--- milena/ChangeLog | 4 ++++ milena/mln/registration/icp.hh | 19 +++++++++++-------- 2 files changed, 15 insertions(+), 8 deletions(-) diff --git a/milena/ChangeLog b/milena/ChangeLog index a707cc8..bd1f03f 100644 --- a/milena/ChangeLog +++ b/milena/ChangeLog @@ -1,5 +1,9 @@ 2012-05-28 Guillaume Lazzara <z@lrde.epita.fr> + * mln/registration/icp.hh: Cleanup some debug. + +2012-05-28 Guillaume Lazzara <z@lrde.epita.fr> + * mln/geom/rotate.hh: Add support for n-D images. 2012-05-28 Guillaume Lazzara <z@lrde.epita.fr> diff --git a/milena/mln/registration/icp.hh b/milena/mln/registration/icp.hh index aa263f7..c6d03db 100644 --- a/milena/mln/registration/icp.hh +++ b/milena/mln/registration/icp.hh @@ -159,7 +159,9 @@ namespace mln mln_postcondition(box.is_valid()); +#ifndef NDEBUG std::cout << "Map image defined on " << box << std::endl; +#endif // NDEBUG X_ = X; init(X, box); @@ -190,10 +192,11 @@ namespace mln mln_postcondition(cp_ima_.is_valid()); mln_postcondition(cp_ima_.domain().is_valid()); + +#ifndef NDEBUG std::cout << "pmin = " << cp_ima_.domain().pmin() << std::endl;; 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); @@ -361,8 +364,9 @@ namespace mln std::ostringstream ss2; ss2 << "out_" << prefix << r << ".ppm"; io::ppm::save(mln::slice(out,0), ss2.str()); -#endif + std::cout << "Points removed with the whole set and current d_min/d_max: " << removed << std::endl; +#endif } @@ -394,11 +398,11 @@ namespace mln d_max = int(mean + sd); } +#ifndef NDEBUG std::cout << "Standard deviation = " << sd << std::endl; - std::ostringstream ss1; - ss1 << "histo_" << r << ".dat"; std::cout << h << std::endl; std::cout << "d thresholds = " << d_min << ' ' << d_max << std::endl; +#endif // ! NDEBUG } template <typename P, typename F> @@ -422,7 +426,7 @@ namespace mln for_all(p) { vec3d_f Pk_i = pair.first.rotate(p.to_vec()) + pair.second; - vec3d_f Yk_i = closest_point(Pk_i); + //vec3d_f Yk_i = closest_point(Pk_i); int d_i = closest_point.dmap_X_(Pk_i); if (d_i >= d_min && d_i <= d_max) @@ -438,6 +442,7 @@ namespace mln } } +# ifndef NDEBUG { std::ostringstream ss2; ss2 << method << "_" << r << "_removed_sites" << ".cloud"; @@ -449,7 +454,6 @@ namespace mln io::cloud::save(tmp, ss2.str()); } -# ifndef NDEBUG std::ostringstream ss2; ss2 << method << "_" << r << "_removed_sites" << ".ppm"; io::ppm::save(mln::slice(out,0), ss2.str()); @@ -656,7 +660,6 @@ namespace mln // quaternion qR - rotation qR = get_rot(P_, mu_P, mu_Yk, closest_point, qR_old, qT_old); - vec3d_f tmp = qR.v(); // vector qT - translation qT = mu_Yk - qR.rotate(mu_P); @@ -678,10 +681,10 @@ namespace mln ss << "0"; ss << k << ".ppm"; io::ppm::save(mln::slice(tmp_,0), ss.str()); -#endif std::cout << "e_" << k << "=" << e_k << std::endl; std::cout << "d_" << k << "=" << d_k << std::endl; +#endif // ! NDEBUG // Check distance and error according to the related paper. // Disabled because of the following 'if' -- 1.7.2.5