* mln/registration/icp2.hh: add a better debug. Revamp and remove useless overloads. --- milena/ChangeLog | 7 + milena/mln/registration/icp2.hh | 269 +++++++++++++++++++-------------------- 2 files changed, 138 insertions(+), 138 deletions(-) diff --git a/milena/ChangeLog b/milena/ChangeLog index 9d32600..3d3cca5 100644 --- a/milena/ChangeLog +++ b/milena/ChangeLog @@ -1,3 +1,10 @@ +2009-02-09 Guillaume Lazzara <z@lrde.epita.fr> + + Update ICP. + + * mln/registration/icp2.hh: add a better debug. Revamp and remove + useless overloads. + 2009-02-09 Thierry Geraud <thierry.geraud@lrde.epita.fr> Optimize the video labeling canvas. diff --git a/milena/mln/registration/icp2.hh b/milena/mln/registration/icp2.hh index 1c83c25..1a6f331 100644 --- a/milena/mln/registration/icp2.hh +++ b/milena/mln/registration/icp2.hh @@ -31,6 +31,8 @@ /// \file mln/registration/icp.hh /// /// Register an image over an another using the ICP algorithm. +/// +/// \todo encode distances on 12 bits. # include <cmath> # include <algorithm> @@ -61,7 +63,6 @@ # include <mln/literal/colors.hh> # include <mln/core/image/slice_image.hh> -# include <mln/util/timer.hh> #include <mln/core/image/tr_image.hh> #include <mln/core/image/extension_fun.hh> @@ -70,6 +71,7 @@ #include <mln/accu/sum.hh> #include <mln/debug/histo.hh> +# include <mln/util/timer.hh> namespace mln { @@ -77,7 +79,8 @@ namespace mln namespace registration { - + // std::string method = "compute_on_subsets"; + std::string method = "compute_on_subset_and_p"; using namespace fun::x2x; /*! Register point in \p c using a function of closest points @@ -127,15 +130,15 @@ namespace mln { typedef mln_image_from_grid(mln_grid(P), P) I; typedef mln_ch_value(I, P) cp_ima_t; - typedef mln_ch_value(I,value::int_u8) dmap_t; + typedef mln_ch_value(I,value::int_u16) dmap_t; public: closest_point_with_map(const p_array<P>& X) { box3d box = geom::bbox(X); - box.enlarge(1, box.nrows() / 2); - box.enlarge(2, box.ncols() / 2); + box.enlarge(1, box.nrows()); + box.enlarge(2, box.ncols()); std::cout << "Map image defined on " << box << std::endl; typedef mln_ch_value(I, bool) model_t; @@ -147,13 +150,13 @@ namespace mln util::timer t; t.start(); dmap_X_ = canvas::distance_geodesic(model, c6(), - mln_max(value::int_u8), + mln_max(value::int_u16), f); std::cout << "canvas::distance_geodesic - " << t << "s" << std::endl; cp_ima_ = f.cp_ima; -#ifndef NDEBUG +//#ifndef NDEBUG mln_ch_value(I, bool) debug2(box); data::fill(debug2, false); mln_ch_value(I, value::rgb8) debug(box); @@ -175,7 +178,7 @@ namespace mln io::pbm::save(slice(debug2,0), "debug2-b.ppm"); io::ppm::save(slice(debug,0), "debug.ppm"); std::cout << "map saved" << std::endl; -#endif +//#endif } mln_site(I) operator()(const mln_site(I)& p) const @@ -278,19 +281,58 @@ namespace mln template <typename P, typename F> - p_array<P> - remove_too_far_sites(image3d<value::rgb8>& out, const p_array<P>& P_, + void + remove_too_far_sites_debug(image3d<value::rgb8>& out, const p_array<P>& P_, const F& closest_point, const std::pair<algebra::quat,mln_vec(P)>& pair, - const p_array<P>& X, p_array<P>& removed_set, - unsigned r) + const p_array<P>& X, + unsigned r, int d_min, int d_max, unsigned prefix) + { + unsigned removed = 0; + accu::histo<value::int_u8> h; + mln_piter(p_array<P>) p(P_); + data::fill(out, literal::black); + data::fill((out | X).rw(), literal::white); + + for_all(p) + { + vec3d_f Pk_i = pair.first.rotate(p.to_vec()) + pair.second; + vec3d_f Yk_i = closest_point(Pk_i).to_vec(); + + int d_i = closest_point.dmap_X_(Pk_i); + if (d_i >= d_min && d_i <= d_max) + out(Pk_i) = literal::green; + else + { + ++removed; + out(Pk_i) = literal::red; + } + } + + std::ostringstream ss1; + ss1 << "histo_" << prefix << r << ".dat"; +// debug::histo_plot(h, ss1.str()); + std::cout << h << std::endl; + + std::ostringstream ss2; + ss2 << "out_" << prefix << r << ".ppm"; + io::ppm::save(mln::slice(out,0), ss2.str()); + + std::cout << "Points removed with the whole set and current d_min/d_max: " << removed << std::endl; + + } + + template <typename P, typename F> + void + compute_distance_criteria(const p_array<P>& P_, + const F& closest_point, + const std::pair<algebra::quat,mln_vec(P)>& pair, + unsigned r, int& d_min, int& d_max) { mln_piter(p_array<P>) p(P_); accu::histo<value::int_u8> h; -// float sd = compute_standard_deviation(P_, pair, closest_point); float sd; - int d_min, d_max; { accu::sum<float> s, s2; for_all(p) @@ -306,17 +348,31 @@ namespace mln d_min = int(mean - sd); d_max = int(mean + sd); } - std::cout << "Standard deviation = " << sd << std::endl; + std::ostringstream ss1; + ss1 << "histo_" << r << ".dat"; + debug::histo_plot(h, ss1.str()); + std::cout << h << std::endl; std::cout << "d thresholds = " << d_min << ' ' << d_max << std::endl; + } + template <typename P, typename F> + p_array<P> + remove_too_far_sites(image3d<value::rgb8>& out, const p_array<P>& P_, + const F& closest_point, + const std::pair<algebra::quat,mln_vec(P)>& pair, + const p_array<P>& X, p_array<P>& removed_set, + unsigned r, int d_min, int d_max, + const std::string& method) + { p_array<P> tmp; unsigned removed = 0; - data::fill(out, literal::white); - data::fill((out | X).rw(), literal::black); + data::fill(out, literal::black); + data::fill((out | X).rw(), literal::white); + mln_piter(p_array<P>) p(P_); for_all(p) { vec3d_f Pk_i = pair.first.rotate(p.to_vec()) + pair.second; @@ -336,13 +392,8 @@ namespace mln } } - std::ostringstream ss1; - ss1 << "histo_" << r << ".dat"; - debug::histo_plot(h, ss1.str()); - std::cout << h << std::endl; - std::ostringstream ss2; - ss2 << "out_0" << r << ".ppm"; + ss2 << method << "_" << r << "_removed_sites" << ".ppm"; io::ppm::save(mln::slice(out,0), ss2.str()); std::cout << "Points removed: " << removed << std::endl; @@ -350,6 +401,37 @@ namespace mln return tmp; } + template <typename P> + void + display_sites_used_in_icp(image3d<value::rgb8>& out, const p_array<P>& P_sub, + const p_array<P>& P_, const p_array<P>& X, + unsigned r, const std::string& prefix, + const std::pair<algebra::quat,mln_vec(P)>& pair, + const std::string& period, const value::rgb8& c) + { + data::fill(out, literal::black); + data::fill((out | X).rw(), literal::white); + + mln_piter(p_array<P>) p1(P_); + for_all(p1) + { + vec3d_f Pk_i = pair.first.rotate(p1.to_vec()) + pair.second; + out(Pk_i) = literal::red; + } + + mln_piter(p_array<P>) p2(P_sub); + for_all(p2) + { + vec3d_f Pk_i = pair.first.rotate(p2.to_vec()) + pair.second; + out(Pk_i) = c; + } + + std::ostringstream ss; + ss << prefix << "_" << r << "_" << period << ".ppm"; + + io::ppm::save(slice(out,0), ss.str()); + } + template <typename P, typename F> inline @@ -591,85 +673,18 @@ namespace mln return result; } - - /// Shuffle the sites in P_. - /// Use one third of P_'s sites for each run. - /// For each run, it removes sites which are too close or too far. - template <typename P, typename F> - inline - composed< translation<P::dim,float>,rotation<P::dim,float> > - icp_clean(const p_array<P>& P_, - const p_array<P>& X, - const F& closest_point) - { - util::timer t; - t.start(); - - // P_bak is shuffled. - p_array<P> P_bak = P_; - std::vector<mln_element(p_array<P>)>& v = P_bak.hook_std_vector_(); - std::random_shuffle(v.begin(), v.end()); - - // P_sub = 1/3 * P_bak; - p_array<P> P_sub = P_bak; - P_sub.hook_std_vector_().resize(P_bak.nsites() / 3); - - unsigned r = 0; - std::pair<algebra::quat,mln_vec(P)> pair; - pair.first = algebra::quat(1,0,0,0); - pair.second = literal::zero; - box3d box = geom::bbox(X); - box.enlarge(40); - image3d<value::rgb8> out(box); - p_array<P> removed_set; - do - { - /// Compute transformation. - pair = icp(P_sub, X, closest_point, - pair.first, - pair.second); - - pair = icp(P_sub, X, closest_point, - pair.first, - pair.second); - - P_sub = remove_too_far_sites(out, P_sub, - closest_point, pair, X, removed_set, r); - - - ++r; - - //Add more data - if (r < 3) - for (unsigned i = (P_bak.nsites() / 3) * r; - i < (P_bak.nsites() / 3) * (r + 1); ++i) - { - P_sub.append(P_bak[i]); - } - - } while (r < 4); - std::cout << "icp = " << t << std::endl; - - typedef rotation<3u,float> rot_t; - rot_t tqR(pair.first); - typedef translation<3u,float> trans_t; - trans_t tqT(pair.second); - composed<trans_t,rot_t> result(tqT, tqR); - - return result; - } - - /// Shuffle sites in P_. /// Do the first run with all sites. /// For each run, remove sites which are too far or too close. - template <typename P, typename F> + template <typename P> inline composed< translation<P::dim,float>,rotation<P::dim,float> > - icp_clean2(const p_array<P>& P_, - const p_array<P>& X, - const F& closest_point) + registration(const p_array<P>& P_, + const p_array<P>& X) { + registration::closest_point_with_map<P> closest_point(X); +// registration::closest_point_basic<point3d> closest_point(X); + util::timer t; t.start(); @@ -681,21 +696,38 @@ namespace mln pair.first = algebra::quat(1,0,0,0); pair.second = literal::zero; box3d box = geom::bbox(X); - box.enlarge(40); + box.enlarge(1, 60); + box.enlarge(2, 60); image3d<value::rgb8> out(box); p_array<P> removed_set; + do { + std::cout << std::endl << std::endl << "==== New run - " << r << std::endl; pair = icp(P_bak, X, closest_point, pair.first, pair.second); + display_sites_used_in_icp(out, P_bak, P_, X, r, method, pair, "final", literal::blue); + + int d_min, d_max; + compute_distance_criteria(P_bak, closest_point, pair, r, d_min, d_max); + P_bak = remove_too_far_sites(out, P_bak, - closest_point, pair, X, removed_set, r); + closest_point, pair, X, removed_set, + r, d_min, d_max, method); + +// P_bak = remove_too_far_sites(out, P_, +// closest_point, pair, X, removed_set, +// r, d_min, d_max, method); + + + display_sites_used_in_icp(out, P_bak, P_, X, r, method, pair, "schanges", literal::green); ++r; - } while (r < 4); + std::cout << "==== End of run" << std::endl; + } while (r < 10); std::cout << "icp = " << t << std::endl; draw_last_run(box, P_bak, removed_set, X, pair.first, pair.second); @@ -710,45 +742,6 @@ namespace mln } - - /// Run icp once with 1/10 of the sites and run it once again with the - /// resulting tranformation and all the sites. - template <typename P, typename F> - inline - composed< translation<P::dim,float>,rotation<P::dim,float> > - icp_fast(const p_array<P>& P_, - const p_array<P>& X, - const F& closest_point) - { - typedef std::pair<algebra::quat,mln_vec(P)> pair_t; - - p_array<P> P_sub = P_; - std::vector<mln_element(p_array<P>)>& v = P_sub.hook_std_vector_(); - std::random_shuffle(v.begin(), v.end()); - v.resize(P_.nsites() / 10); - - util::timer t; - t.start(); - pair_t tmp = icp(P_sub, X, closest_point, - algebra::quat(1,0,0,0), literal::zero); - - std::cout << "icp_1 - " << t << "s" << std::endl; - t.restart(); - - pair_t tmp2 = icp(P_, X, closest_point, - tmp.first, tmp.second); - - std::cout << "icp_2 - " << t << "s" << std::endl; - - typedef rotation<3u,float> rot_t; - rot_t tqR(tmp2.first); - typedef translation<3u,float> trans_t; - trans_t tqT(tmp2.second); - composed<rot_t,trans_t> result(tqR, tqT); - - return result; - } - # endif // ! MLN_INCLUDE_ONLY } // end of namespace mln::registration -- 1.5.6.5