found::IterativeSphericalDistanceDeterminationAlgorithm Class Reference

The IterativeSphericalDistanceDeterminationAlgorithm is a variation of the SphericalDistanceDeterminationAlgorithm algorithm in that it runs it repeatedly to use all the points given to it. More...

#include <distance.hpp>

Inheritance diagram for found::IterativeSphericalDistanceDeterminationAlgorithm:

Collaboration diagram for found::IterativeSphericalDistanceDeterminationAlgorithm:

Public Member Functions
	IterativeSphericalDistanceDeterminationAlgorithm (decimal radius, Camera &&cam, size_t minimumIterations, size_t maximumRefreshes, decimal distanceRatio, decimal discriminatorRatio, int pdfOrder, int radiusLossOrder)
	Creates a IterativeSphericalDistanceDeterminationAlgorithm.
PositionVector	Run (const Points &p) override
	Obtains the position of the planet relative to the camera.
Public Member Functions inherited from found::SphericalDistanceDeterminationAlgorithm
	SphericalDistanceDeterminationAlgorithm (decimal radius, Camera &&cam)
	Creates a SphericalDeterminationAlgorithm, which deduces the Position vector of a sattelite from Earth by modeling Earth as a sphere.
PositionVector	Run (const Points &p) override
	Obtains the position of the planet relative to the camera.
Public Member Functions inherited from found::FunctionStage< Points, PositionVector >
	FunctionStage ()=default
	Constructs a new Stage.
virtual	~FunctionStage ()=default
	Destroys this.
void	DoAction () override
	Executes Run (with a stored input and storing the output)
Points &	GetResource ()
	Returns the stored input of this.
PositionVector *&	GetProduct ()
	Returns the stored output of this.
Public Member Functions inherited from found::Stage< Input, Output >
virtual Output	Run (Input input)=0
	Runs this stage.

Private Member Functions
decimal	GenerateLoss (PositionVector &position, decimal targetDistanceSq, std::unique_ptr< Vec3[]> &projectedPoints, size_t size)
	Generates a loss on a position vector.
PositionVector	ShuffledCall (std::unique_ptr< Vec3[]> &source, size_t n, std::unique_ptr< uint64_t[]> &logits)
	Calls SphericalDistanceDeterminationAlgorithm::Run with randomized triplets of indicies from source.
uint64_t	Pow (uint64_t base, uint64_t power)
	Performs exponentiation for uint64_t.

Private Attributes
size_t	minimumIterations_
	The minimum number of iterations to use.
size_t	maximumRefreshes_
	The maximum number of times to refresh the reference position.
decimal	distanceRatioSq_
	The maximum distance ratio to accept.
decimal	discriminatorRatio_
	The maximum loss ratio to accept.
uint64_t	pdfOrder_
	The Shuffle randomization order.
uint64_t	radiusLossOrder_
	The Loss Radius error order.

Additional Inherited Members
Protected Member Functions inherited from found::SphericalDistanceDeterminationAlgorithm
Vec3	getCenter (const Vec3 &a, const Vec3 &b, const Vec3 &c)
	Returns the center of earth as a 3d Vector.
PositionVector	Run (const Vec3 &a, const Vec3 &b, const Vec3 &c)
	Returns the position of the planet relative to the camera.
Protected Attributes inherited from found::SphericalDistanceDeterminationAlgorithm
Camera	cam_
	cam_ field instance describes the camera settings used for the photo taken
decimal	radius_
	radius_ field instance describes the defined radius of earth.
Vec3	center_
	Calculated center vector.
decimal	r_
	Calculated radius.
Protected Attributes inherited from found::FunctionStage< Points, PositionVector >
Points	resource
	The stored input for this.
PositionVector *	product
	The pointer to the stored output for this.

Detailed Description

The IterativeSphericalDistanceDeterminationAlgorithm is a variation of the SphericalDistanceDeterminationAlgorithm algorithm in that it runs it repeatedly to use all the points given to it.

It uses

• selective randomization of Points, using a even polynomial distributions to prioritize points farther from selected points within triplets
• loss criterion to evaluate each guess
• softmax activation to figure out the plausibility of each guess

Note

Testing data on test/common/assets/example_earth1.png:

SDDA -> (1.0456e+07, -67903.8, -972.935) m

• Distance Error: 0.752384891562%
• Angle Error: 1339.6805912772 arcseconds
• Execution Time: < 1 sec

ISDDA(100000, 0.8, INF, Quadratic Radius Loss AND Randomization) -> (1.0384e+07, -12571.3, -1057.05) m

• Distance Error: 0.0565676042517%
• Angle Error: 250.59497104116 arcseconds
• Execution Time: 11 sec

ISDDA(100000, 0.8, INF, Quartic Radius Loss OR Randomization) -> (1.03781e+07, -11536.7, -927.331) m

• Distance Error: 0.000294332681557%
• Angle Error: 230.031583013 arcseconds
• Execution Time: 11 sec

In optimized mode (-O3), all algorithms are less than 1 second.

Constructor & Destructor Documentation

IterativeSphericalDistanceDeterminationAlgorithm()

found::IterativeSphericalDistanceDeterminationAlgorithm::IterativeSphericalDistanceDeterminationAlgorithm	(	decimal	radius,
		Camera &&	cam,
		size_t	minimumIterations,
		size_t	maximumRefreshes,
		decimal	distanceRatio,
		decimal	discriminatorRatio,
		int	pdfOrder,
		int	radiusLossOrder
	)

Creates a IterativeSphericalDistanceDeterminationAlgorithm.

Parameters

radius	The radius of Earth
cam	The camera used to capture the picture of Earth
minimumIterations	The minimum number of iterations to perform
maximumRefreshes	The maximum number of times to refresh the reference position
distanceRatio	The maximum distance error between the evaluated and reference positions to be considered "the same" distance
discriminatorRatio	The maximum ratio between the evaluated and reference loss to accept for data
pdfOrder	The Shuffle Randomization Distribution Order
radiusLossOrder	The Loss Radius Error Order

Note

Setting distanceRatio to DECIMAL_INF will exclude distance loss from loss calculations

Setting discriminatorRatio to DECIMAL_INF will include all generated points in the final point

Postcondition

If pdfOrder or radiusLossOrder less than 2, they will be made 2. Then if they are odd, they will be incremented

Member Function Documentation

GenerateLoss()

decimal found::IterativeSphericalDistanceDeterminationAlgorithm::GenerateLoss ( PositionVector &  position, decimal  targetDistanceSq, std::unique_ptr< Vec3[]> &  projectedPoints, size_t  size  )

private

Generates a loss on a position vector.

Parameters

position	The vector to evaluate
targetDistanceSq	The target distance squared of the position
projectedPoints	The projected points to evaluate against
size	The size of the projected points

Returns

The loss of position

Precondition

targetRadiusSq is not the true radius, but rather the distance obtained between the radius vector and a circle point when projected onto the unit sphere (normalized). It still functions the same way.

Pow()

uint64_t found::IterativeSphericalDistanceDeterminationAlgorithm::Pow ( uint64_t  base, uint64_t  power  )

inlineprivate

Performs exponentiation for uint64_t.

Parameters

base	The base
power	The power

Returns

base ^ power

Run()

PositionVector found::IterativeSphericalDistanceDeterminationAlgorithm::Run ( const Points &  p )

override

Obtains the position of the planet relative to the camera.

Parameters

p	The points on the edge of Earth (in the image taken by the camera given to this)

Returns

PositionVector The position vector of the Earth relative to the camera

Precondition

p must refer to points taken by the camera that was passed to this

p is radially sorted, i.e. if we define the centroid of the points as P, for any three consecutive points A B and C, angle APB is less than angle APC

Postcondition

If p.size() < 3, then the result is exactly the zero vector

Note

If minimumIterations (from constructor) is less than the size of p, then it will increase the number of iterations to cover all of p

ShuffledCall()

PositionVector found::IterativeSphericalDistanceDeterminationAlgorithm::ShuffledCall ( std::unique_ptr< Vec3[]> &  source, size_t  n, std::unique_ptr< uint64_t[]> &  logits  )

private

Calls SphericalDistanceDeterminationAlgorithm::Run with randomized triplets of indicies from source.

Parameters

source	The source of Vec3 objects
n	The number of elements in source
logits	The logits array to use for randomization

Returns

The resulting PositionVector from the 3 randomized points

Precondition

Any precondition from this->Run

source.size() >= 3

source[i] is normalized for all i in [0, source.size())

Note

This algorithm uses a even polynomial distribution to prioritize points far away from a given index. We like that because it helps deal with noise. To exaggerate the difference in probability between points, you can use a function that grows much faster by changing the macro PDF which is defined within. Make sure the distribution function though is zero where you need it to be (i.e. At points already generated within a triplet so that you do not draw those points again)

The assumption of p from this->Run(p) being in polar order is quite important in this algorithm. Should that not be true, instead of using index differences in our polynomial distribution, we'd need to instead use the distance between the pixels corresponding to those indicies. This is not a terrible change in terms of code, but is more compuationally complex

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The documentation for this class was generated from the following files:

• src/distance/distance.hpp
• src/distance/distance.cpp