September 2008 - Olena-patches

[Olena] #161: Implement more complex psite iterators
by Olena 18 May '09

18 May '09

#161: Implement more complex psite iterators ----------------------+----------------------------------------------------- Reporter: levill_r | Owner: levill_r Type: task | Status: new Priority: major | Milestone: Component: Milena | Version: 1.0 Keywords: | ----------------------+----------------------------------------------------- As of r2148, we only have a single piter couple on complex : `mln::p_complex_fwd_piter_` and `mln::p_complex_bkd_piter_` (source:trunk/milena/mln/core/p_complex_piter.hh:2148). Comments (FIXMEs) at the end of source:trunk/milena/tests/core/complex_image.cc:2148 suggest to add these additional iterators: * iterators on ''n''-faces with ''n'' fixed in [0, ''d''] (using `mln::p_faces` and `mln::faces_psite`?) * iterators on ''n''-faces with ''n'' in a subset of [0, ''d'']; * etc. -- Ticket URL: <https://trac.lrde.org/olena/ticket/161> Olena <http://olena.lrde.epita.fr> Olena, a generic and efficient C++ image processing library.

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[Olena] #140: Add points having floating-point coordinates
by Olena 18 May '09

18 May '09

#140: Add points having floating-point coordinates ----------------------+----------------------------------------------------- Reporter: levill_r | Owner: levill_r Type: task | Status: new Priority: major | Milestone: Olena 1.0 Component: Milena | Version: 1.0 Keywords: | ----------------------+----------------------------------------------------- Name regular instances `point1df`, `point2df` and `point3df`. (N.B.: Aroune will need them so as to build the 3-d surface graph from a set of triangles.) -- Ticket URL: <https://trac.lrde.org/olena/ticket/140> Olena <http://olena.lrde.epita.fr> Olena, a generic and efficient C++ image processing library.

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[Olena] #162: Implement windows, neighborhoods, and corresponding iterators for complex-based images
by Olena 14 May '09

14 May '09

#162: Implement windows, neighborhoods, and corresponding iterators for complex- based images ----------------------+----------------------------------------------------- Reporter: levill_r | Owner: levill_r Type: task | Status: new Priority: major | Milestone: Olena 1.0 Component: Milena | Version: 1.0 Keywords: | ----------------------+----------------------------------------------------- For a given (fixed) dimension ''n'' and a psite ''p'' on a ''n''-face, implement windows/neighborhoods (and corresponding iterators) returning * the set of (''n''-1)-faces adjacent to ''p'' (using ``mln::p_faces`` and ``mln::faces_psite``?); * the set of (''n''+1)-faces adjacent to ''p'' (using ``mln::p_faces`` and ``mln::faces_psite``?); * the set of ''n''-faces sharing a (''n''-1)-face with ''p''; * the set of ''n''-faces sharing a (''n''-1)-face or (''n''-2)-face (by transitivity) with ''p'' (is it useful?); * the set of the faces in the ``cell'' including ''p'' (named ``''p''-hat'' in couprie.08.pami), i.e., the set of all ''m''-faces adjacent to ''p'', where ''m'' is in [0, ''n''-1].[[BR]] In that definition, ''p'' is said adjacent to an ''m''-face ''q'' if there is a sequence (''m,,1,,'', ''m,,2,,'', ..., ''m,,k,,'') of faces so that * ''m,,1,,'' is an (''n''-1)-face adjacent to ''p'' ; * ''m,,2,,'' is an (''n''-2)-face adjacent to ''m,,1,,'' ; * ... (and so on) * ''m,,k,,'' is an (''m''+1)-face adjacent to ''q''. * what else? As in #139, we might want to factor things using implementation classes: * ``mln::internal::complex_vicinity`` * ``mln::internal::complex_vicinity_piter`` We might even be able to factor them with graph-based ones. -- Ticket URL: <https://trac.lrde.org/olena/ticket/162> Olena <http://olena.lrde.epita.fr> Olena, a generic and efficient C++ image processing library.

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[Olena] #130: Don not pass neighborhoods as argument to algorithms
by Olena 14 May '09

14 May '09

#130: Don not pass neighborhoods as argument to algorithms ----------------------+----------------------------------------------------- Reporter: levill_r | Owner: Olena Team Type: defect | Status: new Priority: major | Milestone: Olena 1.0ß Component: Milena | Version: 1.0 Keywords: | ----------------------+----------------------------------------------------- Neighborhoods shall be bound to images: they are a property of them. Hence an algorithm (at least a facade) shall not accept an image along with an ''external'' neighborhood. Most of the time, these algorithms are based on windows improperly called neighborhoods. Here is the list of files to revamp, as of revision 1663: * source:trunk/labeling/level.spe.hh * source:trunk/labeling/regional_maxima.hh * source:trunk/labeling/regional_minima.hh * source:trunk/make/voronoi.hh * source:trunk/milena/mln/geom/labeling/blobs.hh * source:trunk/milena/mln/geom/seeds2tiling_roundness.hh * source:trunk/milena/mln/labeling/background.hh * source:trunk/milena/mln/labeling/flat_zones.hh * source:trunk/milena/mln/labeling/foreground.hh * source:trunk/milena/mln/labeling/level.hh * source:trunk/morpho/Rd.hh * source:trunk/morpho/dilation.hh * source:trunk/morpho/opening_area.hh * source:trunk/morpho/opening_attribute.hh -- Ticket URL: <https://trac.lrde.org/olena/ticket/130> Olena <http://olena.lrde.epita.fr> Olena, a generic and efficient C++ image library.

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[Olena] #159: Distribute SWIG wrappers
by Olena 14 May '09

14 May '09

#159: Distribute SWIG wrappers -------------------------+-------------------------------------------------- Reporter: levill_r | Owner: Olena Team Type: enhancement | Status: new Priority: minor | Milestone: Olena 1.0 Component: Milena | Version: 1.0 Keywords: | -------------------------+-------------------------------------------------- According to Alexandre Hamez, files generated by `swig` (e.g., `*.py` and `*-wrap.cc`) are portable. We should distribute them, as * it would save users wanting to use Swilena some time; * it would free them to have SWIG to compile Swilena. To do: * distribute these files (remove `nodist_` prefixes); * ensure they're available at distribution time (use `dist-hook` in `Makefile.am`); * add generated files to `MAINTAINERCLEANFILES`; * adjust `configure.ac`? (see what Alexandre uses). -- Ticket URL: <https://trac.lrde.org/olena/ticket/159> Olena <http://olena.lrde.epita.fr> Olena, a generic and efficient C++ image processing library.

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[Olena] #142: Add iterators on graphs
by Olena 18 Oct '08

18 Oct '08

#142: Add iterators on graphs ----------------------+----------------------------------------------------- Reporter: levill_r | Owner: levill_r Type: task | Status: new Priority: major | Milestone: Olena 1.0 Component: Milena | Version: 1.0 Keywords: | ----------------------+----------------------------------------------------- We need these, at least: * iterator on vertices (forward, backward) * iterator on edges (forward, backward) * iterator on the adjacent edges of a vertex (forward, backward) * iterator on the adjacent edges of an edge (forward, backward) -- Ticket URL: <https://trac.lrde.org/olena/ticket/142> Olena <http://olena.lrde.epita.fr> Olena, a generic and efficient C++ image processing library.

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[Olena] #158: Clean up complex-based images
by Olena 06 Oct '08

06 Oct '08

#158: Clean up complex-based images -------------------------+-------------------------------------------------- Reporter: levill_r | Owner: levill_r Type: enhancement | Status: new Priority: major | Milestone: Olena 1.0 Component: Milena | Version: 1.0 Keywords: | -------------------------+-------------------------------------------------- See the `FIXME`s in files listed in wiki:Olena/ComplexBasedImages. In particular, it seems wise to move complexes out of face handles (after all), since it solves many problems, to the price of relaxed (dynamic) checks (i.e., less guarantees on the validity of complex handles, psites and iterators). -- Ticket URL: <https://trac.lrde.org/olena/ticket/158> Olena <http://olena.lrde.epita.fr> Olena, a generic and efficient C++ image processing library.

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Re: [Olena-patches] [Olena] Merging trunk/ to branches/cleanup-2008/
by Thierry GERAUD 01 Oct '08

01 Oct '08

Roland Levillain wrote: > Roland Levillain a écrit : > ... > > La synchronisation est faite (cf. révisions 2316 à 2335) : très très cool :-) > ... > Alexandre, est-ce que tu veux récupérer ce patch et le réintégrer dans > cleanup-2008 ou bien est-ce que la version actuelle dans cleanup-2008 > est OK ? j'ai pas vu passer de réponse... > P.S. : Rappel : on n'enregistre plus dans trunk/ désormais ! :)

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cleanup-2008 2451: Add interpolation function. Revamp lazy_image.
by Ugo Jardonnet 30 Sep '08

30 Sep '08

https://svn.lrde.epita.fr/svn/oln/branches/cleanup-2008/milena Index: ChangeLog from Ugo Jardonnet <ugo.jardonnet(a)lrde.epita.fr> Add interpolation function. Revamp lazy_image. * mln/core/image/lazy_image.hh: Fix traits, Add init_. * mln/fun/x2x/all.hh: Upgrade. * mln/fun/x2x/geom: New. * mln/fun/x2x/composed.hh: Move and update ... * mln/fun/x2x/geom/composed.hh: ... here. * mln/fun/x2x/translation.hh: Move and update ... * mln/fun/x2x/geom/translation.hh: ... here. * mln/fun/x2x/rotation.hh: Move and update ... * mln/fun/x2x/geom/rotation.hh: ... here. * mln/fun/x2x/interpol: New. * mln/fun/x2x/interpol/bilinear.hh: New interpolation. * mln/fun/x2x/interpol/linear.hh: New interpolation. * mln/draw/plot.hh: Fix doxygen. core/image/lazy_image.hh | 32 ++-- draw/plot.hh | 5 fun/x2x/all.hh | 9 - fun/x2x/geom/composed.hh | 285 +++++++++++++++++++++++++++++++++++++++++++ fun/x2x/geom/rotation.hh | 243 ++++++++++++++++++++++++++++++++++++ fun/x2x/geom/translation.hh | 152 ++++++++++++++++++++++ fun/x2x/interpol/bilinear.hh | 139 ++++++++++++++++++++ fun/x2x/interpol/linear.hh | 124 ++++++++++++++++++ fun/x2x/interpol/test.cc | 14 ++ 9 files changed, 982 insertions(+), 21 deletions(-) Index: mln/core/image/lazy_image.hh --- mln/core/image/lazy_image.hh (revision 2450) +++ mln/core/image/lazy_image.hh (working copy) @@ -37,7 +37,6 @@ # include <mln/core/internal/image_identity.hh> # include <mln/core/alias/box2d.hh> -# include <mln/core/line_piter.hh> namespace mln @@ -69,19 +68,11 @@ { template <typename I, typename F, typename B> - struct image_< lazy_image<I,F,B> > : default_image_morpher_< I, mln_value(I), + struct image_< lazy_image<I,F,B> > : default_image_morpher< I, mln_value(I), lazy_image<I,F,B> > { typedef trait::image::category::domain_morpher category; - - typedef mln_trait_image_access(I) access; - typedef mln_trait_image_space(I) space; - typedef mln_trait_image_size(I) size; - typedef mln_trait_image_support(I) support; - typedef mln_trait_image_border(I) border; - typedef mln_trait_image_io_from_(I) io; - typedef mln_trait_image_data_from_(I) data; - + typedef trait::image::value_io::read_only value_io; }; } // end of namespace mln::trait @@ -100,15 +91,13 @@ */ template <typename I, typename F, typename B> struct lazy_image : - public mln::internal::image_identity_< mln_ch_value(I, mln_result(F)), + public mln::internal::image_identity< mln_ch_value(I, mln_result(F)), mln_pset(I), lazy_image<I, F,B> > { - typedef mln::internal::image_identity_< mln_ch_value(I, mln_result(F)), + typedef mln::internal::image_identity< mln_ch_value(I, mln_result(F)), mln_pset(I), lazy_image<I, F,B> > super_; - typedef line_piter_<mln_psite(I)> line_piter; - /// Return type of read access. typedef mln_result(F) rvalue; @@ -122,8 +111,14 @@ using super_::has_data; /// Constructors. + lazy_image(); + + /// Constructors. lazy_image(const F& fun, const B& box); + /// Initialize an empty image. + void init_(const F& fun, const B& box); + /// Return domain of lazyd_image. const box2d& domain() const; @@ -164,6 +159,13 @@ template <typename I, typename F, typename B> inline + void lazy_image<I,F,B>::init_(const F& fun, const B& box) + { + this->data_ = new internal::data< lazy_image<I,F,B> >(fun, box); + } + + template <typename I, typename F, typename B> + inline bool lazy_image<I,F,B>::has(const mln_psite(I)& p) const { return this->data_->ima_.has(p); Index: mln/draw/plot.hh --- mln/draw/plot.hh (revision 2450) +++ mln/draw/plot.hh (working copy) @@ -46,8 +46,7 @@ namespace draw { - /*! Plot a point at level \p v in image \p ima between the points - * \p beg and \p end. + /*! Plot a point at level \p v in image \p ima * * \param[in,out] ima The image to be drawn. * \param[in] p The point to be plotted. @@ -68,7 +67,7 @@ template <typename I> inline void plot(Image& ima, - const mln_point(I)& p, + const mln_psite(I)& p, const mln_value(I)& v) { mln_precondition(exact(ima).has_data()); Index: mln/fun/x2x/all.hh --- mln/fun/x2x/all.hh (revision 2450) +++ mln/fun/x2x/all.hh (working copy) @@ -54,9 +54,12 @@ } -# include <mln/fun/x2x/composed.hh> -# include <mln/fun/x2x/rotation.hh> -# include <mln/fun/x2x/translation.hh> +# include <mln/fun/x2x/geom/composed.hh> +# include <mln/fun/x2x/geom/rotation.hh> +# include <mln/fun/x2x/geom/translation.hh> + +# include <mln/fun/x2x/interpol/linear.hh> +# include <mln/fun/x2x/interpol/bilinear.hh> Index: mln/fun/x2x/geom/composed.hh --- mln/fun/x2x/geom/composed.hh (revision 0) +++ mln/fun/x2x/geom/composed.hh (revision 0) @@ -0,0 +1,285 @@ +// Copyright (C) 2007 EPITA Research and Development Laboratory +// +// This file is part of the Olena Library. This library is free +// software; you can redistribute it and/or modify it under the terms +// of the GNU General Public License version 2 as published by the +// Free Software Foundation. +// +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this library; see the file COPYING. If not, write to +// the Free Software Foundation, 51 Franklin Street, Fifth Floor, +// Boston, MA 02111-1307, USA. +// +// As a special exception, you may use this file as part of a free +// software library without restriction. Specifically, if other files +// instantiate templates or use macros or inline functions from this +// file, or you compile this file and link it with other files to +// produce an executable, this file does not by itself cause the +// resulting executable to be covered by the GNU General Public +// License. This exception does not however invalidate any other +// reasons why the executable file might be covered by the GNU General +// Public License. + +#ifndef MLN_FUN_X2X_GEOM_COMPOSED_HH +# define MLN_FUN_X2X_GEOM_COMPOSED_HH + +/*! \file mln/fun/x2x/composed.hh + * + * \brief Definition of a composed transformation. + */ + +# include <mln/core/concept/function.hh> +# include <mln/fun/internal/x2x_linear_impl.hh> +# include <mln/algebra/vec.hh> +# include <mln/metal/is.hh> +# include <mln/metal/bexpr.hh> +# include <mln/algebra/h_mat.hh> + + +namespace mln +{ + + namespace fun + { + + namespace x2x + { + + namespace geom + { + + // Fwd decl. + template <typename F, typename G> + struct composed; + + namespace internal + { + template <typename F, typename G, typename E, bool is_bij> + struct helper_composed_; + + + /// Helper for describing a bijective composition. + template <typename F, typename G, typename E> + struct helper_composed_< F, G, E, true> + : public fun::internal::x2x_linear_impl_<mln_result(F), E >, + public Bijection_x2x<E> + { + typedef fun::internal::x2x_linear_impl_<typename F::result, E > super_; + + using super_::dim; + + /// Constructor without argument. + helper_composed_(); + /// Constructor with the two transformation to be composed. + helper_composed_(const F& f, const G& g); + + using super_::operator(); + + /// Set the new first transformation. + void set_first(const F& f); + /// Set the new second transformation. + void set_second(const G& g); + + /// Type of the inverse function. + typedef composed<mln_invert(G),mln_invert(F)> invert; + /// Return the inverse function. + invert inv() const; + + protected: + + F f_; + G g_; + }; + + /// Helper for describing a non bijective composition. + template <typename F, typename G, typename E> + struct helper_composed_< F, G, E, false> + : public fun::internal::x2x_linear_impl_<mln_result(F), E >, + public Function_x2x<E> + { + typedef fun::internal::x2x_linear_impl_<typename F::result, E > super_; + + using super_::dim; + + /// Constructor without argument. + helper_composed_(); + /// Constructor with the two transformation to be composed. + helper_composed_(const F& f, const G& g); + + using super_::operator(); + + /// Set the new first transformation. + void set_first(const F& f); + /// Set the new second transformation. + void set_second(const G& g); + + protected: + + F f_; + G g_; + }; + + } // end of namespace mln::fun::x2x::geom::internal + + + /*! \brief Represent a composition of two transformations. + * + */ + template <typename F, typename G> + struct composed + : public internal::helper_composed_<F, G, composed<F,G>, + mlc_is(F, Bijection_x2x<F>)::value && + mlc_is(G, Bijection_x2x<G>)::value>, + private metal::and_< metal::bool_<(F::dim == G::dim)>, + metal::is<mln_argument(F), mln_result(G)> + >::check_t + { + /// Constructor without argument. + composed() {} + + /// Constructor with the two transformation to be composed. + composed(const F& f, const G& g) + : internal::helper_composed_<F, G, composed<F,G>, + mlc_is(F, Bijection_x2x<F>)::value && + mlc_is(G, Bijection_x2x<G>)::value>(f, g) + { + } + }; + + } // end of namespace mln::fun::x2x::geom + + } // end of namespace mln::fun::x2x + + } // end of namespace mln::fun + + + /*! \brief Do a composition of two transformations + * + * \param[in] f The first transformation. + * \param[in] g The second transformation. + * + * \return The composed transformation fog. + */ + template <typename F, typename G> + fun::x2x::geom::composed<F,G> compose(F f, G g); + +# ifndef MLN_INCLUDE_ONLY + + namespace fun + { + + namespace x2x + { + + namespace geom + { + + namespace internal + { + + // Implementation of the bijective version. + + template <typename F, typename G, typename E> + inline + helper_composed_<F,G,E,true>::helper_composed_() + { + } + + template <typename F, typename G, typename E> + inline + helper_composed_<F,G,E,true>::helper_composed_(const F& f, const G& g) + :f_(f), + g_(g) + { + this->m_ = f_.mat() * g_.mat(); + } + + template <typename F, typename G, typename E> + inline + typename helper_composed_<F,G,E,true>::invert + helper_composed_<F,G,E,true>::inv() const + { + return compose(g_.inv(), f_.inv()); + } + + template <typename F, typename G, typename E> + inline + void + helper_composed_<F,G,E,true>::set_first(const F& f) + { + this->f_ = f; + this->m_ = this->f_.mat() * this->g_.mat(); + } + + template <typename F, typename G, typename E> + inline + void + helper_composed_<F,G,E,true>::set_second(const G& g) + { + this->g_ = g; + this->m_ = this->f_.mat() * this->g_.mat(); + } + + // Implementation of the non bijective version. + template <typename F, typename G, typename E> + inline + helper_composed_<F,G,E,false>::helper_composed_() + { + } + + template <typename F, typename G, typename E> + inline + helper_composed_<F,G,E,false>::helper_composed_(const F& f, const G& g) + :f_(f), + g_(g) + { + this->m_ = f_.mat() * g_.mat(); + } + + template <typename F, typename G, typename E> + inline + void + helper_composed_<F,G,E,false>::set_first(const F& f) + { + this->f_ = f; + this->m_ = this->f_.mat() * this->g_.mat(); + } + + template <typename F, typename G, typename E> + inline + void + helper_composed_<F,G,E,false>::set_second(const G& g) + { + this->g_ = g; + this->m_ = this->f_.mat() * this->g_.mat(); + } + + } // end of namespace mln::fun::x2x::geom::internal + + } // end of namespace mln::fun::x2x::geom + + } // end of namespace mln::fun::x2x + + } // end of namespace mln::fun + + template <typename F, typename G> + inline + fun::x2x::geom::composed<F,G> compose(F f, G g) + { + trace::entering("fun::x2x::compose"); + fun::x2x::geom::composed<F,G> comp(f, g); + trace::exiting("fun::x2x::compose"); + return comp; + } + +# endif // ! MLN_INCLUDE_ONLY + +} // end of namespace mln + + +#endif // ! MLN_FUN_X2X_GEOM_COMPOSED_HH Index: mln/fun/x2x/geom/translation.hh --- mln/fun/x2x/geom/translation.hh (revision 0) +++ mln/fun/x2x/geom/translation.hh (revision 0) @@ -0,0 +1,152 @@ +// Copyright (C) 2007 EPITA Research and Development Laboratory +// +// This file is part of the Olena Library. This library is free +// software; you can redistribute it and/or modify it under the terms +// of the GNU General Public License version 2 as published by the +// Free Software Foundation. +// +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this library; see the file COPYING. If not, write to +// the Free Software Foundation, 51 Franklin Street, Fifth Floor, +// Boston, MA 02111-1307, USA. +// +// As a special exception, you may use this file as part of a free +// software library without restriction. Specifically, if other files +// instantiate templates or use macros or inline functions from this +// file, or you compile this file and link it with other files to +// produce an executable, this file does not by itself cause the +// resulting executable to be covered by the GNU General Public +// License. This exception does not however invalidate any other +// reasons why the executable file might be covered by the GNU General +// Public License. + +#ifndef MLN_FUN_X2X_TRANSLATION_HH +# define MLN_FUN_X2X_TRANSLATION_HH + +/*! \file mln/fun/x2x/translation.hh + * + * \brief Define a translation function. + */ + +# include <mln/core/concept/function.hh> +# include <mln/fun/internal/x2x_linear_impl.hh> +# include <mln/algebra/vec.hh> +# include <mln/algebra/h_mat.hh> +# include <mln/fun/i2v/all.hh> + +namespace mln +{ + + namespace fun + { + + namespace x2x + { + + namespace geom + { + + /*! \brief Represent a translation function. + * + */ + template <unsigned n, typename C> + struct translation + : fun::internal::x2x_linear_impl_< algebra::vec<n,C>, translation<n,C> > + , public Bijection_x2x< translation<n,C> > + { + typedef fun::internal::x2x_linear_impl_< algebra::vec<n,C>, translation<n,C> > super_; + + /// Type of the inverse function. + typedef translation<n,C> invert; + /// Return the inverse function. + invert inv() const; + + /// Constructor without argument. + translation(); + /// Constructor with the translation vector. + translation(const algebra::vec<n,C>& t); + + using super_::operator(); + /// Perform the translation of the given vector + algebra::vec<n,C> operator()(const algebra::vec<n,C>& v) const; + + /// Set a net translation vector. + void set_t(const algebra::vec<n,C>& t); + + protected: + void update(); + + algebra::vec<n,C> t_; + }; + + +# ifndef MLN_INCLUDE_ONLY + + template <unsigned n, typename C> + inline + translation<n,C>::translation() + { + } + + template <unsigned n, typename C> + inline + translation<n,C>::translation(const algebra::vec<n,C>& t) + :t_(t) + { + this->update(); + } + + template <unsigned n, typename C> + inline + algebra::vec<n,C> + translation<n,C>::operator()(const algebra::vec<n,C>& v) const + { + return v + t_; + } + + template <unsigned n, typename C> + inline + translation<n,C> + translation<n,C>::inv() const + { + typename translation::invert res(-t_); + + return res; + } + + template <unsigned n, typename C> + inline + void + translation<n,C>::set_t(const algebra::vec<n,C>& t) + { + this->t_ = t; + this->update(); + } + + template <unsigned n, typename C> + inline + void + translation<n,C>::update() + { + this->m_ = algebra::h_mat<n,C>::Id; + for (unsigned i = 0; i < n; ++i) + this->m_(i,n) = this->t_[i]; + } + +# endif // ! MLN_INCLUDE_ONLY + + } // end of namespace mln::fun::x2x::geom + + } // end of namespace mln::fun::x2x + + } // end of namespace mln::fun + +} // end of namespace mln + + +#endif // ! MLN_FUN_X2X_TRANSLATION_HH Index: mln/fun/x2x/geom/rotation.hh --- mln/fun/x2x/geom/rotation.hh (revision 0) +++ mln/fun/x2x/geom/rotation.hh (revision 0) @@ -0,0 +1,243 @@ +// Copyright (C) 2007 EPITA Research and Development Laboratory +// +// This file is part of the Olena Library. This library is free +// software; you can redistribute it and/or modify it under the terms +// of the GNU General Public License version 2 as published by the +// Free Software Foundation. +// +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this library; see the file COPYING. If not, write to +// the Free Software Foundation, 51 Franklin Street, Fifth Floor, +// Boston, MA 02111-1307, USA. +// +// As a special exception, you may use this file as part of a free +// software library without restriction. Specifically, if other files +// instantiate templates or use macros or inline functions from this +// file, or you compile this file and link it with other files to +// produce an executable, this file does not by itself cause the +// resulting executable to be covered by the GNU General Public +// License. This exception does not however invalidate any other +// reasons why the executable file might be covered by the GNU General +// Public License. + +#ifndef MLN_FUN_X2X_ROTATION_HH +# define MLN_FUN_X2X_ROTATION_HH + +/*! \file mln/fun/x2x/rotation.hh + * + * \brief Define a rotation function. + */ + +# include <mln/core/concept/function.hh> +# include <mln/fun/internal/x2x_linear_impl.hh> +# include <mln/algebra/vec.hh> +# include <mln/algebra/mat.hh> +# include <cmath> + +namespace mln +{ + + namespace fun + { + + namespace x2x + { + + namespace geom + { + + namespace internal + { + template < unsigned n, typename C > + algebra::h_mat<n, C> + get_rot_h_mat(const float alpha_, const algebra::vec<3,C>& axis_) + { + assert(!"get_h_mat : n not implemented"); + } + + template <typename C > + algebra::h_mat<3, C> + get_rot_h_mat(const float alpha_, const algebra::vec<3,C>& axis_) + { + algebra::h_mat<3, C> m_; + + const float cos_a = cos(alpha_); + const float sin_a = sin(alpha_); + const float u = axis_[0]; + const float v = axis_[1]; + const float w = axis_[2]; + const float u2 = u * u; + const float v2 = v * v; + const float w2 = w * w; + const float uvw2 = u2 + v2 + w2; + + m_(0,0) = (u2 + (v2 + w2) * cos_a) / uvw2; + m_(0,1) = (u*v * (1 - cos_a) - u * std::sqrt(uvw2) * sin_a) / uvw2; + m_(0,2) = (u*w * (1 - cos_a) + v * std::sqrt(uvw2) * sin_a) / uvw2; + m_(0,3) = 0; + + m_(1,0) = (u*v * (1 - cos_a) + w * std::sqrt(uvw2) * sin_a) / uvw2; + m_(1,1) = (v2 + (u2 + w2) * cos_a) / uvw2; + m_(1,2) = (v*w * (1 - cos_a) - u * std::sqrt(uvw2) * sin_a) / uvw2; + m_(1,3) = 0; + + m_(2,0) = (u*w * (1 - cos_a) - v * std::sqrt(uvw2) * sin_a) / uvw2; + m_(2,1) = (v*w * (1 - cos_a) + u * std::sqrt(uvw2) * sin_a) / uvw2; + m_(2,1) = (u2 + (u2 + v2) * cos_a) / uvw2; + m_(2,3) = 0; + + m_(2,0) = 0; + m_(2,1) = 0; + m_(2,1) = 0; + m_(2,3) = 1; + + return m_; + } + + template <typename C > + algebra::h_mat<2, C> + get_rot_h_mat(const float alpha_, const algebra::vec<2,C>&) + { + algebra::h_mat<2, C> m_; + + const float cos_a = cos(alpha_); + const float sin_a = sin(alpha_); + + m_(0,0) = cos_a; m_(0,1) = -sin_a; m_(0,2) = 0; + + m_(1,0) = sin_a; m_(1,1) = cos_a; m_(1,2) = 0; + + m_(2,0) = 0; m_(2,1) = 0; m_(2,2) = 1; + + return m_; + } + } + + + /*! \brief Represent a rotation function. + * + */ + template <unsigned n, typename C> + struct rotation + : fun::internal::x2x_linear_impl_< algebra::vec<n,C>, rotation<n,C> > + , public Bijection_x2x< rotation<n,C> > + { + typedef fun::internal::x2x_linear_impl_< algebra::vec<n,C>, rotation<n,C> > super_; + + /// Type of the inverse function. + typedef rotation<n,C> invert; + /// Return the invere function. + invert inv() const; + + /// Constructor without argument. + rotation(); + /// Constructor with grade alpha and a facultative direction (rotation axis). + rotation(float alpha, const algebra::vec<n,float>& axis); + + using super_::operator(); + /// Perform the rotation of the given vector. + algebra::vec<n,C> operator()(const algebra::vec<n,C>& v) const; + + /// Set a new grade alpha. + void set_alpha(float alpha); + /// Set a new rotation axis. + void set_dir(unsigned dir); + + protected: + void update(); + + float alpha_; + algebra::vec <n,float> axis_; + }; + + +# ifndef MLN_INCLUDE_ONLY + + template <unsigned n, typename C> + inline + rotation<n,C>::rotation() + { + } + + template <unsigned n, typename C> + inline + rotation<n,C>::rotation(float alpha, const algebra::vec<n,float>& axis) + :alpha_(alpha), + axis_(axis) + { + this->m_ = algebra::h_mat<n,C>::Id; + update(); + } + + template <unsigned n, typename C> + inline + algebra::vec<n,C> + rotation<n,C>::operator()(const algebra::vec<n,C>& v) const + { + algebra::mat<n+1,1,C> hmg; + algebra::mat<n+1,1,C> tmp; + algebra::vec<n,C> res; + + for (unsigned i = 0; i < n; ++i) + hmg(i,0) = v[i]; + hmg(n,0) = 1; + tmp = this->m_ * hmg; + mln_assertion(tmp(n,0) == 1); + for (unsigned i = 0; i < n; ++i) + res[i] = tmp(i,0); + return res; + } + + template <unsigned n, typename C> + inline + rotation<n,C> + rotation<n,C>::inv() const + { + typename rotation::invert res(-alpha_, axis_); + return res; + } + + template <unsigned n, typename C> + inline + void + rotation<n,C>::set_alpha(float alpha) + { + alpha_ = alpha; + update(); + } + + template <unsigned n, typename C> + inline + void + rotation<n,C>::set_dir(unsigned dir) + { + update(); + } + + // Homogenous matrix for a rotation of a point (x,y,z) + // about the vector (u,v,w) by the angle alpha + template <unsigned n, typename C> + inline + void + rotation<n,C>::update() + { + this->m_ = internal::get_rot_h_mat(alpha_, axis_); + } + +# endif // ! MLN_INCLUDE_ONLY + + } // end of namespace mln::fun::x2x::geom + + } // end of namespace mln::fun::x2x + + } // end of namespace mln::fun + +} // end of namespace mln + + +#endif // ! MLN_FUN_X2X_ROTATION_HH Index: mln/fun/x2x/interpol/bilinear.hh --- mln/fun/x2x/interpol/bilinear.hh (revision 0) +++ mln/fun/x2x/interpol/bilinear.hh (revision 0) @@ -0,0 +1,139 @@ +// Copyright (C) 2008 EPITA Research and Development Laboratory +// +// This file is part of the Olena Library. This library is free +// software; you can redistribute it and/or modify it under the terms +// of the GNU General Public License version 2 as published by the +// Free Software Foundation. +// +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this library; see the file COPYING. If not, write to +// the Free Software Foundation, 51 Franklin Street, Fifth Floor, +// Boston, MA 02111-1307, USA. +// +// As a special exception, you may use this file as part of a free +// software library without restriction. Specifically, if other files +// instantiate templates or use macros or inline functions from this +// file, or you compile this file and link it with other files to +// produce an executable, this file does not by itself cause the +// resulting executable to be covered by the GNU General Public +// License. This exception does not however invalidate any other +// reasons why the executable file might be covered by the GNU General +// Public License. + +#ifndef MLN_FUN_X2X_INTERPOL_BILINEAR_HH +# define MLN_FUN_X2X_INTERPOL_BILINEAR_HH + +# include <mln/core/image/image2d.hh> +# include <mln/core/concept/function.hh> +# include <mln/fun/internal/selector.hh> + +/*! \file mln/fun/x2x/interpol/bilinear.hh + * + * \brief Define a bilinear interpolation of values from an underlying image + */ + +namespace mln +{ + + namespace fun + { + + namespace x2x + { + + namespace interpol + { + + + /*! \brief Represent a bilinear interolation of values from an underlying image + * + */ + template < typename I > + struct bilinear + : public fun::internal::selector_<const algebra::vec<3,float>, + // 3,float is a dummy parameter (real is n,T) + mln_value(I), bilinear >::ret + { + typedef mln_value(I) result; + + bilinear(const I& ima); + + template <unsigned n, typename T> + mln_value(I) + operator()(const algebra::vec<n,T>& v) const; + + const I& ima; + }; + + +# ifndef MLN_INCLUDE_ONLY + + template <typename I> + bilinear::bilinear(const I& ima) : ima(ima) + { + mlc_bool(I::psite::dim == 2)::check(); + } + + template <typename I> + template <unsigned n, typename T> + mln_value(I) + bilinear::operator()(const algebra::vec<n,T>& v) const + { + typedef mln_sum(mln_value(I)) vsum; + + // q12----r2----q22 + // | | | + // | x | + // | | | + // q11----r1----q21 + + // looking for img(P(x,y)) + double x = v[0]; + double y = v[1]; + + double x1 = std::floor(v[0]); + double x2 = std::floor(v[0]) + 1; + double y1 = std::floor(v[1]); + double y2 = std::floor(v[1]) + 1; + + //if (not ima.has(point2d(x1, y1))) return mln_value(I)(); + vsum q11 = ima(point2d(x1, y1)); + vsum q12 = ima(point2d(x1, y2)); + vsum q21 = ima(point2d(x2, y1)); + vsum q22 = ima(point2d(x2, y2)); + + double x2_x1 = x2 - x1; + double y2_y1 = y2 - y1; + + // linear interpolation #1 + vsum img_r1 = q11 * (x2 - x) / (x2_x1) + + q21 * (x - x1) / (x2_x1); + + // linear interpolation #2 + vsum img_r2 = q12 * (x2 - x) / (x2_x1) + q22 * (x - x1) / (x2_x1); + + // interpolating in y direction + vsum res = (img_r1 * (y2 - y) / (y2_y1) + + img_r2 * (y - y1) / (y2_y1)); + + return convert::to<mln_value(I)>(res); + } + + +# endif // ! MLN_INCLUDE_ONLY + + } // end of namespace mln::fun::x2x::interpol + + } // end of namespace mln::fun::x2x + + } // end of namespace mln::fun + +} // end of namespace mln + + +#endif // ! MLN_FUN_X2X_INTERPOL_BILINEAR_HH Index: mln/fun/x2x/interpol/test.cc --- mln/fun/x2x/interpol/test.cc (revision 0) +++ mln/fun/x2x/interpol/test.cc (revision 0) @@ -0,0 +1,14 @@ +#include "bilinear.hh" +#include "linear.hh" + +int main() +{ + typedef mln::image2d<int> I; + typedef mln::image1d<int> II; + + I ima2d; + II ima1d; + + mln::fun::x2x::interpol::bilinear interp(ima2d); + mln::fun::x2x::interpol::linear<II> interp3(ima1d); +} Index: mln/fun/x2x/interpol/linear.hh --- mln/fun/x2x/interpol/linear.hh (revision 0) +++ mln/fun/x2x/interpol/linear.hh (revision 0) @@ -0,0 +1,124 @@ +// Copyright (C) 2008 EPITA Research and Development Laboratory +// +// This file is part of the Olena Library. This library is free +// software; you can redistribute it and/or modify it under the terms +// of the GNU General Public License version 2 as published by the +// Free Software Foundation. +// +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this library; see the file COPYING. If not, write to +// the Free Software Foundation, 51 Franklin Street, Fifth Floor, +// Boston, MA 02111-1307, USA. +// +// As a special exception, you may use this file as part of a free +// software library without restriction. Specifically, if other files +// instantiate templates or use macros or inline functions from this +// file, or you compile this file and link it with other files to +// produce an executable, this file does not by itself cause the +// resulting executable to be covered by the GNU General Public +// License. This exception does not however invalidate any other +// reasons why the executable file might be covered by the GNU General +// Public License. + +#ifndef MLN_FUN_X2X_INTERPOL_LINEAR_HH +# define MLN_FUN_X2X_INTERPOL_LINEAR_HH + +/*! \file mln/fun/x2x/interpol/linear.hh + * + * \brief Define a linear interpolation of values from an underlying image + */ + +# include <mln/core/image/image1d.hh> +# include <mln/core/concept/function.hh> +# include <mln/fun/internal/selector.hh> + +namespace mln +{ + + namespace fun + { + + namespace x2x + { + + namespace interpol + { + + + /*! \brief Represent a linear interolation of values from an underlying image + * + */ + template < typename I > + struct linear + : public fun::internal::selector_<const algebra::vec<1,float>, + // float is a dummy parameter (real is C) + mln_value(I), linear >::ret + { + typedef mln_value(I) result; + + /// Constructor with the underlying image + linear(const I& ima); + + /// Return the interpolated value in the underlying image + /// at the given 'point' v. + template <typename C> + mln_value(I) + operator()(const algebra::vec<1,C>& v) const; + + /// Underlying image + const I& ima; + }; + + +# ifndef MLN_INCLUDE_ONLY + + template <typename I> + linear::linear(const I& ima) : ima(ima) + { + mlc_bool(I::psite::dim == 1)::check(); + } + + template <typename I> + template <typename C> + mln_value(I) + linear::operator()(const algebra::vec<1,C>& v) const + { + typedef mln_sum(mln_value(I)) vsum; + + // looking for img(x); + double x = v[0]; + + // p1 + double xa = mln_point(I)::coord(v[0]); + vsum ya = ima(point1d(xa)); + + // x makes sens in img + if (x == xa) + return ima(xa); + + // p2 + double xb = mln_point(I)::coord(v[0] + 1); + vsum yb = ima(point1d(xb)); + + // Taylor-young + return convert::to<mln_value(I)> + (ya + (x - xa) * (yb - ya) / (xb - xa)); + } + +# endif // ! MLN_INCLUDE_ONLY + + } // end of namespace mln::fun::x2x::interpol + + } // end of namespace mln::fun::x2x + + } // end of namespace mln::fun + +} // end of namespace mln + + +#endif // ! MLN_FUN_X2X_INTERPOL_HH Index: mln/util/array.hh

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cleanup-2008 2450: Sandbox: continue to revamp registration.
by Ugo Jardonnet 30 Sep '08

30 Sep '08

https://svn.lrde.epita.fr/svn/oln/branches/cleanup-2008/milena/sandbox Index: ChangeLog from Ugo Jardonnet <ugo.jardonnet(a)lrde.epita.fr> Sandbox: continue to revamp registration. * jardonnet/test/registration.cc: Make use of lazy_image. * jardonnet/registration/final_qk.hh: Remove use of size_t. * jardonnet/registration/cloud.hh, * jardonnet/registration/save.hh, * jardonnet/registration/update_qk.hh, * jardonnet/registration/registration.hh: Replace quat7 by generique T. * jardonnet/registration/tools.hh, * jardonnet/registration/quat7.hh, * jardonnet/registration/rotation.hh: Remove Whitespace. * jardonnet/virtual/access.hh: Minor fix. registration/cloud.hh | 12 ++++++------ registration/final_qk.hh | 18 +++++++++--------- registration/quat7.hh | 2 +- registration/registration.hh | 11 ++++------- registration/rotation.hh | 1 + registration/save.hh | 6 +++--- registration/tools.hh | 6 +++--- registration/update_qk.hh | 15 +++++++++------ test/registration.cc | 6 +++--- 9 files changed, 39 insertions(+), 38 deletions(-) Index: jardonnet/test/registration.cc --- jardonnet/test/registration.cc (revision 2447) +++ jardonnet/test/registration.cc (working copy) @@ -5,8 +5,9 @@ #include <mln/io/ppm/save.hh> #include <mln/convert/to_p_array.hh> #include <mln/norm/l2.hh> +#include <mln/core/image/lazy_image.hh> -#include <sandbox/jardonnet/registration/icp.hh> +#include <sandbox/jardonnet/registration/registration.hh> #include <sandbox/jardonnet/registration/tools.hh> #include <sandbox/jardonnet/registration/final_qk.hh> #include <mln/geom/bbox.hh> @@ -52,8 +53,7 @@ closest_point<mln_psite_(image2db)> fun(x, working_box); // * Use real lazy image - //lazy_image< closest_point<mln_psite_(image2db)> > map(fun); - p_array<point2d> map; + lazy_image<image2d<bool>, closest_point<mln_psite_(image2db)>, box2d > map(fun, fun.domain()); quat7<2> qk ;//= registration::icp(c, map, q, e, x); #ifndef NDEBUG Index: jardonnet/virtual/access.hh Index: jardonnet/registration/final_qk.hh --- jardonnet/registration/final_qk.hh (revision 2447) +++ jardonnet/registration/final_qk.hh (working copy) @@ -17,7 +17,7 @@ std::vector<float> length(c.nsites()); mean = 0; - for (size_t i = 0; i < c.nsites(); i++) + for (unsigned i = 0; i < c.nsites(); i++) { float f = norm::l2(convert::to< algebra::vec<P::dim,int> > (c[i] - map(c[i]))); length[i] = f; @@ -27,7 +27,7 @@ //standar variation stddev = 0; - for (size_t i = 0; i < c.nsites(); i++) + for (unsigned i = 0; i < c.nsites(); i++) stddev += (length[i] - mean) * (length[i] - mean); stddev /= c.nsites(); stddev = math::sqrt(stddev); @@ -42,12 +42,12 @@ float nstddev) { p_array newc; - algebra::vec<3,float> mu_newc(literal::zero); + algebra::vec<P::dim,float> mu_newc(literal::zero); - for (size_t i = 0; i < c.nsites(); ++i) + for (unsigned i = 0; i < c.nsites(); ++i) { - algebra::vec<3,float> ci = c[i]; - algebra::vec<3,float> xki = map(c[i]); + algebra::vec<P::dim,float> ci = c[i]; + algebra::vec<P::dim,float> xki = map(c[i]); if (norm::l2(ci - xki) < nstddev) { @@ -74,11 +74,11 @@ float nstddev) { //mu_Xk = center map(Ck) - algebra::vec<3,float> mu_Xk(literal::zero); - algebra::vec<3,float> mu_C(literal::zero); + algebra::vec<P::dim,float> mu_Xk(literal::zero); + algebra::vec<P::dim,float> mu_C(literal::zero); float nb_point = 0; - for (size_t i = 0; i < c.nsites(); ++i) + for (unsigned i = 0; i < c.nsites(); ++i) { algebra::vec<P::dim,float> xki = map(c[i]); algebra::vec<P::dim,float> ci = c[i]; Index: jardonnet/registration/save.hh --- jardonnet/registration/save.hh (revision 2447) +++ jardonnet/registration/save.hh (working copy) @@ -9,7 +9,7 @@ # include <mln/core/alias/window2d.hh> # include <string> -# include "quat7.hh" +//# include "quat7.hh" # include "tools.hh" # include "power_it.hh" # include "center.hh" @@ -38,8 +38,8 @@ namespace registration { - template<typename P, typename M> - void save_(const quat7<3>& qk, + template<typename P, typename M, typename T> + void save_(const T& qk, const p_array& c, const p_array& x, const M& map, Index: jardonnet/registration/rotation.hh --- jardonnet/registration/rotation.hh (revision 2447) +++ jardonnet/registration/rotation.hh (working copy) @@ -26,6 +26,7 @@ return (q * algebra::quat(0. ,p) * q.inv()).v(); } + //FIXME : check if correct with n != 3 template <unsigned n> bool check_rotation(const algebra::mat<n,n,float>& mat, Index: jardonnet/registration/tools.hh --- jardonnet/registration/tools.hh (revision 2447) +++ jardonnet/registration/tools.hh (working copy) @@ -6,7 +6,7 @@ # include <mln/algebra/mat.hh> # include <mln/core/site_set/p_array.hh> -# include "quat7.hh" +//# include "quat7.hh" namespace mln @@ -110,7 +110,7 @@ #endif }; - + /* // FIXME: Should be a morpher ? // we could acces domain of a lazy map, iterator etc... template < typename F > @@ -147,7 +147,7 @@ mutable image3d<bool> is_known; const F& fun; }; - + */ // Box Index: jardonnet/registration/quat7.hh --- jardonnet/registration/quat7.hh (revision 2447) +++ jardonnet/registration/quat7.hh (working copy) @@ -127,7 +127,7 @@ const algebra::vec<P::dim,float>& mu_C, const p_array& Ck, const M& map, - size_t c_length) + unsigned c_length) { //mu_Xk = center map(Ck) algebra::vec<P::dim,float> mu_Xk(literal::zero); Index: jardonnet/registration/cloud.hh --- jardonnet/registration/cloud.hh (revision 2447) +++ jardonnet/registration/cloud.hh (working copy) @@ -11,7 +11,7 @@ # include <mln/core/site_set/p_array.hh> # include <mln/norm/l2.hh> -#include "quat7.hh" +//#include "quat7.hh" namespace mln { @@ -64,9 +64,9 @@ return tmp; } - template <typename P, typename M> + template <typename P, typename M, typename T> float rms(const p_array& a1, - quat7<P::dim>& qk, + const T& qk, const M& map, const size_t length) { @@ -82,12 +82,12 @@ return f / length; } - template <typename P, typename M> + template <typename P, typename M, typename T> float rms(const p_array& a1, M& map, const size_t length, - quat7<P::dim>& q1, - quat7<P::dim>& q2) + const T& q1, + const T& q2) // FIXME : transformation T can be diff ? { assert(length <= a1.nsites()); Index: jardonnet/registration/registration.hh --- jardonnet/registration/registration.hh (revision 2447) +++ jardonnet/registration/registration.hh (working copy) @@ -37,7 +37,6 @@ # include <string> # include <cmath> -# include <mln/algebra/quat.hh> # include <mln/algebra/vec.hh> # include <mln/make/w_window.hh> # include <mln/make/w_window3d.hh> @@ -48,11 +47,9 @@ # include <mln/level/fill.hh> # include <mln/io/ppm/save.hh> - # include "tools.hh" # include "cloud.hh" -# include "quat7.hh" # include "update_qk.hh" # include "chamfer.hh" @@ -83,18 +80,18 @@ namespace impl { - template <typename P, typename M> + template <typename P, typename M, typename T> inline void registration_(const p_array& C, const M& map, - quat7<P::dim>& qk, + const T& qk, const unsigned c_length, const float epsilon = 1e-3) { trace::entering("registration::impl::registration_"); - buffer<4,quat7<P::dim> > buf_qk; + buffer<4,T> buf_qk; buffer<3,float> buf_dk; float d_k = 10000; @@ -140,7 +137,7 @@ // FIXME: Make it works in 3d *AND* 2d template <typename P, typename M> inline - quat7<P::dim> + quat7<P::dim> // what is it suposed to return tr(rot()), rot(tr()) or something else ... registration(p_array& cloud, const M& map, const p_array& x) Index: jardonnet/registration/update_qk.hh --- jardonnet/registration/update_qk.hh (revision 2447) +++ jardonnet/registration/update_qk.hh (working copy) @@ -2,12 +2,14 @@ # define MLN_UPDATE_QK_HH #include "interpolation.hh" -#include "quat7.hh" +//#include "quat7.hh" namespace mln { - float arc(quat7<3> dqk, quat7<3> dqk_1) + // FIXME: T different ? + template <typename T> + float arc(const T& dqk, const T& dqk_1) { float res = 0.0; for (int i = 0; i < 7; i++) @@ -17,12 +19,13 @@ } - quat7<3> update_qk(const quat7<3> qk[4], + template <typename T> + T update_qk(const T qk[4], const float dk[3]) { - quat7<3> dqk_2 = qk[2] - qk[3]; - quat7<3> dqk_1 = qk[1] - qk[2]; - quat7<3> dqk = qk[0] - qk[1]; + T dqk_2 = qk[2] - qk[3]; + T dqk_1 = qk[1] - qk[2]; + T dqk = qk[0] - qk[1]; float tetak_1 = arc(dqk_1, dqk_2); float tetak = arc(dqk, dqk_1);

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