https://svn.lrde.epita.fr/svn/oln/branches/cleanup-2008/milena Index: ChangeLog from Ugo Jardonnet <ugo.jardonnet@lrde.epita.fr> Fix registration. Clean up fun. * mln/fun/x2x/interpol/bilinear.hh, * mln/fun/x2x/interpol/linear.hh, * mln/fun/x2x/interpol/nneighbor.hh: Move ... * mln/fun/x2v/bilinear.hh, * mln/fun/x2v/linear.hh, * mln/fun/x2v/nneighbor.hh: ... here. * mln/fun/x2x/geom/composed.hh, * mln/fun/x2x/geom/translation.hh, * mln/fun/x2x/geom/rotation.hh: Move ... * mln/fun/x2x/composed.hh, * mln/fun/x2x/translation.hh, * mln/fun/x2x/rotation.hh: ... here. * mln/fun/x2p: New. * mln/fun/x2p/closest_point.hh: Add a functor that return the closest point of a vector x in a given p_array. * mln/registration/multiscale.hh: Fix use of p_array. * mln/registration/registration.hh: Make use of fun::x2p::closest_point. * mln/registration/icp.hh: Add buffers. fun/x2p/closest_point.hh | 96 +++++++++++++++++++++++++++++++++++++++++++ fun/x2v/bilinear.hh | 14 +----- fun/x2v/linear.hh | 12 +---- fun/x2v/nneighbor.hh | 13 +---- fun/x2x/composed.hh | 28 ++++-------- fun/x2x/rotation.hh | 6 -- fun/x2x/translation.hh | 6 -- registration/icp.hh | 43 ++++++++++++++++++- registration/multiscale.hh | 19 +++++--- registration/registration.hh | 8 ++- 10 files changed, 176 insertions(+), 69 deletions(-) Index: mln/fun/x2v/bilinear.hh --- mln/fun/x2v/bilinear.hh (revision 0) +++ mln/fun/x2v/bilinear.hh (working copy) @@ -25,8 +25,8 @@ // 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 +#ifndef MLN_FUN_X2X_BILINEAR_HH +# define MLN_FUN_X2X_BILINEAR_HH # include <mln/core/image/image2d.hh> # include <mln/core/concept/function.hh> @@ -34,7 +34,7 @@ # include <mln/convert/to.hh> # include <mln/algebra/vec.hh> -/*! \file mln/fun/x2x/interpol/bilinear.hh +/*! \file mln/fun/x2x/bilinear.hh * * \brief Define a bilinear interpolation of values from an underlying image */ @@ -48,10 +48,6 @@ namespace x2x { - namespace interpol - { - - /*! \brief Represent a bilinear interolation of values from an underlying image * */ @@ -129,8 +125,6 @@ # endif // ! MLN_INCLUDE_ONLY - } // end of namespace mln::fun::x2x::interpol - } // end of namespace mln::fun::x2x } // end of namespace mln::fun @@ -138,4 +132,4 @@ } // end of namespace mln -#endif // ! MLN_FUN_X2X_INTERPOL_BILINEAR_HH +#endif // ! MLN_FUN_X2X_BILINEAR_HH Index: mln/fun/x2v/linear.hh --- mln/fun/x2v/linear.hh (revision 0) +++ mln/fun/x2v/linear.hh (working copy) @@ -25,10 +25,10 @@ // 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 +#ifndef MLN_FUN_X2X_LINEAR_HH +# define MLN_FUN_X2X_LINEAR_HH -/*! \file mln/fun/x2x/interpol/linear.hh +/*! \file mln/fun/x2x/linear.hh * * \brief Define a linear interpolation of values from an underlying image */ @@ -48,10 +48,6 @@ namespace x2x { - namespace interpol - { - - /*! \brief Represent a linear interolation of values from an underlying image * */ @@ -114,8 +110,6 @@ # endif // ! MLN_INCLUDE_ONLY - } // end of namespace mln::fun::x2x::interpol - } // end of namespace mln::fun::x2x } // end of namespace mln::fun Index: mln/fun/x2v/nneighbor.hh --- mln/fun/x2v/nneighbor.hh (revision 0) +++ mln/fun/x2v/nneighbor.hh (working copy) @@ -25,15 +25,15 @@ // reasons why the executable file might be covered by the GNU General // Public License. -#ifndef MLN_FUN_X2X_INTERPOL_NNEIGHBOR_HH -# define MLN_FUN_X2X_INTERPOL_NNEIGHBOR_HH +#ifndef MLN_FUN_X2X_NNEIGHBOR_HH +# define MLN_FUN_X2X_NNEIGHBOR_HH # include <mln/core/concept/function.hh> # include <mln/fun/internal/selector.hh> # include <mln/algebra/vec.hh> # include <mln/convert/to.hh> -/*! \file mln/fun/x2x/interpol/nneighbor.hh +/*! \file mln/fun/x2x/nneighbor.hh * * \brief Define a nneighbor interpolation of values from an underlying image */ @@ -47,9 +47,6 @@ namespace x2x { - namespace interpol - { - template < typename I > struct nneighbor : public fun::internal::selector_<const algebra::vec<3,float>, @@ -87,8 +84,6 @@ # endif // ! MLN_INCLUDE_ONLY - } // end of namespace mln::fun::x2x::interpol - } // end of namespace mln::fun::x2x } // end of namespace mln::fun @@ -96,4 +91,4 @@ } // end of namespace mln -#endif // ! MLN_FUN_X2X_INTERPOL_NNEIGHBOR_HH +#endif // ! MLN_FUN_X2X_NNEIGHBOR_HH Index: mln/fun/x2x/composed.hh --- mln/fun/x2x/composed.hh (revision 2536) +++ mln/fun/x2x/composed.hh (working copy) @@ -25,10 +25,10 @@ // 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 +#ifndef MLN_FUN_X2X_COMPOSED_HH +# define MLN_FUN_X2X_COMPOSED_HH -/*! \file mln/fun/x2x/geom/composed.hh +/*! \file mln/fun/x2x/composed.hh * * \brief Definition of a composed transformation. */ @@ -50,9 +50,6 @@ namespace x2x { - namespace geom - { - // Fwd decl. template <typename F, typename G> struct composed; @@ -124,7 +121,7 @@ G g_; }; - } // end of namespace mln::fun::x2x::geom::internal + } // end of namespace mln::fun::x2x::internal /*! \brief Represent a composition of two transformations. @@ -151,8 +148,6 @@ } }; - } // end of namespace mln::fun::x2x::geom - } // end of namespace mln::fun::x2x } // end of namespace mln::fun @@ -166,7 +161,7 @@ * \return The composed transformation fog. */ template <typename F, typename G> - fun::x2x::geom::composed<F,G> compose(F f, G g); + fun::x2x::composed<F,G> compose(F f, G g); # ifndef MLN_INCLUDE_ONLY @@ -176,9 +171,6 @@ namespace x2x { - namespace geom - { - namespace internal { @@ -259,9 +251,7 @@ 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::internal } // end of namespace mln::fun::x2x @@ -269,10 +259,10 @@ template <typename F, typename G> inline - fun::x2x::geom::composed<F,G> compose(F f, G g) + fun::x2x::composed<F,G> compose(F f, G g) { trace::entering("fun::x2x::compose"); - fun::x2x::geom::composed<F,G> comp(f, g); + fun::x2x::composed<F,G> comp(f, g); trace::exiting("fun::x2x::compose"); return comp; } @@ -282,4 +272,4 @@ } // end of namespace mln -#endif // ! MLN_FUN_X2X_GEOM_COMPOSED_HH +#endif // ! MLN_FUN_X2X_COMPOSED_HH Index: mln/fun/x2x/translation.hh --- mln/fun/x2x/translation.hh (revision 2536) +++ mln/fun/x2x/translation.hh (working copy) @@ -28,7 +28,7 @@ #ifndef MLN_FUN_X2X_TRANSLATION_HH # define MLN_FUN_X2X_TRANSLATION_HH -/*! \file mln/fun/x2x/geom/translation.hh +/*! \file mln/fun/x2x/translation.hh * * \brief Define a translation function. */ @@ -48,9 +48,6 @@ namespace x2x { - namespace geom - { - /*! \brief Represent a translation function. * */ @@ -140,7 +137,6 @@ # endif // ! MLN_INCLUDE_ONLY - } // end of namespace mln::fun::x2x::geom } // end of namespace mln::fun::x2x Index: mln/fun/x2x/rotation.hh --- mln/fun/x2x/rotation.hh (revision 2536) +++ mln/fun/x2x/rotation.hh (working copy) @@ -28,7 +28,7 @@ #ifndef MLN_FUN_X2X_ROTATION_HH # define MLN_FUN_X2X_ROTATION_HH -/*! \file mln/fun/x2x/geom/rotation.hh +/*! \file mln/fun/x2x/rotation.hh * * \brief Define a rotation function. */ @@ -48,9 +48,6 @@ namespace x2x { - namespace geom - { - namespace internal { template < unsigned n, typename C > @@ -231,7 +228,6 @@ # endif // ! MLN_INCLUDE_ONLY - } // end of namespace mln::fun::x2x::geom } // end of namespace mln::fun::x2x Index: mln/fun/x2p/closest_point.hh --- mln/fun/x2p/closest_point.hh (revision 0) +++ mln/fun/x2p/closest_point.hh (revision 0) @@ -0,0 +1,96 @@ +// 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_X2P_CLOSEST_POINT_HH +# define MLN_FUN_X2P_CLOSEST_POINT_HH + +# include <mln/algebra/vec.hh> +# include <mln/norm/l2.hh> + +namespace mln +{ + + namespace fun + { + + namespace x2p + { + + ///FIXME: doxygen + concept checking + template <typename P> + struct closest_point + { + typedef algebra::vec<P::dim, float> input; + typedef P result; + + closest_point(const p_array<P>& X, const box<P>& box) + : X(X), box(box) + , log_functor_call(0) + + { } + + result + //inline + operator () (const input& Ck) const + { + ++log_functor_call; + + algebra::vec<P::dim,float> Cki = Ck; + algebra::vec<P::dim,float> best_x = X[0]; + float best_d = norm::l2(Cki - best_x); + for (size_t j = 1; j < X.nsites(); ++j) + { + algebra::vec<P::dim,float> Xj = X[j]; + float d = norm::l2(Cki - Xj); + if (d < best_d) + { + best_d = d; + best_x = Xj; + } + } + return convert::to<P>(best_x); + } + + const box<P>& domain() const + { + return box; + } + + const p_array<P>& X; + const box<P> box; + + // log call to the functor + mutable unsigned log_functor_call; + }; + + } // end of namespace mln::fun::x2p + + } // end of namespace mln::fun + +} // end of namespace mln + +#endif // ! MLN_FUN_X2P_CLOSEST_POINT_HH Index: mln/registration/multiscale.hh --- mln/registration/multiscale.hh (revision 2536) +++ mln/registration/multiscale.hh (working copy) @@ -29,6 +29,7 @@ # define MLN_REGISTRATION_MULTISCALE_HH # include <mln/registration/icp.hh> +# include <mln/fun/x2p/closest_point.hh> namespace mln { @@ -52,22 +53,25 @@ template <typename I, typename J> inline - composed< rotation<P::dim, float>, translation<P::dim, float> > + composed< rotation<I::site::dim, float>, translation<I::site::dim, float> > multiscale_(const Image<I>& cloud, const Image<J>& surface, const float q, const unsigned nb_it) { + p_array<mln_psite(I)> c = convert::to< p_array<mln_psite(I)> >(cloud); + p_array<mln_psite(J)> x = convert::to< p_array<mln_psite(I)> >(surface); + // Shuffle cloud - shuffle(cloud); + shuffle(c); //working box const box<point2d> working_box = enlarge(bigger(geom::bbox(c), geom::bbox(x)), 100); //make a lazy_image map via function closest_point - closest_point<mln_psite_(image2db)> fun(x, working_box); //FIXME: to port - lazy_image<image2d<bool>, closest_point<mln_psite_(image2db)>, box2d > + fun::x2p::closest_point<mln_psite(I)> fun(x, working_box); + lazy_image<I, fun::x2p::closest_point<mln_psite(I)>, box2d > map(fun, fun.domain()); //init rigid transform qk @@ -87,7 +91,7 @@ template <typename I, typename J> inline - composed< rotation<P::dim, float>, translation<P::dim, float> > + composed< rotation<I::site::dim, float>, translation<I::site::dim, float> > multiscale(const Image<I>& cloud, const Image<J>& surface, const float q, @@ -95,9 +99,10 @@ { trace::entering("registration::registration"); - mln_precondition(P::dim == 3 || P::dim == 2); + mln_precondition(I::site::dim == 3 || I::site::dim == 2); - impl::multiscale_(cloud, surface, q, nb_it); + composed< rotation<I::site::dim, float>, translation<I::site::dim, float> > + qk = impl::multiscale_(cloud, surface, q, nb_it); trace::exiting("registration::registration"); Index: mln/registration/registration.hh --- mln/registration/registration.hh (revision 2536) +++ mln/registration/registration.hh (working copy) @@ -34,6 +34,7 @@ */ # include <mln/registration/icp.hh> +# include <mln/fun/x2p/closest_point.hh> # include <mln/core/image/lazy_image.hh> namespace mln @@ -76,12 +77,13 @@ enlarge(bigger(geom::bbox(c), geom::bbox(x)), 100); //make a lazy_image map via function closest_point - closest_point<mln_psite(I)> fun(x, working_box); //FIXME: to port - lazy_image<mln_ch_value(I,bool), closest_point<mln_psite(I)>, box2d > + fun::x2p::closest_point<mln_psite(I)> fun(x, working_box); + lazy_image<I, fun::x2p::closest_point<mln_psite(I)>, box2d> map(fun, fun.domain()); + //run registration - registration::icp(c, map, qk, l, 1e-3); + registration::icp(c, map, qk, c.nsites(), 1e-3); } Index: mln/registration/icp.hh --- mln/registration/icp.hh (revision 2536) +++ mln/registration/icp.hh (working copy) @@ -38,6 +38,45 @@ namespace mln { + namespace util + { + + // FIXME: Remove use of this class + template <unsigned int n, typename T> + struct buffer + { + buffer() + : setted(0) + { + } + + void store(T e) + { + for (unsigned i = 0; i < n-1; i++) + buf[i+1] = buf[i]; + buf[0] = e; + + setted++; + } + + T& operator[](unsigned int i) + { + assert(i < n && i < setted); + return buf[i]; + } + + const T * get_array() + { + return buf; + } + + private: + T buf[n]; + unsigned int setted; + }; + + } // end of namespace mln::util + namespace registration { @@ -88,8 +127,8 @@ { trace::entering("registration::impl::icp_"); - buffer<4,T> buf_qk; - buffer<3,float> buf_dk; + util::buffer<4,T> buf_qk; + util::buffer<3,float> buf_dk; float d_k = 10000; p_array<P> Ck(c);