--- milena/mln/algebra/quat.hh | 25 +++++++ milena/mln/canvas/morpho/connected_filter.hh | 9 --- milena/mln/core/concept/gpoint.hh | 2 +- milena/mln/core/point.hh | 96 +++++++++++++------------- milena/mln/fun/x2v/bilinear.hh | 8 +- milena/mln/fun/x2v/trilinear.hh | 6 +- milena/mln/fun/x2x/rotation.hh | 6 +- milena/mln/registration/icp.hh | 42 ++++++------ 8 files changed, 104 insertions(+), 90 deletions(-) diff --git a/milena/mln/algebra/quat.hh b/milena/mln/algebra/quat.hh index 33e7d07..8784883 100644 --- a/milena/mln/algebra/quat.hh +++ b/milena/mln/algebra/quat.hh @@ -162,6 +162,11 @@ namespace mln /// Explicit conversion to a 4D algebra::vec. const algebra::vec<4,float>& to_vec() const; + /// Implicit conversion to a 4D algebra::vec. + operator const algebra::vec<4,float>&() const; + operator const algebra::vec<4,float>&(); + operator algebra::vec<4,float>() const; + operator algebra::vec<4,float>(); /// Give the scalar part. float s() const; @@ -340,6 +345,26 @@ namespace mln } inline + quat::operator const algebra::vec<4,float>&() const + { + return this->v_; + } + + inline + quat::operator const algebra::vec<4,float>&() + { + return this->v_; + } + + inline + quat::operator algebra::vec<4,float>() + { + return this->v_; + } + + + + inline float quat::s() const { diff --git a/milena/mln/canvas/morpho/connected_filter.hh b/milena/mln/canvas/morpho/connected_filter.hh index f6e852e..beec8e4 100644 --- a/milena/mln/canvas/morpho/connected_filter.hh +++ b/milena/mln/canvas/morpho/connected_filter.hh @@ -74,11 +74,8 @@ namespace mln { void take_as_init_fastest (trait::accumulator::when_pix::use_none, A& accu, const I& input, const unsigned p) { -<<<<<<< HEAD:milena/mln/canvas/morpho/connected_filter.hh (void)input; (void)p; -======= ->>>>>>> Merge leveling and algebraic filters into connected filter.:milena/mln/canvas/morpho/connected_filter.hh accu.take_as_init (); } @@ -86,10 +83,7 @@ namespace mln { void take_as_init (trait::accumulator::when_pix::use_p, A& accu, const I& input, const P& p) { -<<<<<<< HEAD:milena/mln/canvas/morpho/connected_filter.hh (void)input; -======= ->>>>>>> Merge leveling and algebraic filters into connected filter.:milena/mln/canvas/morpho/connected_filter.hh accu.take_as_init (p); } @@ -97,10 +91,7 @@ namespace mln { void take_as_init (trait::accumulator::when_pix::use_none, A& accu, const I& input, const P& p) { -<<<<<<< HEAD:milena/mln/canvas/morpho/connected_filter.hh (void)input; -======= ->>>>>>> Merge leveling and algebraic filters into connected filter.:milena/mln/canvas/morpho/connected_filter.hh accu.take_as_init (p); } diff --git a/milena/mln/core/concept/gpoint.hh b/milena/mln/core/concept/gpoint.hh index 12f1b38..40a2420 100644 --- a/milena/mln/core/concept/gpoint.hh +++ b/milena/mln/core/concept/gpoint.hh @@ -281,7 +281,7 @@ namespace mln typedef mln_grid(E) grid; typedef mln_delta(E) delta; typedef mln_vec(E) vec; - const vec& (E::*m)() const = & E::to_vec; + vec (E::*m)() const = & E::to_vec; m = 0; } diff --git a/milena/mln/core/point.hh b/milena/mln/core/point.hh index a661fe5..1d618cc 100644 --- a/milena/mln/core/point.hh +++ b/milena/mln/core/point.hh @@ -61,22 +61,6 @@ namespace mln /// \} - namespace internal - { - - // Helper point_to_. - - template <typename G, typename C> - struct point_to_ - { - typedef algebra::vec<G::dim, C> metal_vec; - typedef mln::algebra::h_vec<G::dim, C> h_vec; - }; - - } // end of namespace mln::internal - - - /// Generic point class. /// /// Parameters are \c n the dimension of the space and \c C the @@ -108,10 +92,10 @@ namespace mln typedef C coord; /// Algebra vector (vec) associated type. - typedef algebra::vec<G::dim, C> vec; + typedef algebra::vec<G::dim, float> vec; /// Algebra hexagonal vector (hvec) associated type. - typedef algebra::h_vec<G::dim, C> h_vec; + typedef algebra::h_vec<G::dim, float> h_vec; /// Read-only access to the \p i-th coordinate value. /// \param[in] i The coordinate index. @@ -171,23 +155,17 @@ namespace mln /// Shifting by \p the inverse of dp. point<G,C>& operator-=(const delta& dp); - /// Hook to coordinates. - operator typename internal::point_to_<G, C>::metal_vec () const; - /* FIXME: Seems highly non-generic! Moreover, causes - overloading/duplicate errors with the previous operator when - C == float. Disable it for the moment. - + /* FIXME: Seems highly non-generic! This (non documented change, even in ChangeLog) change was introduce by revision 1224, see https://trac.lrde.org/olena/changeset/1224#file2 https://www.lrde.epita.fr/pipermail/olena-patches/2007-October/001592.html */ -#if 0 operator algebra::vec<G::dim, float> () const; -#endif + operator algebra::vec<G::dim, float> (); /// Explicit conversion towards mln::algebra::vec. - const vec& to_vec() const; + vec to_vec() const; /// Transform to point in homogene coordinate system. h_vec to_h_vec() const; @@ -214,7 +192,8 @@ namespace mln template <typename G, typename C, typename E> struct subject_point_impl< point<G,C>, E > { - const typename point<G,C>::vec& to_vec() const; + typename point<G,C>::vec to_vec() const; + operator algebra::vec<G::dim, float>() const; private: const E& exact_() const; @@ -281,7 +260,11 @@ namespace mln inline point<G,C>::point(const algebra::vec<dim,C2>& v) { - coord_ = v; + unsigned j = 0; + for (unsigned i = dim - 2; i < dim; ++i) + coord_[i] = v[j++]; + for (unsigned i = 2; i < dim; ++i, ++j) + coord_[i-j] = v[j]; } template <typename G, typename C> @@ -406,30 +389,33 @@ namespace mln template <typename G, typename C> inline - point<G,C>::operator typename internal::point_to_<G, C>::metal_vec () const + point<G,C>::operator algebra::vec<G::dim,float> () const { - return coord_; // FIXME: Is it OK? + return to_vec(); } - // FIXME: See declaration of this member above. -#if 0 template <typename G, typename C> inline - point<G,C>::operator algebra::vec<G::dim, float> () const + point<G,C>::operator algebra::vec<G::dim,float> () { - algebra::vec<dim, float> tmp; - for (unsigned int i = 0; i < dim; ++i) - tmp[i] = coord_[i]; - return tmp; + return to_vec(); } -#endif + template <typename G, typename C> inline - const typename point<G,C>::vec& + typename point<G,C>::vec point<G,C>::to_vec() const { - return coord_; + algebra::vec<G::dim, float> tmp; + + unsigned j = 0; + for (unsigned i = dim - 2; i < dim; ++i) + tmp[j++] = coord_[i]; + for (unsigned i = 2; i < dim; ++i, ++j) + tmp[j] = coord_[i-j]; + + return tmp; } template <typename G, typename C> @@ -437,9 +423,15 @@ namespace mln typename point<G,C>::h_vec point<G,C>::to_h_vec() const { - algebra::h_vec<G::dim, C> tmp; - for (unsigned i = 0; i < dim; ++i) - tmp[i] = coord_[i]; + algebra::h_vec<G::dim, float> tmp; + + unsigned j = 0; + for (unsigned i = dim - 2; i < dim; ++i) + tmp[j++] = coord_[i]; + + for (unsigned i = 2; i < dim; ++i, ++j) + tmp[j] = coord_[i-j]; + tmp[G::dim] = 1; return tmp; } @@ -476,20 +468,27 @@ namespace mln template <typename G, typename C, typename E> inline - const typename point<G,C>::vec& + typename point<G,C>::vec subject_point_impl< point<G,C>, E >::to_vec() const { return exact_().get_subject().to_vec(); } + template <typename G, typename C, typename E> + inline + subject_point_impl< point<G,C>, E >::operator algebra::vec<G::dim, float>() const + { + return exact_().get_subject(); + } + } // end of namespace mln::internal template <typename G, typename C> inline - const algebra::vec<point<G,C>::dim - 1, C>& + algebra::vec<point<G,C>::dim - 1, C> cut_(const point<G,C>& p) { - return *(const algebra::vec<point<G,C>::dim - 1, C>*)(& p.to_vec()); + return *(algebra::vec<point<G,C>::dim - 1, C>*)(& p.to_vec()); } template <typename C> @@ -502,7 +501,8 @@ namespace mln } # endif // ! MLN_INCLUDE_ONLY - + + } // end of namespace mln diff --git a/milena/mln/fun/x2v/bilinear.hh b/milena/mln/fun/x2v/bilinear.hh index e264462..1daefa8 100644 --- a/milena/mln/fun/x2v/bilinear.hh +++ b/milena/mln/fun/x2v/bilinear.hh @@ -79,7 +79,7 @@ namespace mln template <typename I> bilinear<I>::bilinear(const I& ima) : ima(ima) { - //mlc_bool(I::psite::dim == 2)::check(); + mlc_or(mlc_bool(I::psite::dim == 2), mlc_bool(I::psite::dim == 3))::check(); } template <typename I> @@ -141,14 +141,14 @@ namespace mln // | | | // q11----r1----q21 - double x = v[1]; - double y = v[2]; + double x = v[0]; + double y = v[1]; double x1 = std::floor(x); double x2 = std::floor(x) + 1; double y1 = std::floor(y); double y2 = std::floor(y) + 1; - def::coord z = math::round<float>()(v[0]); + def::coord z = math::round<float>()(v[3]); //Following access are supposed valid. vsum q11 = ima(point3d(z, static_cast<unsigned>(x1), static_cast<unsigned>(y1))); diff --git a/milena/mln/fun/x2v/trilinear.hh b/milena/mln/fun/x2v/trilinear.hh index 3015502..2a1d594 100644 --- a/milena/mln/fun/x2v/trilinear.hh +++ b/milena/mln/fun/x2v/trilinear.hh @@ -86,9 +86,9 @@ namespace mln { typedef mln_sum(mln_value(I)) vsum; - double x = v[1]; // row - double y = v[2]; // col - double z = v[0]; // sli + double x = v[0]; // row + double y = v[1]; // col + double z = v[2]; // sli math::round<double> f; unsigned x1 = f(std::floor(x)); diff --git a/milena/mln/fun/x2x/rotation.hh b/milena/mln/fun/x2x/rotation.hh index 9addb50..cbe1dd2 100644 --- a/milena/mln/fun/x2x/rotation.hh +++ b/milena/mln/fun/x2x/rotation.hh @@ -197,10 +197,9 @@ namespace mln inline rotation<n,C>::rotation(const algebra::quat& q) { - mln_precondition(q.is_unit()); - // FIXME: Should also work for 2d. - mln_precondition(n == 3); + mlc_bool(n == 3)::check(); + mln_precondition(q.is_unit()); float w = q.to_vec()[0], @@ -221,6 +220,7 @@ namespace mln axis_[0] = x; axis_[1] = y; axis_[2] = z; + axis_.normalize(); } diff --git a/milena/mln/registration/icp.hh b/milena/mln/registration/icp.hh index de763ea..3fc54c0 100644 --- a/milena/mln/registration/icp.hh +++ b/milena/mln/registration/icp.hh @@ -229,17 +229,18 @@ namespace mln mln_site(I) operator()(const vec3d_f& v) const { - vec3d_f best_x = convert::to<vec3d_f>(X_[0].to_vec()); + vec3d_f best_x = X_[0]; float best_d = norm::l2_distance(v, best_x); mln_piter(X_t) X_i(X_); for_all(X_i) { - float d = norm::l2_distance(v, convert::to<vec3d_f>(X_i)); + vec3d_f X_i_vec = X_i; + float d = norm::l2_distance(v, X_i_vec); if (d < best_d) { best_d = d; - best_x = X_i.to_vec(); + best_x = X_i_vec; } } return best_x; @@ -266,11 +267,11 @@ namespace mln mln_piter(p_array<P>) p(kept); for_all(p) - ext_result(qR.rotate(p.to_vec()) + qT) = literal::green; + ext_result(qR.rotate(p) + qT) = literal::green; mln_piter(p_array<P>) p2(removed); for_all(p2) - ext_result(qR.rotate(p2.to_vec()) + qT) = literal::red; + ext_result(qR.rotate(p2) + qT) = literal::red; io::ppm::save(slice(ext_result,0), "registered-2.ppm"); } @@ -289,7 +290,7 @@ namespace mln mln_piter(p_array<P>) p(P_); for_all(p) { - vec3d_f Pk_i = pair.first.rotate(p.to_vec()) + pair.second; + vec3d_f Pk_i = pair.first.rotate(p) + pair.second; vec3d_f Yk_i = closest_point(Pk_i).to_vec(); // yk_i - pk_i e_k_accu.take(Yk_i - Pk_i); @@ -317,8 +318,8 @@ namespace mln 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(); + vec3d_f Pk_i = pair.first.rotate(p) + pair.second; + vec3d_f Yk_i = closest_point(Pk_i); int d_i = closest_point.dmap_X_(Pk_i); if (d_i >= d_min && d_i <= d_max) @@ -399,7 +400,7 @@ namespace mln 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(); + vec3d_f Yk_i = closest_point(Pk_i); int d_i = closest_point.dmap_X_(Pk_i); if (d_i >= d_min && d_i <= d_max) @@ -440,31 +441,27 @@ namespace mln const std::pair<algebra::quat,mln_vec(P)>& pair, const std::string& period, const value::rgb8& c) { -# ifndef NDEBUG data::fill(out, literal::black); data::fill((out | X).rw(), literal::white); -# endif // !NDEBUG mln_piter(p_array<P>) p1(P_); for_all(p1) { - vec3d_f Pk_i = pair.first.rotate(p1.to_vec()) + pair.second; + vec3d_f Pk_i = pair.first.rotate(p1) + 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; + vec3d_f Pk_i = pair.first.rotate(p2) + pair.second; out(Pk_i) = c; } -# ifndef NDEBUG std::ostringstream ss; ss << prefix << "_" << r << "_" << period << ".ppm"; io::ppm::save(slice(out,0), ss.str()); -# endif // ! NDEBUG } @@ -483,8 +480,9 @@ namespace mln for_all(p) { // yk_i - pk+1_i - vec3d_f Pk_i = qR_old.rotate(p.to_vec()) + qT_old; - vec3d_f Pk_1_i = qR.rotate(p.to_vec()) + qT; + vec3d_f P_i = p; + vec3d_f Pk_i = qR_old.rotate(P_i) + qT_old; + vec3d_f Pk_1_i = qR.rotate(P_i) + qT; accu.take(closest_point(Pk_i).to_vec() - Pk_1_i); } return accu.to_result(); @@ -508,9 +506,9 @@ namespace mln // FIXME: could we use an accu? for_all(p) { - vec3d_f P_i = p.to_vec(); - vec3d_f Pk_i = qR.rotate(p.to_vec()) + qT; - vec3d_f Yk_i = closest_point(Pk_i).to_vec(); + vec3d_f P_i = p; + vec3d_f Pk_i = qR.rotate(P_i) + qT; + vec3d_f Yk_i = closest_point(Pk_i); Spx += make::mat(P_i - mu_P) * trans(make::mat(Yk_i - mu_Yk)); } Spx /= P_.nsites(); @@ -564,7 +562,7 @@ namespace mln { // yk_i - pk_i vec3d_f Pk_i = qR.rotate(p.to_vec()) + qT; - vec3d_f Yk_i = closest_point(Pk_i).to_vec(); + vec3d_f Yk_i = closest_point(Pk_i); mu_yk.take(Yk_i); e_k_accu.take(Yk_i - Pk_i); } @@ -641,7 +639,7 @@ namespace mln image3d<value::rgb8> tmp_ = duplicate(debug); mln_piter(p_array<P>) p_dbg(P_); for_all(p_dbg) - tmp_(qR_old.rotate(p_dbg.to_vec()) + qT_old) = literal::green; + tmp_(qR_old.rotate(p_dbg) + qT_old) = literal::green; std::ostringstream ss; ss << "tmp_0"; if (k < 10) -- 1.5.6.5