https://svn.lrde.epita.fr/svn/oln/trunk/milena Index: ChangeLog from Ugo Jardonnet <ugo.jardonnet@lrde.epita.fr> Sandbox: ICP: Add commandline parameters q and e. * sandbox/jardonnet/test/icp.cc: Read q and e on the command line. * sandbox/jardonnet/registration/icp.hh: Add Fixme for Ck printing. registration/icp.hh | 10 +++++++--- test/icp.cc | 13 ++++++++----- 2 files changed, 15 insertions(+), 8 deletions(-) Index: sandbox/jardonnet/test/icp.cc --- sandbox/jardonnet/test/icp.cc (revision 1856) +++ sandbox/jardonnet/test/icp.cc (working copy) @@ -9,16 +9,19 @@ void usage(char *argv[]) { std::cout << "usage : " << argv[0] - << " cloud.pbm surface.pbm" << std::endl; + << " cloud.pbm surface.pbm q e" << std::endl; exit(1); } int main(int argc, char* argv[]) { - if (argc != 3) + if (argc != 5) usage(argv); + float q = std::atof(argv[3]); + int e = std::atoi(argv[4]); + using namespace mln; typedef image3d< bool > I3d; @@ -41,7 +44,7 @@ closest_point<mln_point_(I3d)> fun(x, box_<point3d>(1000,1000,1)); lazy_image< closest_point<mln_point_(I3d)> > map(fun); - quat7<3> q = registration::icp(c, map, 2); + quat7<3> qk = registration::icp(c, map, q, e); #ifndef NDEBUG std::cout << "closest_point(Ck[i]) = " << fun.i << std::endl; @@ -54,9 +57,9 @@ //FIXME: Should be //mln_concrete(I) output(res.bbox()) = convert::to_image<I>(res)? - q.apply_on(c, c, c.npoints()); + qk.apply_on(c, c, c.npoints()); - const box_<point2d> box2d(1000,1000); + const box_<point2d> box2d(600,600); image2d<bool> output(box2d, 1); //to 2d : projection (FIXME:if 3d) Index: sandbox/jardonnet/registration/icp.hh --- sandbox/jardonnet/registration/icp.hh (revision 1856) +++ sandbox/jardonnet/registration/icp.hh (working copy) @@ -117,6 +117,7 @@ { using namespace std; + //FIXME: Should use Ck box but Ck.bbox() is not correct for c_length image2d<bool> img(box2d(500,800), 0); for (size_t i = 0; i < c_length; i++) { @@ -125,6 +126,7 @@ img(p) = true; } + //FIXME: Good but put point qfter c_length //image2d<bool> img = convert::to_image2d(Ck); stringstream oss; static int pimp = 0; @@ -156,6 +158,7 @@ quat7<P::dim> icp(p_array<P> cloud, M& map, + const float q, const unsigned nb_it) { trace::entering("registration::icp"); @@ -177,10 +180,11 @@ quat7<P::dim> qk; //run icp - for (int i = nb_it; i >= 0; i--) + for (int e = nb_it-1; e >= 0; e--) { - size_t l = cloud.npoints() / std::pow(2., i); // 3 is arbitrary fixed - impl::icp_(cloud, map, qk, l, i + 1e-3); + size_t l = cloud.npoints() / std::pow(q, e); // 3 is arbitrary fixed + l = (l<1) ? 1 : l; + impl::icp_(cloud, map, qk, l, e + 1e-1); } trace::exiting("registration::icp");