3225: Fix stuff for registration.

29 Jan 2009

https://svn.lrde.epita.fr/svn/oln/trunk/milena


Index: ChangeLog
from  Ugo Jardonnet  <ugo.jardonnet@lrde.epita.fr>

	Fix stuff for registration.

	* mln/core/image/lazy_image.hh: Fix box type.
	* mln/fun/x2x/rotation.hh: Fix matrix creation.
	* mln/registration/get_rot.hh: Assert 3d.
	* mln/registration/registration.hh: p_array convertion.
	* mln/registration/icp.hh: Remove debug print.
	* sandbox/lazzara/igr.cc: Add useless things.

 mln/core/image/lazy_image.hh     |    4 ++--
 mln/fun/x2x/rotation.hh          |    2 +-
 mln/registration/get_rot.hh      |   28 ++++++++++++++++++++--------
 mln/registration/icp.hh          |   14 ++------------
 mln/registration/registration.hh |    6 +++---
 sandbox/lazzara/igr.cc           |   34 ++++++++++++++++++++++++++++++++--
 6 files changed, 60 insertions(+), 28 deletions(-)

Index: mln/core/image/lazy_image.hh

--- mln/core/image/lazy_image.hh	(revision 3224)
+++ mln/core/image/lazy_image.hh	(working copy)
@@ -120,7 +120,7 @@
     void init_(const F& fun, const B& box);
 
     /// Return domain of lazyd_image.
-    const box2d& domain() const;
+    const box<mln_psite(I)>& domain() const;
 
     /// Test if a pixel value is accessible at \p p.
     bool has(const mln_psite(I)&) const;
@@ -223,7 +223,7 @@
 
   template <typename I, typename F, typename B>
   inline
-  const box2d&
+  const box<mln_psite(I)>&
   lazy_image<I,F,B>::domain() const
   {
     return this->data_->bb_;
Index: mln/fun/x2x/rotation.hh
--- mln/fun/x2x/rotation.hh	(revision 3224)
+++ mln/fun/x2x/rotation.hh	(working copy)
@@ -192,7 +192,7 @@
                        xy + zw,  1.f - x2 - z2,  yz - xw, 0,
                        xz - yw,  yz + xw,  1.f - x2 - y2, 0,
                        0,              0,              0, 1};
-        this->m_(make::mat<4,4>(t));
+        this->m_ = make::mat<4,4>(t);
       }
 
       template <unsigned n, typename C>
Index: mln/registration/get_rot.hh
--- mln/registration/get_rot.hh	(revision 3224)
+++ mln/registration/get_rot.hh	(working copy)
@@ -61,12 +61,22 @@
             const M& map,
             const algebra::vec<2u,float>& mu_xk)
     {
-      (void) c;
-      (void) mu_c;
-      (void) ck;
-      (void) map;
-      (void) mu_xk;
-      //FIXME: Write 2d version of rotation computation betwenn two p_array
+      assert(0 && "TODO");
+
+      //////SLOW VERSION
+
+      //// V1
+      // M1 := c covariance
+      // V1 := greatest eigen vector of M1
+
+      //// V2
+      // M2 := c covariance
+      // V2 := greatest eigen vector of M2
+
+      //// alpha
+      // cos(alpha) = (V1.V2) / (|V1|.|V2|)
+
+      //FIXME: Write 2d version of rotation computation between two p_arrays
       return fun::x2x::rotation<2u, float>();
     }
 
@@ -85,8 +95,8 @@
       algebra::mat<3u,3u,float> Mk(literal::zero);
       for (unsigned i = 0; i < c.nsites(); ++i)
         {
-          algebra::vec<3u,float> ci  = c[i];
-          algebra::vec<3u,float> xki = map(ck[i]);
+          algebra::vec<3u,float> ci  = convert::to< algebra::vec<3u,float> >(c[i]);
+          algebra::vec<3u,float> xki = convert::to< algebra::vec<3u,float> >(map(ck[i]));
           Mk += make::mat(ci - mu_c) * trans(make::mat(xki - mu_xk));
         }
       Mk /= c.nsites();
@@ -121,6 +131,8 @@
       algebra::quat qR(literal::zero);
       qR = math::jacobi(Qk);
 
+      std::cout << qR << std::endl;
+
       return fun::x2x::rotation<3u, float>(qR);
     }
 
Index: mln/registration/registration.hh
--- mln/registration/registration.hh	(revision 3224)
+++ mln/registration/registration.hh	(working copy)
@@ -66,8 +66,8 @@
                     const J& surface)
       {
         //FIXME: Use convert::to< p_array<mln_psite(I)> >()
-        p_array<mln_psite(I)> c = convert::to_p_array(cloud);
-        p_array<mln_psite(J)> x = convert::to_p_array(surface);
+        p_array<mln_psite(I)> c = convert::to< p_array<mln_psite(I)> >(cloud);
+        p_array<mln_psite(J)> x = convert::to< p_array<mln_psite(J)> >(surface);
 
         //init rigid transform qk
         composed< rotation<I::psite::dim, float>, translation<I::psite::dim, float> > qk;
@@ -78,7 +78,7 @@
 
         //make a lazy_image map via function closest_point
         fun::x2p::closest_point<mln_psite(I)> fun(x, working_box);
-        lazy_image<I, fun::x2p::closest_point<mln_psite(I)>, box2d>
+        lazy_image< I, fun::x2p::closest_point<mln_psite(I)>, box<mln_psite(I)> >
           map(fun, fun.domain());
 
         //run registration
Index: mln/registration/icp.hh
--- mln/registration/icp.hh	(revision 3224)
+++ mln/registration/icp.hh	(working copy)
@@ -169,18 +169,10 @@
 
         //work on a reduced version of c_
         p_array<P> c = c_;
-
-        std::cout << "c_length" << c_length << std::endl;
-        std::cout << "-nsites" << c_.nsites() << std::endl;
-
-        std::cout << "bad point" << c[9100] << std::endl;
-
         //FIXME: Use c_ and specify c_length to function using c_
         c.hook_std_vector_().resize(c_length);
 
-        std::cout << "+nsites" << c.nsites() << std::endl;
-        std::cout << "bad point" << c[9100] << std::endl;
-
+        //FIXME: avoid use of ck
         p_array<P>    ck(c);
         algebra::vec<P::dim,float> mu_c = center(c);
 
@@ -188,7 +180,6 @@
 
         apply(qk, c, ck);
 
-        unsigned int k = 0;
         do {
           std::cout << "*------" << std::endl;
           buf_dk.store(d_k);
@@ -204,13 +195,12 @@
           //     = d(closest(qk-1(P)), qk(P))
           d_k = internal::rms(c, map, buf_qk[1], qk);
 
-          k++;
           //FIXME: Add matrix norm
           //} while ((qk - buf_qk[1]).sqr_norm() / qk.sqr_norm() > epsilon);
 
           std::cout << d_k << std::endl;
 
-        } while (d_k > 9.2);
+        } while (d_k > 9.2 + epsilon);
 
         trace::exiting("registration::impl::icp_");
       }
Index: sandbox/lazzara/igr.cc
--- sandbox/lazzara/igr.cc	(revision 3224)
+++ sandbox/lazzara/igr.cc	(working copy)
@@ -1,4 +1,5 @@
 #include <mln/essential/2d.hh>
+#include <mln/core/image/image3d.hh>
 #include <mln/binarization/binarization.hh>
 #include <mln/labeling/background.hh>
 
@@ -21,7 +22,38 @@
 };
 
 
+template <typename T>
+inline
+mln::image3d<T>
+to_image3d(const mln::image2d<T>& img)
+{
+  mln::point3d pmin(img.domain().pmin()[0], img.domain().pmin()[1], 0);
+  mln::point3d pmax(img.domain().pmax()[0], img.domain().pmax()[1], 0);
+  mln::image3d<T> img3d(mln::box3d(pmin,pmax));
 
+  mln_piter(mln::image3d<T>) p(img3d.domain());
+  for_all(p)
+    img3d(p) = exact(img)(mln::point2d(p[0],p[1]));
+
+  return img3d;
+}
+
+template <typename T>
+inline
+mln::point<mln::grid::square, T>
+to_point2d(const mln::point<mln::grid::cube, T>& p)
+{
+  return mln::point<mln::grid::square, T>(p[0], p[1]);
+}
+
+//point2d -> point3d
+template <typename T>
+inline
+mln::point<mln::grid::cube, T>
+to_point3d(const mln::point<mln::grid::square, T>& p)
+{
+  return mln::point<mln::grid::cube, T>(p[0], p[1], 0);
+}
 
 template <typename I>
 mln_concrete(I)
@@ -132,7 +164,5 @@
   for_all(p)
     res(qk(p.to_site().to_vec())) = true;
 
-
   io::pbm::save(slice(res,0), "04_registered.pbm");
-
 }

    

Ugo Jardonnet

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