symbol is Exponential)
{
return(AutoDiff.TermBuilder.Exp(
ConvertToAutoDiff(node.GetSubtree(0))));
}
if (node.Symbol is Square)
{
return(AutoDiff.TermBuilder.Power(
ConvertToAutoDiff(node.GetSubtree(0)), 2.0));
}
if (node.Symbol is SquareRoot)
{
return(AutoDiff.TermBuilder.Power(
ConvertToAutoDiff(node.GetSubtree(0)), 0.5));
}
if (node.Symbol is Cube)
{
return(AutoDiff.TermBuilder.Power(
ConvertToAutoDiff(node.GetSubtree(0)), 3.0));
}
if (node.Symbol is CubeRoot)
{
return(cbrt(ConvertToAutoDiff(node.GetSubtree(0))));
}
if (node.Symbol is Sine)
{
return(sin(
ConvertToAutoDiff(node.GetSubtree(0))));
}
if (node.Symbol is Cosine)
{
return(cos(
ConvertToAutoDiff(node.GetSubtree(0))));
}
if (node.Symbol is Tangent)
{
return(tan(
ConvertToAutoDiff(node.GetSubtree(0))));
}
if (node.Symbol is HyperbolicTangent)
{
return(tanh(
ConvertToAutoDiff(node.GetSubtree(0))));
}
if (node.Symbol is Erf)
{
return(erf(
ConvertToAutoDiff(node.GetSubtree(0))));
}
if (node.Symbol is Norm)
{
return(norm(
ConvertToAutoDiff(node.GetSubtree(0))));
}
if (node.Symbol is StartSymbol)
{
if (addLinearScalingTerms)
{
// scaling variables α, β are given at the beginning of the parameter vector
var alpha = new AutoDiff.Variable();
var beta = new AutoDiff.Variable();
variables.Add(beta);
variables.Add(alpha);
var t = ConvertToAutoDiff(node.GetSubtree(0));
return(t * alpha + beta);
}
else
{
return(ConvertToAutoDiff(node.GetSubtree(0)));
}
}
throw new ConversionException();
}
protected override Term GetRadiusSoftConstraint(SnappedCylinder snapped, double expectedTop, double expectedBottom)
{
var avg = 0.5 * (expectedTop + expectedBottom);
return(TermBuilder.Power(snapped.Radius - avg, 2));
}
protected override Term GetRadiusSoftConstraint(SnappedCone snapped, double expectedTop, double expectedBottom)
{
return(0.5 * (
TermBuilder.Power(snapped.TopRadius - expectedTop, 2) +
TermBuilder.Power(snapped.BottomRadius - expectedBottom, 2)));
}
