https://svn.lrde.epita.fr/svn/oln/trunk/milena/sandbox Index: ChangeLog from Ugo Jardonnet <jardonnet@lrde.epita.fr> Add few results about final_qk. bunch of results : _1 and _2 means using stddev 1 or 2 times. * jardonnet/test/final: New. * jardonnet/test/final/final_qk_1.ppm: New. * jardonnet/test/final/no_final.ppm: New. * jardonnet/test/final/final_qk_2.ppm: New. * jardonnet/test/final/final_qk2_1.ppm: New. * jardonnet/test/final/final_qk2_2.ppm: New. * jardonnet/registration/final_qk.hh: Update, inverse translation. * jardonnet/registration/icp.hh: Update, cleanup. final_qk.hh | 2 ++ icp.hh | 12 ++---------- 2 files changed, 4 insertions(+), 10 deletions(-) Index: jardonnet/test/final/final_qk_1.ppm Cannot display: file marked as a binary type. svn:mime-type = application/octet-stream Property changes on: jardonnet/test/final/final_qk_1.ppm ___________________________________________________________________ Name: svn:mime-type + application/octet-stream Index: jardonnet/test/final/no_final.ppm Cannot display: file marked as a binary type. svn:mime-type = application/octet-stream Property changes on: jardonnet/test/final/no_final.ppm ___________________________________________________________________ Name: svn:mime-type + application/octet-stream Index: jardonnet/test/final/final_qk_2.ppm Cannot display: file marked as a binary type. svn:mime-type = application/octet-stream Property changes on: jardonnet/test/final/final_qk_2.ppm ___________________________________________________________________ Name: svn:mime-type + application/octet-stream Index: jardonnet/test/final/final_qk2_1.ppm Cannot display: file marked as a binary type. svn:mime-type = application/octet-stream Property changes on: jardonnet/test/final/final_qk2_1.ppm ___________________________________________________________________ Name: svn:mime-type + application/octet-stream Index: jardonnet/test/final/final_qk2_2.ppm Cannot display: file marked as a binary type. svn:mime-type = application/octet-stream Property changes on: jardonnet/test/final/final_qk2_2.ppm ___________________________________________________________________ Name: svn:mime-type + application/octet-stream Index: jardonnet/registration/final_qk.hh --- jardonnet/registration/final_qk.hh (revision 1958) +++ jardonnet/registration/final_qk.hh (working copy) @@ -59,6 +59,8 @@ quat7<P::dim> qk = match(newc, mu_newc, newc, map, newc.npoints()); + qk._qT = - qk._qT; // FIXME : why? + return qk; } Index: jardonnet/registration/icp.hh --- jardonnet/registration/icp.hh (revision 1958) +++ jardonnet/registration/icp.hh (working copy) @@ -192,20 +192,12 @@ mln_precondition(cloud.npoints() != 0); // Shuffle cloud - for (size_t i = 0; i < cloud.npoints(); i++) - { - size_t r = rand() % cloud.npoints(); - P tmp; - tmp = cloud[i]; - cloud.hook_()[i] = cloud[r]; - cloud.hook_()[r] = tmp; - } + shuffle(cloud); //init rigid transform qk quat7<P::dim> qk; - #ifndef NDEBUG // FIXME: theo image2d<value::rgb8> tmp(500,800); level::fill(tmp, literal::black); @@ -244,7 +236,7 @@ if (tmp.has(qp)) tmp(qp) = c; } - if (e == 0) + //if (e == 0) io::ppm::save(tmp, "tmp.ppm"); } #endif