https://svn.lrde.epita.fr/svn/oln/trunk/milena Index: ChangeLog from Ugo Jardonnet <ugo.jardonnet@lrde.epita.fr> Sandbox: ICP: 'lazy'_map. * sandbox/jardonnet/test/icp.cc: Update. * sandbox/jardonnet/test/reduce.cc: New: image scaling. * sandbox/jardonnet/test/01.pbm, * sandbox/jardonnet/test/02.pbm: New: test images. * sandbox/jardonnet/registration/icp.hh: Use type lazy_map instead of std::pair, in order to use sp�cific constructors. * sandbox/jardonnet/registration/projection.hh: update. * sandbox/jardonnet/registration/tools.hh: Add tools for boxes (to include in Milena?). registration/icp.hh | 25 +++++++++-------- registration/projection.hh | 27 ++++-------------- registration/tools.hh | 66 +++++++++++++++++++++++++++++++++++++++++++++ test/reduce.cc | 26 +++++++++++++++++ 4 files changed, 113 insertions(+), 31 deletions(-) Index: sandbox/jardonnet/test/icp.cc Index: sandbox/jardonnet/test/reduce.cc --- sandbox/jardonnet/test/reduce.cc (revision 0) +++ sandbox/jardonnet/test/reduce.cc (revision 0) @@ -0,0 +1,26 @@ +#include <mln/core/image2d.hh> + +#include <mln/io/pbm/load.hh> +#include <mln/io/pbm/save.hh> + +#include <mln/subsampling/subsampling.hh> + + +int main(int argc, char*argv[]) +{ + if (argc != 3) + { + std::cout << "usage : " << argv[0] << " in.pbm out.pbm" << std::endl; + } + + using namespace mln; + + image2d<bool> img; + + io::pbm::load(img, argv[1]); + + image2d<bool> output = subsampling::subsampling(img, make::dpoint2d(2,2), argc); + + io::pbm::save(output, argv[2]); +} + Index: sandbox/jardonnet/test/01.pbm Cannot display: file marked as a binary type. svn:mime-type = application/octet-stream Property changes on: sandbox/jardonnet/test/01.pbm ___________________________________________________________________ Name: svn:mime-type + application/octet-stream Index: sandbox/jardonnet/test/02.pbm Cannot display: file marked as a binary type. svn:mime-type = application/octet-stream Property changes on: sandbox/jardonnet/test/02.pbm ___________________________________________________________________ Name: svn:mime-type + application/octet-stream Index: sandbox/jardonnet/registration/icp.hh --- sandbox/jardonnet/registration/icp.hh (revision 1815) +++ sandbox/jardonnet/registration/icp.hh (working copy) @@ -66,24 +66,24 @@ namespace impl { - template <typename P, typename T1, typename T2> + template <typename P, typename T> inline p_array<P> icp_(p_array<P>& C, const p_array<P>& X, - std::pair<T1,T2>&) + lazy_map<T>& map) { trace::entering("registration::impl::icp_"); unsigned int k; quat7<P::dim> old_qk, qk; float err; - float err_bis; + //float err_bis; p_array<P> Ck(C), Xk(C); //FIXME: Xk copy C algebra::vec<P::dim,float> mu_C = center(C), mu_Xk; - const float epsilon = 1e-2; + const float epsilon = 1;//1e-3; //// step 1 k = 0; @@ -91,7 +91,7 @@ //// step 2 //err_bis = projection::fill_Xk(Ck, map, Xk); //projection::de_base(Ck, X, Xk, err_bis); - projection::memo(Ck, X, Xk, err_bis); + projection::memo(Ck, X, Xk, map); mu_Xk = center(Xk); @@ -104,12 +104,11 @@ //// err = d(Ck+1,Xk) err = rms(Ck, Xk); - std::cout << "error :" << err << std::endl; + std::cout << k << ' ' << err << std::endl; //plot file ++k; } while (k < 3 || (qk - old_qk).sqr_norm() > epsilon); - std::cout << "nb of iterations : " << k << std::endl; trace::exiting("registration::impl::icp_"); return Ck; } @@ -120,8 +119,8 @@ //Only for 2d and 3d image template <typename I, typename J> inline - mln_concrete(I) - icp(Image<I>& cloud_, + mln_concrete(I) //FIXME: should return something else ? qk ? + icp(const Image<I>& cloud_, const Image<J>& surface_) { trace::entering("registration::icp"); @@ -142,7 +141,7 @@ fun::cham<point3d> fun; w_window<mln_dpoint(I3d), float> chamfer = make::w_window(win3d, fun); */ - std::pair<mln_ch_value(I3d,float), mln_ch_value(I3d,mln_point(I3d)) > maps;// = + //std::pair<mln_ch_value(I3d,float), mln_ch_value(I3d,mln_point(I3d)) > maps;// = //dt::chamfer(surface, chamfer); @@ -150,7 +149,11 @@ p_array<mln_point(I3d)> c = convert::to_p_array(cloud); p_array<mln_point(I3d)> x = convert::to_p_array(surface); - p_array<mln_point(I3d)> res = impl::icp_(c, x, maps); + //build closest point map + //lazy_map<I3d> map(enlarge(bigger(c.bbox(),x.bbox()),50)); + lazy_map<I3d> map(1000,1000,50); + + p_array<mln_point(I3d)> res = impl::icp_(c, x, map); //to 2d : projection (FIXME:if 3d) //mln_concrete(I) output = convert::to_image2d(res)? Index: sandbox/jardonnet/registration/projection.hh --- sandbox/jardonnet/registration/projection.hh (revision 1815) +++ sandbox/jardonnet/registration/projection.hh (working copy) @@ -67,27 +67,18 @@ } - template <typename P> - void memo(// input - const p_array<P>& Ck, + template <typename P, typename T> + void memo(const p_array<P>& Ck, const p_array<P>& X, - // inout p_array<P>& Xk, - float& err) + lazy_map<T>& map) // first: closest points, second: is_computed { - //FIXME: remove static - //FIXME: domain generated by X and C's domain? - static image3d<point3d> map(1000,1000,10); - static image3d<bool> mapset(1000,1000,10); - assert(Ck.npoints() == Xk.npoints()); - err = 0.f; - for (size_t i = 0; i < Ck.npoints(); ++i) { float best_d; - if (mapset(Ck[i]) == false) + if (map.known(Ck[i]) == false) { algebra::vec<P::dim,float> Cki = Ck[i]; algebra::vec<P::dim,float> best_x = X[0]; @@ -103,16 +94,12 @@ } } Xk.hook_()[i] = algebra::to_point<P>(best_x); - map(Ck[i]) = Xk[i]; - mapset(Ck[i]) = true; + map.map(Ck[i]) = Xk[i]; + map.known(Ck[i]) = true; } else - { - Xk.hook_()[i] = map(Ck[i]); - } - err += best_d; + Xk.hook_()[i] = map.map(Ck[i]); } - err /= Ck.npoints(); } } // end of namespace projection Index: sandbox/jardonnet/registration/tools.hh --- sandbox/jardonnet/registration/tools.hh (revision 1815) +++ sandbox/jardonnet/registration/tools.hh (working copy) @@ -6,9 +6,75 @@ # include <mln/algebra/mat.hh> # include <mln/core/p_array.hh> + namespace mln { + + //FIXME: Shall we use something *really* lazy + template <typename I> + struct lazy_map + { + template <typename P> + lazy_map(const box_<P>& domain) + : map(domain), known(domain) + { } + + lazy_map(int nrows, int ncols, int bdr = 3) + : map(nrows, ncols, bdr), known(nrows,ncols,bdr) + { } + + mln_ch_value(I, mln_point(I)) map; + mln_ch_value(I, bool) known; + }; + + + // Point + + template <typename P> + P min(const P& a, const P& b) + { + if (a > b) + return b; + return a; + } + + template <typename P> + P max(const P& a, const P& b) + { + if (a < b) + return b; + return a; + } + + + // Box + + template <typename P> + inline + const box_<P>& //dif + enlarge(const box_<P>& box, unsigned b) + { + for (unsigned i = 0; i < P::dim; ++i) + { + box.pmin()[i] -= b; + box.pmax()[i] += b; + } + return box; + } + + template <typename P> + box_<P> bigger(box_<P> a, box_<P> b) + { + P pmin,pmax; + + pmin = min(a.pmin(), b.pmin()); + pmax = max(a.pmax(), b.pmax()); + + return box_<P>(pmin, pmax); + } + + //FIXME: move? namespace convert {