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Merged
thinkyhead merged 3 commits into from
Mar 25, 2021
Merged

Optimize least_squares_fit #21443

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c882715
Optimize least_squares_fit
ramiropolla Mar 3, 2021
7e660e5
Update least_squares_fit.cpp
thinkyhead Mar 25, 2021
7d781c3
Update least_squares_fit.cpp
thinkyhead Mar 25, 2021
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26 changes: 13 additions & 13 deletions Marlin/src/libs/least_squares_fit.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,23 +46,23 @@ int finish_incremental_LSF(struct linear_fit_data *lsf) {
if (N == 0.0)
return 1;

lsf->xbar /= N;
lsf->ybar /= N;
lsf->zbar /= N;
lsf->x2bar = lsf->x2bar / N - sq(lsf->xbar);
lsf->y2bar = lsf->y2bar / N - sq(lsf->ybar);
lsf->z2bar = lsf->z2bar / N - sq(lsf->zbar);
lsf->xybar = lsf->xybar / N - lsf->xbar * lsf->ybar;
lsf->yzbar = lsf->yzbar / N - lsf->ybar * lsf->zbar;
lsf->xzbar = lsf->xzbar / N - lsf->xbar * lsf->zbar;
const float DD = lsf->x2bar * lsf->y2bar - sq(lsf->xybar);
const float RN = 1.0f / N,
xbar = lsf->xbar * RN,
ybar = lsf->ybar * RN,
zbar = lsf->zbar * RN,
x2bar = lsf->x2bar * RN - sq(xbar),
y2bar = lsf->y2bar * RN - sq(ybar),
xybar = lsf->xybar * RN - xbar * ybar,
yzbar = lsf->yzbar * RN - ybar * zbar,
xzbar = lsf->xzbar * RN - xbar * zbar,
DD = x2bar * y2bar - sq(xybar);

if (ABS(DD) <= 1e-10 * (lsf->max_absx + lsf->max_absy))
return 1;

lsf->A = (lsf->yzbar * lsf->xybar - lsf->xzbar * lsf->y2bar) / DD;
lsf->B = (lsf->xzbar * lsf->xybar - lsf->yzbar * lsf->x2bar) / DD;
lsf->D = -(lsf->zbar + lsf->A * lsf->xbar + lsf->B * lsf->ybar);
lsf->A = (yzbar * xybar - xzbar * y2bar) / DD;
lsf->B = (xzbar * xybar - yzbar * x2bar) / DD;
lsf->D = -(zbar + lsf->A * xbar + lsf->B * ybar);
return 0;
}

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4 changes: 1 addition & 3 deletions Marlin/src/libs/least_squares_fit.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@

struct linear_fit_data {
float xbar, ybar, zbar,
x2bar, y2bar, z2bar,
x2bar, y2bar,
xybar, xzbar, yzbar,
max_absx, max_absy,
A, B, D, N;
Expand All @@ -56,7 +56,6 @@ inline void incremental_WLSF(struct linear_fit_data *lsf, const float &x, const
lsf->zbar += wz;
lsf->x2bar += wx * x;
lsf->y2bar += wy * y;
lsf->z2bar += wz * z;
lsf->xybar += wx * y;
lsf->xzbar += wx * z;
lsf->yzbar += wy * z;
Expand All @@ -74,7 +73,6 @@ inline void incremental_LSF(struct linear_fit_data *lsf, const float &x, const f
lsf->zbar += z;
lsf->x2bar += sq(x);
lsf->y2bar += sq(y);
lsf->z2bar += sq(z);
lsf->xybar += x * y;
lsf->xzbar += x * z;
lsf->yzbar += y * z;
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