https://svn.lrde.epita.fr/svn/oln/trunk/milena/sandbox Index: ChangeLog from Ugo Jardonnet <jardonnet@lrde.epita.fr> Sandox: ICP: Make it save images of every step of the registration. * jardonnet/test/icp_ref.cc, * jardonnet/test/icp.cc: Cleanup output image. * jardonnet/test/Makefile: Remove gprof option. * jardonnet/registration/save.hh: Add proper saving. * jardonnet/registration/icp_ref.hh: Add step loggin. Add images for test and slides. * jardonnet/test/img/x10.pbm, * jardonnet/test/img/x11.pbm, * jardonnet/test/img/c10.pbm, * jardonnet/test/img/c11.pbm: New test images. registration/icp_ref.hh | 15 ++++++++--- registration/save.hh | 65 ++++++++++++++++++++++++++++++++++++++---------- registration/tools.hh | 8 +++++ test/Makefile | 2 - test/icp.cc | 10 ++++--- test/icp_ref.cc | 7 ++--- 6 files changed, 82 insertions(+), 25 deletions(-) Index: jardonnet/test/icp_ref.cc --- jardonnet/test/icp_ref.cc (revision 2013) +++ jardonnet/test/icp_ref.cc (working copy) @@ -82,17 +82,18 @@ qk.apply_on(c, c, c.npoints()); image2d<value::rgb8> output(convert::to_box2d(working_box), 1); + level::fill(output, literal::white); //to 2d : projection (FIXME:if 3d) - for (size_t i = 0; i < c.npoints(); i++) + for (unsigned i = 0; i < c.npoints(); i++) { point2d p(c[i][0], c[i][1]); if (output.has(p)) - output(p) = literal::white; + output(p) = literal::black; } //ref image - for (size_t i = 0; i < x.npoints(); i++) + for (unsigned i = 0; i < x.npoints(); i++) { point2d px(x[i][0], x[i][1]); if (output.has(px)) Index: jardonnet/test/icp.cc --- jardonnet/test/icp.cc (revision 2013) +++ jardonnet/test/icp.cc (working copy) @@ -63,10 +63,6 @@ qk.apply_on(c, c, c.npoints()); - //init output image - image2d<value::rgb8> output(convert::to_box2d(working_box), 0); - level::fill(output, literal::white); - float stddev, mean; registration::mean_stddev(c, map, mean, stddev); @@ -84,6 +80,12 @@ quat7<3> fqk = registration::final_qk(c, map, 2*stddev); fqk.apply_on(c, c, c.npoints()); + + //init output image + image2d<value::rgb8> output(convert::to_box2d(working_box), 0); + level::fill(output, literal::white); + + //print x for (size_t i = 0; i < x.npoints(); i++) { Index: jardonnet/test/img/x10.pbm Cannot display: file marked as a binary type. svn:mime-type = application/octet-stream Property changes on: jardonnet/test/img/x10.pbm ___________________________________________________________________ Name: svn:mime-type + application/octet-stream Index: jardonnet/test/img/x11.pbm Cannot display: file marked as a binary type. svn:mime-type = application/octet-stream Property changes on: jardonnet/test/img/x11.pbm ___________________________________________________________________ Name: svn:mime-type + application/octet-stream Index: jardonnet/test/img/c10.pbm Cannot display: file marked as a binary type. svn:mime-type = application/octet-stream Property changes on: jardonnet/test/img/c10.pbm ___________________________________________________________________ Name: svn:mime-type + application/octet-stream Index: jardonnet/test/img/c11.pbm Cannot display: file marked as a binary type. svn:mime-type = application/octet-stream Property changes on: jardonnet/test/img/c11.pbm ___________________________________________________________________ Name: svn:mime-type + application/octet-stream Index: jardonnet/test/Makefile --- jardonnet/test/Makefile (revision 2013) +++ jardonnet/test/Makefile (working copy) @@ -23,7 +23,7 @@ g++ icp_ref.cc -I../../.. -g -o 'icp_refD' icp_ref: icp_ref.cc ../registration/icp_ref.hh +depend - g++ icp_ref.cc -I../../.. -pg -O3 -DNDEBUG -o 'icp_ref' + g++ icp_ref.cc -I../../.. -O3 -DNDEBUG -o 'icp_ref' icp.o: g++ -c icp.cc -I../../.. -O3 -DNDEBUG Index: jardonnet/registration/save.hh --- jardonnet/registration/save.hh (revision 2013) +++ jardonnet/registration/save.hh (working copy) @@ -1,37 +1,76 @@ #ifndef MLN_REGISTRATION_SAVE_HH # define MLN_REGISTRATION_SAVE_HH +# include <mln/convert/to_image.hh> +# include <mln/io/ppm/save.hh> +# include <mln/io/pbm/save.hh> #include <string> +# include "quat7.hh" +# include "tools.hh" + namespace mln { + namespace io + { + namespace pbm + { + template <typename P> + void save(const p_array<P>& a, const std::string& filename) + { + mln_precondition(P::dim == 2); + + image2d out = convert::to_image(a); + save(out, filename); + } + } + } + + namespace registration { template <typename P> - void save_(const p_array<P>& Ck, int l) + void save_(const quat7<3>& qk, + const p_array<P>& c, + const p_array<P>& x, + int every) { static int id = 0; + static int i = 0; + + if (++i % every != 0) + return; - using namespace std; + //build ck: apply transform + p_array<P> ck(c); + qk.apply_on(c, ck, c.npoints()); - //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 < l; i++) + const box_<P> working_box = enlarge(bigger(ck.bbox(),x.bbox()),100); + image2d<value::rgb8> out(convert::to_box2d(working_box), 1); + level::fill(out, literal::white); + + //x in green + for (unsigned i = 0; i < ck.npoints(); i++) { - point2d p = convert::to_point2d(Ck[i]); - if (img.has(p)) - img(p) = true; + point2d p(ck[i][0], ck[i][1]); + if (out.has(p)) + out(p) = literal::green; } - //FIXME: Good but put point after c_length - //image2d<bool> img = convert::to_image2d(Ck); + //x in black + for (unsigned i = 0; i < x.npoints(); i++) + { + point2d p(x[i][0], x[i][1]); + if (out.has(p)) + out(p) = literal::black; + } + //save std::stringstream oss; - oss << "i_" << id++ << ".pbm"; - io::pbm::save(img, oss.str()); - + oss << "step_" << id++ << ".ppm"; + io::ppm::save(out, oss.str()); } } Index: jardonnet/registration/tools.hh --- jardonnet/registration/tools.hh (revision 2013) +++ jardonnet/registration/tools.hh (working copy) @@ -12,6 +12,14 @@ namespace mln { + namespace registration + { + + + + } + + template <typename P> void shuffle(p_array<P>& a) { Index: jardonnet/registration/icp_ref.hh --- jardonnet/registration/icp_ref.hh (revision 2013) +++ jardonnet/registration/icp_ref.hh (working copy) @@ -57,9 +57,13 @@ # include "save.hh" + + namespace mln { + + namespace registration { @@ -89,6 +93,7 @@ const M& map, quat7<P::dim>& qk, const size_t c_length, + const p_array<P>& X, const float epsilon = 1e-3) { trace::entering("registration::impl::icp_"); @@ -131,7 +136,9 @@ e_k = rms(C, map, c_length, buf_qk[1], buf_qk[1]); #ifndef NDEBUG - //plot file + //save file + save_(qk,C,X,5); + //print info std::cout << k << '\t' << (e_k >= d_k ? ' ' : '-') << '\t' << e_k << '\t' << d_k << '\t' << ((qk - buf_qk[1]).sqr_norm() / qk.sqr_norm()) << '\t' << std::endl; @@ -139,8 +146,8 @@ pts += c_length; #endif k++; - } while (e_k >= d_k && d_k_1 - d_k > epsilon); - // FIXME : test (e_k >= d_k) seems to be a bad idea. + } while (d_k_1 - d_k > epsilon); + // FIXME : test (e_k >= d_k) but seems to be a bad idea. trace::exiting("registration::impl::icp_"); } @@ -188,7 +195,7 @@ size_t l = cloud.npoints() / std::pow(q, e); l = (l<1) ? 1 : l; - impl::icp_(cloud, map, qk, l, 1e-3); + impl::icp_(cloud, map, qk, l, x, 1e-3); #ifndef NDEBUG {