https://svn.lrde.epita.fr/svn/oln/trunk/milena/sandbox Index: ChangeLog from Ugo Jardonnet <jardonnet@lrde.epita.fr> Add functions on box : enlarge and bigger. * jardonnet/registration/tools.hh (enlarge,bigger): Add. * jardonnet/test/icp.cc: Update: use enlarge and bigger. registration/tools.hh | 26 +++++++++++++++----------- test/icp.cc | 12 +++++------- 2 files changed, 20 insertions(+), 18 deletions(-) Index: jardonnet/registration/tools.hh --- jardonnet/registration/tools.hh (revision 1957) +++ jardonnet/registration/tools.hh (working copy) @@ -147,15 +147,17 @@ template <typename P> inline - const box_<P>& //dif + box_<P> //dif enlarge(const box_<P>& box, unsigned b) { + box_<P> nbox(box); + for (unsigned i = 0; i < P::dim; ++i) { - box.pmin()[i] -= b; - box.pmax()[i] += b; + nbox.pmin()[i] -= b; + nbox.pmax()[i] += b; } - return box; + return nbox; } template <typename P> @@ -163,8 +165,11 @@ { P pmin,pmax; - pmin = min(a.pmin(), b.pmin()); - pmax = max(a.pmax(), b.pmax()); + for (unsigned i = 0; i < P::dim; i++) + { + pmin[i] = (a.pmin()[i] < b.pmin()[i]) ? a.pmin()[i] : b.pmin()[i]; + pmax[i] = (a.pmax()[i] > b.pmax()[i]) ? a.pmax()[i] : b.pmax()[i]; + } return box_<P>(pmin, pmax); } @@ -221,7 +226,7 @@ // to_pointNd - //FIXME: Should we really provide this + //FIXME: Should be call projection //point3d -> point2d template <typename T> inline @@ -230,6 +235,7 @@ { return point_<grid::square, T>(p[0], p[1]); } + //point2d -> point2d template <typename T> inline @@ -287,10 +293,8 @@ mln_piter(image3d<T>) p(img3d.domain()); for_all(p) - { - if (p[2] == 0) img3d(p) = exact(img)(point2d(p[0],p[1])); - } + return img3d; } @@ -299,6 +303,7 @@ namespace algebra { + // transpose template<unsigned n, unsigned m, typename T> mat<m,n,T> trans(const mat<n,m,T>& matrice) @@ -311,7 +316,6 @@ } // trace - template<unsigned n, typename T> inline float tr(const mat<n,n,T>& m) { Index: jardonnet/test/icp.cc --- jardonnet/test/icp.cc (revision 1957) +++ jardonnet/test/icp.cc (working copy) @@ -47,8 +47,11 @@ p_array<mln_point_(I3d)> c = convert::to_p_array(cloud); p_array<mln_point_(I3d)> x = convert::to_p_array(surface); + //working box + const box_<mln_point_(I3d)> working_box = enlarge(bigger(c.bbox(),x.bbox()),100); + //Make a lazy_image map via function closest_point - closest_point<mln_point_(I3d)> fun(x, box_<point3d>(1000,1000,1)); + closest_point<mln_point_(I3d)> fun(x, working_box); lazy_image< closest_point<mln_point_(I3d)> > map(fun); quat7<3> qk = registration::icp(c, map, q, e, x); @@ -61,12 +64,7 @@ qk.apply_on(c, c, c.npoints()); //init output image - //FIXME: Should be like - //mln_concrete(I) output(res.bbox()) = convert::to_image<I>(res) ? - - - const box_<point2d> box2d(400,700); - image2d<value::rgb8> output(box2d, 1); + image2d<value::rgb8> output(convert::to_box2d(working_box), 1); float stddev, mean; registration::mean_stddev(c, map, mean, stddev);