* mln/canvas/morpho/attribute_filter.hh: move MLN_INCLUDE_ONLY guards. * mln/registration/icp.hh: add missing to_vec(). Fix use of the new closest_point_functor. * mln/transform/internal/closest_point_functor.hh: fix a wrong index propagation. --- milena/ChangeLog | 12 +++ milena/mln/canvas/morpho/attribute_filter.hh | 18 ++++- milena/mln/registration/icp.hh | 80 +++++++++++--------- .../transform/internal/closest_point_functor.hh | 14 +++- 4 files changed, 82 insertions(+), 42 deletions(-) diff --git a/milena/ChangeLog b/milena/ChangeLog index c1c56a1..7040630 100644 --- a/milena/ChangeLog +++ b/milena/ChangeLog @@ -1,3 +1,15 @@ +2009-03-03 Guillaume Lazzara <lazzara@lrde.epita.fr> + + Fix compilation issues. + + * mln/canvas/morpho/attribute_filter.hh: move MLN_INCLUDE_ONLY guards. + + * mln/registration/icp.hh: add missing to_vec(). Fix use of the new + closest_point_functor. + + * mln/transform/internal/closest_point_functor.hh: fix a wrong index + propagation. + 2009-03-03 Fabien Freling <fabien.freling@lrde.epita.fr> Add standard deviation accumulator. diff --git a/milena/mln/canvas/morpho/attribute_filter.hh b/milena/mln/canvas/morpho/attribute_filter.hh index e605f18..298c236 100644 --- a/milena/mln/canvas/morpho/attribute_filter.hh +++ b/milena/mln/canvas/morpho/attribute_filter.hh @@ -47,9 +47,14 @@ # include <mln/data/fill.hh> # include <mln/level/sort_psites.hh> -namespace mln { - namespace canvas { - namespace morpho { +namespace mln +{ + + namespace canvas + { + + namespace morpho + { // Facade Fwd Declaration template <typename I, typename N, typename A> @@ -433,10 +438,10 @@ namespace mln { }; return attribute_filter_dispatch(metal::bool_<test>(), input, nbh, a, lambda, increasing); } + } // end of namespace mln::canvas::morpho::internal -# endif // ! MLN_INCLUDE_ONLY // Facade. @@ -451,8 +456,13 @@ namespace mln { return internal::attribute_filter_dispatch(input, nbh, a, lambda, increasing); } + +# endif // ! MLN_INCLUDE_ONLY + } // end of namespace mln::canvas::morpho + } // end of namespace mln::canvas + } // end of namespace mln diff --git a/milena/mln/registration/icp.hh b/milena/mln/registration/icp.hh index a5ad215..6adc0b3 100644 --- a/milena/mln/registration/icp.hh +++ b/milena/mln/registration/icp.hh @@ -55,7 +55,7 @@ # include <mln/core/alias/neighb3d.hh> -# include <mln/transform/internal/closest_point_functor.hh> +# include <mln/transform/distance_and_closest_point_geodesic.hh> # include <mln/canvas/distance_geodesic.hh> # include <mln/pw/all.hh> @@ -76,6 +76,8 @@ # include <mln/util/timer.hh> +# include <mln/io/cloud/save.hh> + namespace mln { @@ -165,17 +167,15 @@ namespace mln data::fill(model, false); data::fill((model | X).rw(), true); - transform::internal::closest_point_functor<model_t> f(X); - util::timer t; - t.start(); - dmap_X_ = canvas::distance_geodesic(model, c6(), - mln_max(value::int_u16), - f); - std::cout << "distance_geodesic = " << t << "s" << std::endl; + typedef util::couple<mln_ch_value(model_t, value::int_u16), + mln_ch_value(model_t, unsigned)> couple_t; + couple_t cpl = transform::distance_and_closest_point_geodesic(X, box, + c6(), + mln_max(value::int_u16)); - initialize(this->cp_ima_, f.cp_ima); - this->cp_ima_ = f.cp_ima; + dmap_X_ = cpl.first(); + cp_ima_ = cpl.second(); mln_postcondition(cp_ima_.is_valid()); mln_postcondition(cp_ima_.domain().is_valid()); @@ -183,27 +183,27 @@ namespace mln std::cout << "pmax = " << cp_ima_.domain().pmax() << std::endl;; #ifndef NDEBUG -// mln_ch_value(I, bool) debug2(box); -// data::fill(debug2, false); -// mln_ch_value(I, value::rgb8) debug(box); -// mln_piter(p_array<P>) p(X); -// for_all(p) -// { -// debug(p) = debug::internal::random_color(value::rgb8()); -// debug2(p) = true; -// } -// io::pbm::save(slice(debug2,0), "debug2-a.ppm"); -// -// mln_piter(I) pi(cp_ima_.domain()); -// for_all(pi) -// { -// debug(pi) = debug(cp_ima_(pi)); -// debug2(pi) = debug2(cp_ima_(pi)); -// } -// -// io::pbm::save(slice(debug2,0), "debug2-b.ppm"); -// io::ppm::save(slice(debug,0), "debug.ppm"); -// std::cout << "map saved" << std::endl; + mln_ch_value(I, bool) debug2(box); + data::fill(debug2, false); + mln_ch_value(I, value::rgb8) debug(box); + mln_piter(p_array<P>) p(X); + for_all(p) + { + debug(p) = debug::internal::random_color(value::rgb8()); + debug2(p) = true; + } + io::pbm::save(slice(debug2,0), "debug2-a.ppm"); + + mln_piter(I) pi(cp_ima_.domain()); + for_all(pi) + { + debug(pi) = debug(cp_ima_(pi)); + debug2(pi) = debug2(cp_ima_(pi)); + } + + io::pbm::save(slice(debug2,0), "debug2-b.ppm"); + io::ppm::save(slice(debug,0), "debug.ppm"); + std::cout << "map saved" << std::endl; #endif } @@ -278,11 +278,11 @@ namespace mln mln_piter(p_array<P>) p(kept); for_all(p) - ext_result(qR.rotate(p) + qT) = literal::green; + ext_result(qR.rotate(p.to_vec()) + qT) = literal::green; mln_piter(p_array<P>) p2(removed); for_all(p2) - ext_result(qR.rotate(p2) + qT) = literal::red; + ext_result(qR.rotate(p2.to_vec()) + qT) = literal::red; io::ppm::save(slice(ext_result,0), "registered-2.ppm"); } @@ -427,6 +427,16 @@ namespace mln } } + { + std::ostringstream ss2; + ss2 << method << "_" << r << "_removed_sites" << ".cloud"; + io::cloud::save(removed_set, ss2.str()); + } + { + std::ostringstream ss2; + ss2 << method << "_" << r << "_kept_sites" << ".cloud"; + io::cloud::save(tmp, ss2.str()); + } # ifndef NDEBUG std::ostringstream ss2; @@ -458,14 +468,14 @@ namespace mln mln_piter(p_array<P>) p1(P_); for_all(p1) { - vec3d_f Pk_i = pair.first.rotate(p1) + pair.second; + vec3d_f Pk_i = pair.first.rotate(p1.to_vec()) + 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) + pair.second; + vec3d_f Pk_i = pair.first.rotate(p2.to_vec()) + pair.second; out(Pk_i) = c; } diff --git a/milena/mln/transform/internal/closest_point_functor.hh b/milena/mln/transform/internal/closest_point_functor.hh index 8df47b7..a1ab93c 100644 --- a/milena/mln/transform/internal/closest_point_functor.hh +++ b/milena/mln/transform/internal/closest_point_functor.hh @@ -46,6 +46,11 @@ namespace mln namespace internal { + + /// Functor to be passed to a canvas. + /// Computes an image of closest points. + /// + /// The image values are initialized with \p pset.nsites(). template <typename I> struct closest_point_functor_with_indexes { @@ -72,7 +77,10 @@ namespace mln void process_(unsigned p, unsigned n); }; - + /// Functor to be passed to a canvas. + /// Computes an image of closest points. + /// + /// The image values are initialized with \p literal::origin. template <typename I> struct closest_point_functor_with_sites { @@ -115,11 +123,11 @@ namespace mln closest_point_functor_with_indexes<I>::init(const I& input) { initialize(cp_ima, input); - data::fill(cp_ima, 0u); + data::fill(cp_ima, pset_.nsites()); mln_piter(p_array<mln_psite(I)>) p(pset_); for_all(p) - cp_ima(p) = cp_ima.index_of_point(p); + cp_ima(p) = p.index(); } template <typename I> -- 1.5.6.5