- Olena-patches

olena-2.0-103-g590eeaa Add a better support for different k values in Sauvola Multiscale.
by Guillaume Lazzara 22 Jun '12

22 Jun '12

* scribo/scribo/binarization/internal/sauvola_ms_functor.hh, * scribo/scribo/binarization/sauvola_ms.hh, * scribo/scribo/binarization/sauvola_ms_split.hh, * scribo/scribo/toolchain/internal/text_in_doc_preprocess_functor.hh, * scribo/scribo/toolchain/text_in_doc_preprocess.hh: Make use of k2, k3 and k4 variables. * scribo/src/binarization/sauvola_ms.cc, * scribo/src/binarization/sauvola_ms_debug.cc, * scribo/src/binarization/sauvola_ms_fg.cc, * scribo/src/binarization/sauvola_ms_split.cc: Fix program arguments. --- scribo/ChangeLog | 17 +++++++ .../binarization/internal/sauvola_ms_functor.hh | 16 ++++--- scribo/scribo/binarization/sauvola_ms.hh | 48 ++++++++++--------- scribo/scribo/binarization/sauvola_ms_split.hh | 41 ++++++++++++----- .../internal/text_in_doc_preprocess_functor.hh | 28 +++++++++--- scribo/scribo/toolchain/text_in_doc_preprocess.hh | 46 +++++++++++++++---- scribo/src/binarization/sauvola_ms.cc | 2 +- scribo/src/binarization/sauvola_ms_debug.cc | 27 ++++++++--- scribo/src/binarization/sauvola_ms_fg.cc | 31 +++++++++++-- scribo/src/binarization/sauvola_ms_split.cc | 29 +++++++++--- 10 files changed, 207 insertions(+), 78 deletions(-) diff --git a/scribo/ChangeLog b/scribo/ChangeLog index cc3608f..d0b8807 100644 --- a/scribo/ChangeLog +++ b/scribo/ChangeLog @@ -1,3 +1,20 @@ +2012-05-22 Guillaume Lazzara <z(a)lrde.epita.fr> + + Add a better support for different k values in Sauvola Multiscale. + + * scribo/scribo/binarization/internal/sauvola_ms_functor.hh, + * scribo/scribo/binarization/sauvola_ms.hh, + * scribo/scribo/binarization/sauvola_ms_split.hh, + * scribo/scribo/toolchain/internal/text_in_doc_preprocess_functor.hh, + * scribo/scribo/toolchain/text_in_doc_preprocess.hh: Make use of + k2, k3 and k4 variables. + + * scribo/src/binarization/sauvola_ms.cc, + * scribo/src/binarization/sauvola_ms_debug.cc, + * scribo/src/binarization/sauvola_ms_fg.cc, + * scribo/src/binarization/sauvola_ms_split.cc: Fix program + arguments. + 2012-05-11 Guillaume Lazzara <z(a)lrde.epita.fr> Add a default verbose mode in debug::logger. diff --git a/scribo/scribo/binarization/internal/sauvola_ms_functor.hh b/scribo/scribo/binarization/internal/sauvola_ms_functor.hh index 3411d1b..020caa9 100644 --- a/scribo/scribo/binarization/internal/sauvola_ms_functor.hh +++ b/scribo/scribo/binarization/internal/sauvola_ms_functor.hh @@ -54,9 +54,9 @@ namespace scribo namespace internal { - double k2; - double k3; - double k4; + double k2 = SCRIBO_DEFAULT_SAUVOLA_K; + double k3 = SCRIBO_DEFAULT_SAUVOLA_K; + double k4 = SCRIBO_DEFAULT_SAUVOLA_K; using namespace mln; @@ -91,7 +91,9 @@ namespace scribo sauvola_formula formula_; - sauvola_ms_functor(const I& input, double K, double R, const image2d<value::int_u8>&e_2, unsigned i, unsigned q); + sauvola_ms_functor(const I& input, double R, + const image2d<value::int_u8>&e_2, + unsigned i, unsigned q); void exec(double mean, double stddev); void end_of_row(int row); @@ -113,13 +115,15 @@ namespace scribo template <typename I> - sauvola_ms_functor::sauvola_ms_functor(const I& input, double K, double R, const image2d<value::int_u8>&e_2, unsigned i, unsigned q) + sauvola_ms_functor::sauvola_ms_functor(const I& input, + double R, + const image2d<value::int_u8>&e_2, + unsigned i, unsigned q) : input(input), e_2(e_2), i(i), q(q), pxl(input), - //K_(K), R_(R), i_(i) { diff --git a/scribo/scribo/binarization/sauvola_ms.hh b/scribo/scribo/binarization/sauvola_ms.hh index b1e8144..1f120cc 100644 --- a/scribo/scribo/binarization/sauvola_ms.hh +++ b/scribo/scribo/binarization/sauvola_ms.hh @@ -69,6 +69,7 @@ # include <scribo/util/integral_sub_sum_sum2_functor.hh> # include <scribo/util/compute_sub_domains.hh> +# include <scribo/debug/logger.hh> # ifdef SCRIBO_LOCAL_THRESHOLD_DEBUG # include <scribo/binarization/internal/local_threshold_debug.hh> # include <mln/io/pgm/save.hh> @@ -96,10 +97,10 @@ namespace scribo \param[in] w_1 The window size used to compute stats. \param[in] s The scale factor used for the first subscaling. \param[in] lambda_min_1 Size of the objects kept at scale 1. - \param[in] K Sauvola's formulae parameter. \param[out] integral_sum_sum_2 Integral image of sum and squared sum. + Sauvola's formula parameter K is set to 0.34. \p w_1 and \p lambda_min_1 are expressed according to the image at scale 0, i.e. the original size. @@ -108,22 +109,24 @@ namespace scribo template <typename I> mln_ch_value(I,bool) sauvola_ms(const Image& input_1_, unsigned w_1, - unsigned s, double K, + unsigned s, image2d<mln::util::couple<double,double> >& integral_sum_sum_2); /// \overload /// The integral image is not returned. + /// K is set to 0.34. // template <typename I> mln_ch_value(I,bool) - sauvola_ms(const Image& input_1_, unsigned w_1, unsigned s, double K); + sauvola_ms(const Image& input_1_, unsigned w_1, unsigned s); /// \overload - /// K is set to 0.34. + /// Allow to specify a different k parameter for each scale. // template <typename I> mln_ch_value(I,bool) - sauvola_ms(const Image& input_1, unsigned w_1, unsigned s); + sauvola_ms(const Image& input_1, unsigned w_1, unsigned s, + double k2, double k3, double k4); @@ -154,8 +157,7 @@ namespace scribo unsigned lambda_min, unsigned lambda_max, unsigned s, unsigned q, unsigned i, unsigned w, - const image2d<mln::util::couple<double,double> >& integral_sum_sum_2, - double K) + const image2d<mln::util::couple<double,double> >& integral_sum_sum_2) { typedef image2d<int_u8> I; typedef point2d P; @@ -170,7 +172,7 @@ namespace scribo // 1st pass scribo::binarization::internal::sauvola_ms_functor< image2d<int_u8> > - f(sub, K, SCRIBO_DEFAULT_SAUVOLA_R, e_2, i, q); + f(sub, SCRIBO_DEFAULT_SAUVOLA_R, e_2, i, q); scribo::canvas::integral_browsing(integral_sum_sum_2, ratio, w_local_w, w_local_h, @@ -783,7 +785,7 @@ namespace scribo template <typename I> mln_ch_value(I,bool) sauvola_ms(const Image& input_1_, unsigned w_1, - unsigned s, double K, + unsigned s, image2d<mln::util::couple<double,double> >& integral_sum_sum_2) { trace::entering("scribo::binarization::sauvola_ms"); @@ -912,8 +914,7 @@ namespace scribo mln_max(unsigned), s, q, i, w_work, - integral_sum_sum_2, - K); + integral_sum_sum_2); } // Other scales -> maximum and minimum component size. @@ -929,8 +930,7 @@ namespace scribo // (8096 / 36) * coeff, s, q, i, w_work, - integral_sum_sum_2, - K); + integral_sum_sum_2); } } @@ -943,8 +943,7 @@ namespace scribo win_w[2] * 3 * coeff, // (810 / 9) * coeff, s, 1, 2, w_work, - integral_sum_sum_2, - K); + integral_sum_sum_2); } scribo::debug::logger().stop_local_time_logging("3. Multi-scale processing -"); @@ -1008,8 +1007,7 @@ namespace scribo template <typename I> mln_ch_value(I,bool) - sauvola_ms(const Image& input_1_, unsigned w_1, - unsigned s, double K, + sauvola_ms(const Image& input_1_, unsigned w_1, unsigned s, image2d<mln::util::couple<double,double> >& integral_sum_sum_2) { trace::entering("scribo::binarization::sauvola_ms"); @@ -1020,7 +1018,7 @@ namespace scribo mlc_is_not(mln_value(I), bool)::check(); mln_ch_value(I,bool) - output = impl::generic::sauvola_ms(exact(input_1_), w_1, s, K, + output = impl::generic::sauvola_ms(exact(input_1_), w_1, s, integral_sum_sum_2); trace::exiting("scribo::binarization::sauvola_ms"); @@ -1029,8 +1027,7 @@ namespace scribo template <typename I> mln_ch_value(I,bool) - sauvola_ms(const Image& input_1_, unsigned w_1, - unsigned s, double K) + sauvola_ms(const Image& input_1_, unsigned w_1, unsigned s) { trace::entering("scribo::binarization::sauvola_ms"); @@ -1043,7 +1040,7 @@ namespace scribo integral_t integral_sum_sum_2; mln_ch_value(I,bool) - output = sauvola_ms(input_1_, w_1, s, K, integral_sum_sum_2); + output = sauvola_ms(input_1_, w_1, s, integral_sum_sum_2); trace::exiting("scribo::binarization::sauvola_ms"); return output; @@ -1052,9 +1049,14 @@ namespace scribo template <typename I> mln_ch_value(I,bool) - sauvola_ms(const Image& input_1, unsigned w_1, unsigned s) + sauvola_ms(const Image& input_1, unsigned w_1, unsigned s, + double k2, double k3, double k4) { - return sauvola_ms(input_1, w_1, s, SCRIBO_DEFAULT_SAUVOLA_K); + binarization::internal::k2 = k2; + binarization::internal::k3 = k3; + binarization::internal::k4 = k4; + + return sauvola_ms(input_1, w_1, s); } diff --git a/scribo/scribo/binarization/sauvola_ms_split.hh b/scribo/scribo/binarization/sauvola_ms_split.hh index ff16a4e..cf74dd1 100644 --- a/scribo/scribo/binarization/sauvola_ms_split.hh +++ b/scribo/scribo/binarization/sauvola_ms_split.hh @@ -1,5 +1,5 @@ -// Copyright (C) 2010, 2011 EPITA Research and Development Laboratory -// (LRDE) +// Copyright (C) 2010, 2011, 2012 EPITA Research and Development +// Laboratory (LRDE) // // This file is part of Olena. // @@ -59,7 +59,9 @@ namespace scribo \param[in] min_ntrue A site is set to 'True' in the output if it is set to 'True' at least \p min_ntrue components. Possible values: 1, 2, 3. - \param[in] K Sauvola's formula parameter. + \param[in] k2 Sauvola's formula parameter. + \param[in] k3 Sauvola's formula parameter. + \param[in] k4 Sauvola's formula parameter. \p w_1 is expressed according to the image at scale 0, i.e. the original size. @@ -69,12 +71,19 @@ namespace scribo template <typename I> mln_ch_value(I, bool) sauvola_ms_split(const Image& input_1_, unsigned w_1, - unsigned s, unsigned min_ntrue, - double K); + unsigned s, unsigned min_ntrue, double k2, + double k3, double k4); + + /// \overload + /// k2, k3 and k4 are set to \p K. + template <typename I> + mln_ch_value(I, bool) + sauvola_ms_split(const Image& input_1_, unsigned w_1, + unsigned s, unsigned min_ntrue, double K); /// \overload - /// K is set to 0.34. + /// k2, k3 and k4 are set to 0.34. template <typename I> mln_ch_value(I, bool) sauvola_ms_split(const Image& input_1_, unsigned w_1, @@ -88,8 +97,8 @@ namespace scribo template <typename I> mln_ch_value(I, bool) sauvola_ms_split(const Image& input_1_, unsigned w_1, - unsigned s, unsigned min_ntrue, - double K) + unsigned s, unsigned min_ntrue, double k2, + double k3, double k4) { trace::entering("scribo::binarization::sauvola_ms_split"); @@ -107,9 +116,9 @@ namespace scribo bin_t r_b, g_b, b_b; - r_b = sauvola_ms(r_i, w_1, s, K); - g_b = sauvola_ms(g_i, w_1, s, K); - b_b = sauvola_ms(b_i, w_1, s, K); + r_b = sauvola_ms(r_i, w_1, s); + g_b = sauvola_ms(g_i, w_1, s); + b_b = sauvola_ms(b_i, w_1, s); border::resize(r_b, input_1.border()); border::resize(g_b, input_1.border()); @@ -151,6 +160,16 @@ namespace scribo template <typename I> mln_ch_value(I, bool) sauvola_ms_split(const Image& input_1, unsigned w_1, + unsigned s, unsigned min_ntrue, double K) + { + return sauvola_ms_split(input_1, w_1, s, min_ntrue, + K, K, K); + } + + + template <typename I> + mln_ch_value(I, bool) + sauvola_ms_split(const Image& input_1, unsigned w_1, unsigned s, unsigned min_ntrue) { return sauvola_ms_split(input_1, w_1, s, min_ntrue, diff --git a/scribo/scribo/toolchain/internal/text_in_doc_preprocess_functor.hh b/scribo/scribo/toolchain/internal/text_in_doc_preprocess_functor.hh index d58b4b2..aea02d8 100644 --- a/scribo/scribo/toolchain/internal/text_in_doc_preprocess_functor.hh +++ b/scribo/scribo/toolchain/internal/text_in_doc_preprocess_functor.hh @@ -1,5 +1,5 @@ -// Copyright (C) 2010, 2011 EPITA Research and Development Laboratory -// (LRDE) +// Copyright (C) 2010, 2011, 2012 EPITA Research and Development +// Laboratory (LRDE) // // This file is part of Olena. // @@ -86,10 +86,17 @@ namespace scribo Few parameters can be set for algorithms: - - Sauvola: + - Sauvola Multi-scale: * sauvola_win, the window size used in Sauvola based algorithms (default 101). - * sauvola_K, a user parameter for Sauvola's threshold formula + * sauvola_K2, a user parameter for Sauvola's threshold formula + at scale 2. + (default 0.34). + * sauvola_K3, a user parameter for Sauvola's threshold formula + at scale 3. + (default 0.34). + * sauvola_K4, a user parameter for Sauvola's threshold formula + at scale 4. (default 0.34). - Extract background/foreground @@ -126,7 +133,9 @@ namespace scribo Binarization_Algo binarization_algo; unsigned sauvola_win; - double sauvola_K; + double sauvola_k2; + double sauvola_k3; + double sauvola_k4; unsigned lambda; // Results @@ -162,7 +171,9 @@ namespace scribo enable_denoising(false), binarization_algo(SauvolaMs), sauvola_win(101), - sauvola_K(0.34), + sauvola_k2(0.34), + sauvola_k3(0.34), + sauvola_k4(0.34), lambda(0) { } @@ -252,7 +263,10 @@ namespace scribo { on_new_progress_label("Binarization (Sauvola Multi-scale)"); output = scribo::binarization::sauvola_ms(intensity_ima, - sauvola_win, 3, sauvola_K); + sauvola_win, 3, + sauvola_k2, + sauvola_k3, + sauvola_k4); } else // binarization_algo == Convert { diff --git a/scribo/scribo/toolchain/text_in_doc_preprocess.hh b/scribo/scribo/toolchain/text_in_doc_preprocess.hh index efa03dd..eb49bde 100644 --- a/scribo/scribo/toolchain/text_in_doc_preprocess.hh +++ b/scribo/scribo/toolchain/text_in_doc_preprocess.hh @@ -1,5 +1,5 @@ -// Copyright (C) 2010, 2011 EPITA Research and Development Laboratory -// (LRDE) +// Copyright (C) 2010, 2011, 2012 EPITA Research and Development +// Laboratory (LRDE) // // This file is part of Olena. // @@ -55,7 +55,8 @@ namespace scribo \param[in] input An image. \param[in] enable_fg_bg Enable/Disable background removal. - \param[in] K Binarization threshold parameter. (Default 0.34) + \param[in] K Binarization threshold parameter. Use the same + value for all scales. (Default 0.34) If \p enable_fg_bg is set to 'True' then a background removal is performed. Its parameter lambda is automatically set according @@ -93,10 +94,14 @@ namespace scribo bool verbose = false); /*! \brief Preprocess a document before looking for its content. + This methods relies on a multi-scale implementation of Sauvola's + binarization. \param[in] input An image. \param[in] lambda Parameter to the background removal. - \param[in] K Binarization threshold parameter. (Default 0.34) + \param[in] k2 Binarization threshold parameter for scale 2. (Default 0.34) + \param[in] k3 Binarization threshold parameter for scale 3. (Default 0.34) + \param[in] k4 Binarization threshold parameter for scale 4. (Default 0.34) \param[in,out] fg The foreground layer of \p input. If lambda is set to '0' no background removal is @@ -107,8 +112,16 @@ namespace scribo template <typename I> mln_ch_value(I,bool) text_in_doc_preprocess(const Image& input, unsigned lambda, - double K, bool enable_fg_bg, Image& fg, - bool enable_deskew, bool verbose = false); + double k2, double k3, double k4, bool enable_fg_bg, + Image& fg, bool enable_deskew, + bool verbose = false); + + /// \overload + template <typename I> + mln_ch_value(I,bool) + text_in_doc_preprocess(const Image& input_, unsigned lambda, + bool enable_fg_bg, Image& fg, + bool enable_deskew, bool verbose); # ifndef MLN_INCLUDE_ONLY @@ -137,7 +150,7 @@ namespace scribo mln_concrete(I) tmp_fg; mln_ch_value(I,bool) - output = text_in_doc_preprocess(input, lambda, K, + output = text_in_doc_preprocess(input, lambda, K, K, K, enable_fg_bg, tmp_fg, enable_deskew, verbose); return output; @@ -156,8 +169,8 @@ namespace scribo template <typename I> mln_ch_value(I,bool) text_in_doc_preprocess(const Image& input_, unsigned lambda, - double K, bool enable_fg_bg, Image& fg, - bool enable_deskew, bool verbose) + double k2, double k3, double k4, bool enable_fg_bg, + Image& fg, bool enable_deskew, bool verbose) { trace::entering("scribo::toolchain::text_in_doc_preprocess"); @@ -167,7 +180,9 @@ namespace scribo internal::text_in_doc_preprocess_functor f; // Setup functor. - f.sauvola_K = K; + f.sauvola_k2 = k2; + f.sauvola_k3 = k3; + f.sauvola_k4 = k4; f.enable_fg_extraction = enable_fg_bg; f.lambda = lambda; f.enable_deskew = enable_deskew; @@ -182,6 +197,17 @@ namespace scribo } + template <typename I> + mln_ch_value(I,bool) + text_in_doc_preprocess(const Image& input, unsigned lambda, + bool enable_fg_bg, Image& fg, + bool enable_deskew, bool verbose) + { + text_in_doc_preprocess(input, lambda, SCRIBO_DEFAULT_SAUVOLA_K, + SCRIBO_DEFAULT_SAUVOLA_K, SCRIBO_DEFAULT_SAUVOLA_K, + enable_fg_bg, fg, enable_deskew, verbose); + } + # endif // ! MLN_INCLUDE_ONLY diff --git a/scribo/src/binarization/sauvola_ms.cc b/scribo/src/binarization/sauvola_ms.cc index 685337c..fc6a5a9 100644 --- a/scribo/src/binarization/sauvola_ms.cc +++ b/scribo/src/binarization/sauvola_ms.cc @@ -143,7 +143,7 @@ int main(int argc, char *argv[]) // Binarize image2d<bool> - output = scribo::binarization::sauvola_ms(input_1_gl, w_1, s, k); + output = scribo::binarization::sauvola_ms(input_1_gl, w_1, s); scribo::debug::logger().stop_local_time_logging("Binarized in"); diff --git a/scribo/src/binarization/sauvola_ms_debug.cc b/scribo/src/binarization/sauvola_ms_debug.cc index 251f0e8..d4dcc14 100644 --- a/scribo/src/binarization/sauvola_ms_debug.cc +++ b/scribo/src/binarization/sauvola_ms_debug.cc @@ -64,7 +64,7 @@ static const scribo::debug::opt_data opt_desc[] = // name, description, arguments, check args function, number of args, default arg { "debug-prefix", "Enable debug image outputs. Prefix image name with that " "given prefix.", "<prefix>", 0, 1, 0 }, - { "k", "Sauvola's formulae parameter", "<value>", 0, 1, "0.34" }, + { "all-k", "Sauvola's formulae parameter", "<value>", 0, 1, "0.34" }, { "k2", "Sauvola's formulae parameter", "<value>", 0, 1, "0.20" }, { "k3", "Sauvola's formulae parameter", "<value>", 0, 1, "0.30" }, @@ -136,14 +136,27 @@ int main(int argc, char *argv[]) unsigned w_1 = atoi(options.opt_value("win-size").c_str()); // First subsampling scale. unsigned s = atoi(options.opt_value("s").c_str()); - double k = atof(options.opt_value("k").c_str()); - binarization::internal::k2 = atof(options.opt_value("k2").c_str()); - binarization::internal::k3 = atof(options.opt_value("k3").c_str()); - binarization::internal::k4 = atof(options.opt_value("k4").c_str()); + + // Setting k parameter. + double k = atof(options.opt_value("all-k").c_str()); + binarization::internal::k2 = k; + binarization::internal::k3 = k; + binarization::internal::k4 = k; + + // Override k parameter for specific scales. + if (options.is_set("k2")) + binarization::internal::k2 = atof(options.opt_value("k2").c_str()); + if (options.is_set("k3")) + binarization::internal::k3 = atof(options.opt_value("k3").c_str()); + if (options.is_set("k4")) + binarization::internal::k4 = atof(options.opt_value("k4").c_str()); scribo::debug::logger() << "Using w_1=" << w_1 << " - s=" << s - << " - k=" << k << std::endl; + << " - k2=" << binarization::internal::k2 + << " - k3=" << binarization::internal::k3 + << " - k4=" << binarization::internal::k4 + << std::endl; scribo::binarization::internal::scale_image_output = "scale_image.pgm"; scribo::binarization::internal::threshold_image_output = "threshold_image.pbm"; @@ -165,7 +178,7 @@ int main(int argc, char *argv[]) // Binarize. image2d<bool> - output = scribo::binarization::sauvola_ms(input_1_gl, w_1, s, k); + output = scribo::binarization::sauvola_ms(input_1_gl, w_1, s); scribo::debug::logger().stop_local_time_logging("Binarized in"); diff --git a/scribo/src/binarization/sauvola_ms_fg.cc b/scribo/src/binarization/sauvola_ms_fg.cc index 98206a8..9f47b7d 100644 --- a/scribo/src/binarization/sauvola_ms_fg.cc +++ b/scribo/src/binarization/sauvola_ms_fg.cc @@ -60,7 +60,12 @@ static const scribo::debug::opt_data opt_desc[] = // name, description, arguments, check args function, number of args, default arg { "debug-prefix", "Enable debug image outputs. Prefix image name with that " "given prefix.", "<prefix>", 0, 1, 0 }, - { "k", "Sauvola's formulae parameter", "<value>", 0, 1, "0.34" }, + { "all-k", "Sauvola's formulae parameter", "<value>", 0, 1, "0.34" }, + + { "k2", "Sauvola's formulae parameter", "<value>", 0, 1, "0.20" }, + { "k3", "Sauvola's formulae parameter", "<value>", 0, 1, "0.30" }, + { "k4", "Sauvola's formulae parameter", "<value>", 0, 1, "0.50" }, + { "lambda", "Set the maximum area of the background objects. It is only " "useful if fg-extraction is enabled.", "<size>", 0, 1, "1024" }, { "s", "First subsampling ratio. Possible values: 2 or 3.", "ratio", @@ -100,10 +105,26 @@ int main(int argc, char *argv[]) // First subsampling scale. unsigned s = atoi(options.opt_value("s").c_str()); - double k = atof(options.opt_value("k").c_str()); - scribo::debug::logger() << "Using w_1=" << w_1 << " - s=" << s << " - k=" - << k << " - lambda=" << lambda << std::endl; + // Setting k parameter. + double k = atof(options.opt_value("all-k").c_str()); + binarization::internal::k2 = k; + binarization::internal::k3 = k; + binarization::internal::k4 = k; + + // Override k parameter for specific scales. + if (options.is_set("k2")) + binarization::internal::k2 = atof(options.opt_value("k2").c_str()); + if (options.is_set("k3")) + binarization::internal::k3 = atof(options.opt_value("k3").c_str()); + if (options.is_set("k4")) + binarization::internal::k4 = atof(options.opt_value("k4").c_str()); + + scribo::debug::logger() << "Using w_1=" << w_1 << " - s=" << s + << " - k2=" << binarization::internal::k2 + << " - k3=" << binarization::internal::k3 + << " - k4=" << binarization::internal::k4 + << std::endl; Magick::InitializeMagick(0); @@ -121,7 +142,7 @@ int main(int argc, char *argv[]) // Binarize image2d<bool> - output = scribo::binarization::sauvola_ms(fg_gl, w_1, s, k); + output = scribo::binarization::sauvola_ms(fg_gl, w_1, s); io::pbm::save(output, options.arg("output.pbm")); } diff --git a/scribo/src/binarization/sauvola_ms_split.cc b/scribo/src/binarization/sauvola_ms_split.cc index f1cc490..21915e9 100644 --- a/scribo/src/binarization/sauvola_ms_split.cc +++ b/scribo/src/binarization/sauvola_ms_split.cc @@ -55,7 +55,7 @@ static const scribo::debug::opt_data opt_desc[] = // name, description, arguments, check args function, number of args, default arg { "debug-prefix", "Enable debug image outputs. Prefix image name with that " "given prefix.", "<prefix>", 0, 1, 0 }, - { "k", "Sauvola's formulae parameter. Set it globally for all scales.", + { "all-k", "Sauvola's formulae parameter. Set it globally for all scales.", "<value>", 0, 1, "0.34" }, { "k2", "Sauvola's formulae parameter", "<value>", 0, 1, "0.20" }, @@ -98,15 +98,28 @@ int main(int argc, char *argv[]) // First subsampling scale. unsigned s = atoi(options.opt_value("s").c_str()); - double k = atof(options.opt_value("k").c_str()); unsigned min_ntrue = atoi(options.opt_value("min-ntrue").c_str()); - binarization::internal::k2 = atof(options.opt_value("k2").c_str()); - binarization::internal::k3 = atof(options.opt_value("k3").c_str()); - binarization::internal::k4 = atof(options.opt_value("k4").c_str()); - scribo::debug::logger() << "Using w_1=" << w_1 << " - s=" << s << " - k=" - << k << " - min_ntrue=" << min_ntrue << std::endl; + // Setting k parameter. + double k = atof(options.opt_value("all-k").c_str()); + binarization::internal::k2 = k; + binarization::internal::k3 = k; + binarization::internal::k4 = k; + + // Override k parameter for specific scales. + if (options.is_set("k2")) + binarization::internal::k2 = atof(options.opt_value("k2").c_str()); + if (options.is_set("k3")) + binarization::internal::k3 = atof(options.opt_value("k3").c_str()); + if (options.is_set("k4")) + binarization::internal::k4 = atof(options.opt_value("k4").c_str()); + + scribo::debug::logger() << "Using w_1=" << w_1 << " - s=" << s + << " - k2=" << binarization::internal::k2 + << " - k3=" << binarization::internal::k3 + << " - k4=" << binarization::internal::k4 + << std::endl; Magick::InitializeMagick(0); @@ -114,7 +127,7 @@ int main(int argc, char *argv[]) io::magick::load(input_1, options.arg("input.*")); image2d<bool> - output = scribo::binarization::sauvola_ms_split(input_1, w_1, s, min_ntrue, k); + output = scribo::binarization::sauvola_ms_split(input_1, w_1, s, min_ntrue); io::pbm::save(output, options.arg("output.pbm")); } -- 1.7.2.5

1 0

olena-2.0-104-g1a12c68 Small fixes in Scribo.
by Guillaume Lazzara 22 Jun '12

22 Jun '12

* scribo/binarization/internal/local_threshold_core.hh: Add a missing include. * scribo/debug/logger.hh: Fix attributes initialization order. * scribo/text/paragraphs_closing.hh: Fix a warning related to an unused-variable. --- scribo/ChangeLog | 12 ++++++++++++ .../binarization/internal/local_threshold_core.hh | 1 + scribo/scribo/debug/logger.hh | 4 ++-- scribo/scribo/text/paragraphs_closing.hh | 4 ++-- 4 files changed, 17 insertions(+), 4 deletions(-) diff --git a/scribo/ChangeLog b/scribo/ChangeLog index d0b8807..ef55400 100644 --- a/scribo/ChangeLog +++ b/scribo/ChangeLog @@ -1,5 +1,17 @@ 2012-05-22 Guillaume Lazzara <z(a)lrde.epita.fr> + Small fixes in Scribo. + + * scribo/binarization/internal/local_threshold_core.hh: Add a + missing include. + + * scribo/debug/logger.hh: Fix attributes initialization order. + + * scribo/text/paragraphs_closing.hh: Fix a warning related to an + unused-variable. + +2012-05-22 Guillaume Lazzara <z(a)lrde.epita.fr> + Add a better support for different k values in Sauvola Multiscale. * scribo/scribo/binarization/internal/sauvola_ms_functor.hh, diff --git a/scribo/scribo/binarization/internal/local_threshold_core.hh b/scribo/scribo/binarization/internal/local_threshold_core.hh index 7589499..1ab7385 100644 --- a/scribo/scribo/binarization/internal/local_threshold_core.hh +++ b/scribo/scribo/binarization/internal/local_threshold_core.hh @@ -44,6 +44,7 @@ # include <scribo/util/integral_sum_sum2_functor.hh> # include <scribo/util/compute_sub_domains.hh> +# include <scribo/debug/logger.hh> # ifdef SCRIBO_LOCAL_THRESHOLD_DEBUG # include <scribo/binarization/internal/local_threshold_debug.hh> # include <mln/io/pgm/save.hh> diff --git a/scribo/scribo/debug/logger.hh b/scribo/scribo/debug/logger.hh index cac2770..95bfeb3 100644 --- a/scribo/scribo/debug/logger.hh +++ b/scribo/scribo/debug/logger.hh @@ -243,8 +243,8 @@ namespace scribo : level_(None), verbose_mode_(Mute), default_verbose_mode_(Low), - stream_(std::cerr), - verbose_prefix_("LOG: ") + verbose_prefix_("LOG: "), + stream_(std::cerr) { // Magick::InitializeMagick(0); } diff --git a/scribo/scribo/text/paragraphs_closing.hh b/scribo/scribo/text/paragraphs_closing.hh index 476c14e..9dd28d2 100644 --- a/scribo/scribo/text/paragraphs_closing.hh +++ b/scribo/scribo/text/paragraphs_closing.hh @@ -1,4 +1,4 @@ -// Copyright (C) 2009, 2010, 2011 EPITA Research and Development +// Copyright (C) 2009, 2010, 2011, 2012 EPITA Research and Development // Laboratory (LRDE) // // This file is part of Olena. @@ -207,7 +207,7 @@ namespace scribo const paragraph_info<L>& current_par = parset(p); const mln::util::array<line_id_t>& line_ids = current_par.line_ids(); - line_id_t last_id = line_ids[0]; + //line_id_t last_id = line_ids[0]; for_all_elements(i, line_ids) { const line_id_t& line_id = line_ids(i); -- 1.7.2.5

1 0

olena-2.0-105-gbd0b64a demos/graph/region_adjacency_graph.cc: Add program arguments.
by Guillaume Lazzara 22 Jun '12

22 Jun '12

--- milena/ChangeLog | 4 ++ milena/demos/graph/region_adjacency_graph.cc | 41 +++++++++++++++++++------- 2 files changed, 34 insertions(+), 11 deletions(-) diff --git a/milena/ChangeLog b/milena/ChangeLog index 96019b5..ed21ae7 100644 --- a/milena/ChangeLog +++ b/milena/ChangeLog @@ -1,3 +1,7 @@ +2012-05-22 Guillaume Lazzara <z(a)lrde.epita.fr> + + * demos/graph/region_adjacency_graph.cc: Add program arguments. + 2012-05-10 Guillaume Lazzara <z(a)lrde.epita.fr> Rely on Argument-Dependent Lookup (ADL) in from_to_ overloads. diff --git a/milena/demos/graph/region_adjacency_graph.cc b/milena/demos/graph/region_adjacency_graph.cc index 44a2f17..32d05b0 100644 --- a/milena/demos/graph/region_adjacency_graph.cc +++ b/milena/demos/graph/region_adjacency_graph.cc @@ -1,4 +1,5 @@ -// Copyright (C) 2009 EPITA Research and Development Laboratory (LRDE) +// Copyright (C) 2009, 2012 EPITA Research and Development Laboratory +// (LRDE) // // This file is part of Olena. // @@ -67,6 +68,9 @@ #include <mln/math/diff_abs.hh> #include <mln/debug/draw_graph.hh> +#include <mln/debug/filename.hh> +#include <mln/data/transform.hh> +#include <mln/fun/v2v/rgb_to_int_u.hh> namespace mln { @@ -149,27 +153,42 @@ namespace mln } -int main() +int main(int argc, char *argv[]) { using namespace mln; using value::int_u8; using value::rgb8; using value::label_16; - image2d<int_u8> input_pgm; - io::pgm::load(input_pgm, "house.pgm"); + if (argc != 3 && argc != 4) + { + std::cout << "Usage: " << argv[0] << " <input.*> <output_prefix>" + << " [closing_area_value (default:25)]" << std::endl; + return 1; + } + /// Load input image. image2d<rgb8> input_ppm; - io::ppm::load(input_ppm, "house.ppm"); + io::ppm::load(input_ppm, argv[1]); + + /// Convert input image to graylevel image. + image2d<value::int_u8> + input_pgm = data::transform(input_ppm, fun::v2v::rgb_to_int_u<8>()); + + /// Set output filename prefix. + debug::internal::filename_prefix = argv[2]; + unsigned area_value = 25; + if (argc == 4) + area_value = atoi(argv[3]); /// Gradient of the gray level image. image2d<int_u8> grad = morpho::gradient(input_pgm, win_c4p()); - io::pgm::save(grad, "tmp_grad_c4p.pgm"); + io::pgm::save(grad, debug::filename("grad_c4p.pgm")); /// Closing of the gradient. - image2d<int_u8> clo = morpho::closing::area(grad, c4(), 25); - io::pgm::save(clo, "tmp_clo_a100.pgm"); + image2d<int_u8> clo = morpho::closing::area(grad, c4(), area_value); + io::pgm::save(clo, debug::filename("clo_a100.pgm")); /// Watershed on the closing image. label_16 nbasins; @@ -178,12 +197,12 @@ int main() /// Output: A watershed image where each basin value is set to the basin /// mean value in the original ppm image. io::ppm::save(labeling::mean_values(input_ppm, wshed, nbasins), - "tmp_wshed_mean_colors.ppm"); + debug::filename("wshed_mean_colors.ppm")); /// Set watershed line value to yellow. data::fill((input_ppm | (pw::value(wshed) == 0u)).rw(), literal::yellow); - io::ppm::save(input_ppm, "tmp_wshed_color.ppm"); + io::ppm::save(input_ppm, debug::filename("wshed_color.ppm")); /// Build region adjacency graph. @@ -210,5 +229,5 @@ int main() mln_VAR(ima_e, make::edge_image(ima_v, dist())); io::ppm::save(make_debug_graph_image(input_ppm, ima_v, ima_e, literal::white), - "tmp_wst_rag_graph_image_white.ppm"); + debug::filename("wst_rag_graph_image_white.ppm")); } -- 1.7.2.5

1 0

olena-2.0-106-g68ec926 Rely on Argument-Dependent Lookup (ADL) in from_to_ overloads.
by Guillaume Lazzara 22 Jun '12

22 Jun '12

* mln/accu/count_labels.hh, * mln/convert/from_to.hxx, * mln/convert/to.hh, * mln/core/alias/point1d.hh, * mln/core/alias/point2d.hh, * mln/core/alias/point3d.hh, * mln/core/dpoint.hh, * mln/core/internal/neighborhood_base.hh, * mln/core/point.hh, * mln/core/site_set/p_centered.hh, * mln/core/site_set/p_vaccess.hh, * mln/fun/v2v/hsl_to_rgb.hh, * mln/fun/v2v/rgb_to_hsl.hh, * mln/io/magick/save.hh, * mln/io/plot/save.hh, * mln/labeling/blobs_and_compute.hh, * mln/labeling/value_and_compute.hh, * mln/make/w_window2d.hh, * mln/win/multiple.hh, * mln/win/multiple_size.hh, * tests/accu/site_set/rectangularity.cc, * tests/core/other/graph_elt_neighborhood.cc, * tests/core/other/graph_elt_window.cc, * tests/core/other/point_set_compatibility.cc, * tests/draw/graph.cc: Update forward declarations and includes. * mln/algebra/vec.hh, * mln/convert/from_to.hh, * mln/convert/impl/from_double_to_value.hh, * mln/convert/impl/from_float_to_value.hh, * mln/convert/impl/from_image_to_site_set.hh, * mln/convert/impl/from_int_to_value.hh, * mln/convert/impl/from_unsigned_to_value.hh, * mln/convert/impl/from_value_to_value.hh, * mln/core/alias/neighb2d.hh, * mln/core/alias/neighb3d.hh, * mln/core/alias/window1d.hh, * mln/core/alias/window2d.hh, * mln/core/alias/window3d.hh, * mln/core/concept/accumulator.hh, * mln/core/concept/gdpoint.hh, * mln/core/concept/gpoint.hh, * mln/core/concept/image.hh, * mln/core/concept/proxy.hh, * mln/core/concept/site_set.hh, * mln/core/concept/window.hh, * mln/core/image/graph_window_if_piter.hh, * mln/core/image/image1d.hh, * mln/core/mixed_neighb.hh, * mln/core/neighb.hh, * mln/core/site_set/operators.hh, * mln/core/w_window.hh, * mln/fun/i2v/array.hh, * mln/util/object_id.hh, * mln/value/hsl.hh, * mln/value/int_u.hh, * mln/value/label.hh, * mln/value/qt/rgb32.hh, * mln/value/rgb.hh, * mln/histo/array.hh, * mln/util/array.hh: Move from_to_ overloads in the same namespace as their first argument. Conflicts: milena/mln/convert/from_to.hh --- milena/ChangeLog | 67 ++++++++++++++++++++++++++++++++++++++ milena/mln/convert/from_to.hh | 25 +++++++++----- milena/mln/core/concept/proxy.hh | 6 ++-- 3 files changed, 86 insertions(+), 12 deletions(-) diff --git a/milena/ChangeLog b/milena/ChangeLog index ed21ae7..f52dabf 100644 --- a/milena/ChangeLog +++ b/milena/ChangeLog @@ -1,3 +1,70 @@ +2012-05-10 Guillaume Lazzara <z(a)lrde.epita.fr> + + Rely on Argument-Dependent Lookup (ADL) in from_to_ overloads. + + * mln/accu/count_labels.hh, + * mln/convert/from_to.hxx, + * mln/convert/to.hh, + * mln/core/alias/point1d.hh, + * mln/core/alias/point2d.hh, + * mln/core/alias/point3d.hh, + * mln/core/dpoint.hh, + * mln/core/internal/neighborhood_base.hh, + * mln/core/point.hh, + * mln/core/site_set/p_centered.hh, + * mln/core/site_set/p_vaccess.hh, + * mln/fun/v2v/hsl_to_rgb.hh, + * mln/fun/v2v/rgb_to_hsl.hh, + * mln/io/magick/save.hh, + * mln/io/plot/save.hh, + * mln/labeling/blobs_and_compute.hh, + * mln/labeling/value_and_compute.hh, + * mln/make/w_window2d.hh, + * mln/win/multiple.hh, + * mln/win/multiple_size.hh, + * tests/accu/site_set/rectangularity.cc, + * tests/core/other/graph_elt_neighborhood.cc, + * tests/core/other/graph_elt_window.cc, + * tests/core/other/point_set_compatibility.cc, + * tests/draw/graph.cc: Update forward declarations and includes. + + * mln/algebra/vec.hh, + * mln/convert/from_to.hh, + * mln/convert/impl/from_double_to_value.hh, + * mln/convert/impl/from_float_to_value.hh, + * mln/convert/impl/from_image_to_site_set.hh, + * mln/convert/impl/from_int_to_value.hh, + * mln/convert/impl/from_unsigned_to_value.hh, + * mln/convert/impl/from_value_to_value.hh, + * mln/core/alias/neighb2d.hh, + * mln/core/alias/neighb3d.hh, + * mln/core/alias/window1d.hh, + * mln/core/alias/window2d.hh, + * mln/core/alias/window3d.hh, + * mln/core/concept/accumulator.hh, + * mln/core/concept/gdpoint.hh, + * mln/core/concept/gpoint.hh, + * mln/core/concept/image.hh, + * mln/core/concept/proxy.hh, + * mln/core/concept/site_set.hh, + * mln/core/concept/window.hh, + * mln/core/image/graph_window_if_piter.hh, + * mln/core/image/image1d.hh, + * mln/core/mixed_neighb.hh, + * mln/core/neighb.hh, + * mln/core/site_set/operators.hh, + * mln/core/w_window.hh, + * mln/fun/i2v/array.hh, + * mln/util/object_id.hh, + * mln/value/hsl.hh, + * mln/value/int_u.hh, + * mln/value/label.hh, + * mln/value/qt/rgb32.hh, + * mln/value/rgb.hh, + * mln/histo/array.hh, + * mln/util/array.hh: Move from_to_ overloads in the same namespace + as their first argument. + 2012-05-22 Guillaume Lazzara <z(a)lrde.epita.fr> * demos/graph/region_adjacency_graph.cc: Add program arguments. diff --git a/milena/mln/convert/from_to.hh b/milena/mln/convert/from_to.hh index 272a47d..a3ec6d4 100644 --- a/milena/mln/convert/from_to.hh +++ b/milena/mln/convert/from_to.hh @@ -102,6 +102,7 @@ namespace mln to = from; } + // Object -> Object (F not convertible towards T) // No conversion exists! template <typename F, typename T> @@ -116,15 +117,6 @@ namespace mln } - // Object -> Object - template <typename T> - inline - void - from_to_(const Object<T>& from, Object<T>& to) - { - exact(to) = exact(from); - } - namespace convert { @@ -208,6 +200,21 @@ namespace mln exact(from), exact(to)); } + // Object -> Object + template <typename T> + inline + void + from_to_dispatch(const Object<T>& from, Object<T>& to) + { + // // Here we would like to call from_to_ overloads in order + // to let the user specify its own conversion + // function. However, doing so may lead to ambiguous + // prototypes between from_to_(Object<>, Object<>) and + // from_to_(T, T). + // from_to_(exact(from), exact(to)); + exact(to) = exact(from); + } + // Dispatch entry points. diff --git a/milena/mln/core/concept/proxy.hh b/milena/mln/core/concept/proxy.hh index 8c4d2e9..43aed15 100644 --- a/milena/mln/core/concept/proxy.hh +++ b/milena/mln/core/concept/proxy.hh @@ -186,7 +186,7 @@ namespace mln // Disambiguate between (Proxy Op Object) and (Object Op Literal). - + template < template <class, class> class Op, typename P, typename L > struct set_binary_< Op, mln::Proxy, P, mln::Literal, L > @@ -229,7 +229,7 @@ namespace mln typedef q_subject; q_subject subj_(); */ - + protected: Proxy(); }; @@ -261,7 +261,7 @@ namespace mln template <typename T> typename mln::internal::unproxy_rec_<const T>::ret unproxy_rec(const T& t); - + // operator << -- 1.7.2.5

1 0

olena-2.0-107-g8e2e7f1 Improve conversion between algebra::h_mat and algebra::quat.
by Guillaume Lazzara 22 Jun '12

22 Jun '12

* mln/algebra/h_mat.hh, * mln/algebra/quat.hh: New from_to_ overloads. * mln/fun/x2x/rotation.hh: Make use of new make::h_mat overload. * mln/make/h_mat.hh: New overload using quaternion as argument. * mln/value/builtin/integers.hh: Add epsilon. * tests/algebra/h_mat.cc, * tests/make/h_mat.cc: Improve tests. --- milena/ChangeLog | 16 ++++++ milena/mln/algebra/h_mat.hh | 94 +++++++++++++++++++++++++++++++++- milena/mln/algebra/quat.hh | 71 +++++++++++++++++++++++++- milena/mln/fun/x2x/rotation.hh | 12 +---- milena/mln/make/h_mat.hh | 38 +++++++++++++- milena/mln/value/builtin/integers.hh | 4 +- milena/tests/algebra/h_mat.cc | 52 +++++++++++++----- milena/tests/make/h_mat.cc | 38 +++++++++++++- 8 files changed, 291 insertions(+), 34 deletions(-) diff --git a/milena/ChangeLog b/milena/ChangeLog index f52dabf..0f3a431 100644 --- a/milena/ChangeLog +++ b/milena/ChangeLog @@ -1,3 +1,19 @@ +2012-05-25 Guillaume Lazzara <z(a)lrde.epita.fr> + + Improve conversion between algebra::h_mat and algebra::quat. + + * mln/algebra/h_mat.hh, + * mln/algebra/quat.hh: New from_to_ overloads. + + * mln/fun/x2x/rotation.hh: Make use of new make::h_mat overload. + + * mln/make/h_mat.hh: New overload using quaternion as argument. + + * mln/value/builtin/integers.hh: Add epsilon. + + * tests/algebra/h_mat.cc, + * tests/make/h_mat.cc: Improve tests. + 2012-05-10 Guillaume Lazzara <z(a)lrde.epita.fr> Rely on Argument-Dependent Lookup (ADL) in from_to_ overloads. diff --git a/milena/mln/algebra/h_mat.hh b/milena/mln/algebra/h_mat.hh index 3d75a66..e2ee67f 100644 --- a/milena/mln/algebra/h_mat.hh +++ b/milena/mln/algebra/h_mat.hh @@ -1,4 +1,5 @@ -// Copyright (C) 2007, 2008, 2009 EPITA Research and Development Laboratory (LRDE) +// Copyright (C) 2007, 2008, 2009, 2012 EPITA Research and Development +// Laboratory (LRDE) // // This file is part of Olena. // @@ -31,10 +32,21 @@ * \brief Definition of a matrix with homogeneous coordinates. * * \todo Add traits. + * + * FIXME: there is a big issue with this class. exact() does not + * return the correct type since the exact type is NOT correctly + * propagated to Object. mat and h_mat should inherit from a base + * class and the operator traits should be updated so that + * interoperability between mat and h_mat is preserved which is not + * obvious. + * */ # include <mln/algebra/mat.hh> +# include <mln/algebra/quat.hh> +# include <mln/math/pi.hh> +# include <mln/util/couple.hh> namespace mln { @@ -57,9 +69,15 @@ namespace mln h_mat(); /// Constructor with the underlying matrix. h_mat(const mat<d+1, d+1, T>& x); + }; + /// \internal Conversion: h_mat -> quat + template <typename C> + void from_to_(const algebra::h_mat<3,C>& from, algebra::quat& to); + + # ifndef MLN_INCLUDE_ONLY template <unsigned d, typename T> @@ -76,6 +94,80 @@ namespace mln { } + + // Conversions + + template <typename C> + void from_to_(const algebra::h_mat<3,C>& from, algebra::quat& to) + { + C tr = from(0, 0) + from(1, 1) + from(2, 2) + 1; + + if (tr > 0.005f) // Actually, greater than 0 + { + C s = 0.5 / sqrt(tr), + w = 0.25 / s, + x = (from(2, 1) - from(1, 2)) * s, + y = (from(0, 2) - from(2, 0)) * s, + z = (from(1, 0) - from(0, 1)) * s; + + to = algebra::quat(w, x, y, z); + return; + } + + // If the trace of the matrix is less than or equal to zero + // then identify which major diagonal element has the greatest + // value. + + C max = 0; + unsigned c = 0; + for (unsigned d = 0; d <= 3; ++d) + if (from(d, d) > max) + { + max = from(d, d); + c = d; + } + + // Depending on this value, calculate the following: + C s, w, x, y, z; + switch(c) + { + case 0: + s = sqrt(1.0 + from(0, 0) - from(1, 1) - from(2, 2)) * 2; + x = 0.5 / s; + y = (from(0, 1) + from(1, 0)) / s; + z = (from(0, 2) + from(2, 0)) / s; + w = (from(1, 2) + from(2, 1)) / s; + break; + + case 1: + s = sqrt(1.0 + from(1, 1) - from(0, 0) - from(2, 2)) * 2; + x = (from(0, 1) + from(1, 0)) / s; + y = 0.5 / s; + z = (from(1, 2) + from(2, 1)) / s; + w = (from(0, 2) + from(2, 0)) / s; + break; + + case 2: + s = sqrt(1.0 + from(2, 2) - from(0, 0) - from(1, 1)) * 2; + x = (from(0, 2) + from(2, 0)) / s; + y = (from(1, 2) + from(2, 1)) / s; + z = 0.5 / s; + w = (from(0, 1) + from(1, 0) ) / s; + break; + + // Error case + default: + x = 0; + y = 0; + z = 0; + w = 0; + } + + to = algebra::quat(w, x, y, z); + return; + } + + # endif // ! MLN_INCLUDE_ONLY } // end of namespace mln::algebra diff --git a/milena/mln/algebra/quat.hh b/milena/mln/algebra/quat.hh index 9ec725d..20dc9db 100644 --- a/milena/mln/algebra/quat.hh +++ b/milena/mln/algebra/quat.hh @@ -1,4 +1,5 @@ -// Copyright (C) 2007, 2008, 2009 EPITA Research and Development Laboratory (LRDE) +// Copyright (C) 2007, 2008, 2009, 2012 EPITA Research and Development +// Laboratory (LRDE) // // This file is part of Olena. // @@ -44,6 +45,8 @@ # include <mln/math/abs.hh> # include <mln/norm/l2.hh> +# include <mln/util/couple.hh> +# include <mln/math/pi.hh> // FIXME: pow, exp etc... are def here and in value::... @@ -260,8 +263,28 @@ namespace mln quat slerp_5(const quat& p, const quat& q, float h); + /// \internal Conversion: quaternion -> (angle_degrees, axis). + template <typename C> + void from_to_(const quat& from, mln::util::couple<C, algebra::vec<3,C> >& to); + + } // end of namespace mln::algebra + + + namespace make + { + + template <typename C> + mln::algebra::quat + quat(double angle, const mln::algebra::vec<3,C>& axis); + + } + # ifndef MLN_INCLUDE_ONLY + + namespace algebra + { + // Constructors. inline @@ -673,10 +696,54 @@ namespace mln return tmp; } -# endif // ! MLN_INCLUDE_ONLY + + // Conversions. + + template <typename C> + void from_to_(const quat& from, mln::util::couple<C, algebra::vec<3,C> >& to) + { + quat tmp = from; + tmp.set_unit(); + + C w = tmp.to_vec()[0], + angle = std::acos(w) * 2 * 180/math::pi; + + C sa = std::sin(std::acos(w)); + if (std::fabs( sa ) < 0.0005 ) + sa = 1; + + to.first() = angle; + to.second()[0] = tmp.to_vec()[1] / sa; + to.second()[1] = tmp.to_vec()[2] / sa; + to.second()[2] = tmp.to_vec()[3] / sa; + } } // end of namespace mln::algebra + + namespace make + { + + template <typename C> + mln::algebra::quat + quat(double angle, const mln::algebra::vec<3,C>& axis) + { + angle *= mln::math::pi/180; + C s = std::sin(angle / 2); + + C x = axis[0] * s, + y = axis[1] * s, + z = axis[2] * s, + w = std::cos(angle / 2); + + return mln::algebra::quat(w, x, y, z); + } + + } // end of namespace mln::make + + +# endif // ! MLN_INCLUDE_ONLY + } // end of namespace mln #endif // ! MLN_ALGEBRA_QUAT_HH diff --git a/milena/mln/fun/x2x/rotation.hh b/milena/mln/fun/x2x/rotation.hh index ed48ebf..da0e1fc 100644 --- a/milena/mln/fun/x2x/rotation.hh +++ b/milena/mln/fun/x2x/rotation.hh @@ -214,17 +214,7 @@ namespace mln mlc_bool(n == 3)::check(); mln_precondition(q.is_unit()); - C - w = q.to_vec()[0], - x = q.to_vec()[1], x2 = 2*x*x, xw = 2*x*w, - y = q.to_vec()[2], y2 = 2*y*y, xy = 2*x*y, yw = 2*y*w, - z = q.to_vec()[3], z2 = 2*z*z, xz = 2*x*z, yz = 2*y*z, zw = 2*z*w; - - C t[9] = {1.f - y2 - z2, xy - zw, xz + yw, - xy + zw, 1.f - x2 - z2, yz - xw, - xz - yw, yz + xw, 1.f - x2 - y2}; - - this->m_ = mln::make::h_mat(t); + this->m_ = mln::make::h_mat(q); mln_assertion(check_rotation(q)); /// Update attributes. diff --git a/milena/mln/make/h_mat.hh b/milena/mln/make/h_mat.hh index d124ccf..1ab2dc0 100644 --- a/milena/mln/make/h_mat.hh +++ b/milena/mln/make/h_mat.hh @@ -1,4 +1,5 @@ -// Copyright (C) 2009 EPITA Research and Development Laboratory (LRDE) +// Copyright (C) 2009, 2012 EPITA Research and Development Laboratory +// (LRDE) // // This file is part of Olena. // @@ -41,7 +42,7 @@ namespace mln { - /// Create an mln::algebra::mat<n,n,T>. + /// Create an mln::algebra::h_mat<n,T>. /* * \param[in] tab C-array of values. * @@ -51,6 +52,14 @@ namespace mln algebra::h_mat<mlc_sqrt_int(N), T> h_mat(const T (&tab)[N]); + /*! \brief Create a rotation matrix as mln::algebra::h_mat<n,T>. + + \param[in] q A quaternion. + + \return A rotation matrix based on \p q. + */ + template <typename C> + algebra::h_mat<3, C> h_mat(const C& v, const algebra::quat& q); # ifndef MLN_INCLUDE_ONLY @@ -67,6 +76,31 @@ namespace mln return tmp; } + + template <typename C> + inline + algebra::h_mat<3, C> + h_mat(const C& v, const algebra::quat& q) + { + mln_precondition(q.is_unit()); + (void) v; + + algebra::h_mat<3, C> m; + C + w = q.to_vec()[0], + x = q.to_vec()[1], x2 = 2*x*x, xw = 2*x*w, + y = q.to_vec()[2], y2 = 2*y*y, xy = 2*x*y, yw = 2*y*w, + z = q.to_vec()[3], z2 = 2*z*z, xz = 2*x*z, yz = 2*y*z, zw = 2*z*w; + + C t[9] = {1.f - y2 - z2, xy - zw, xz + yw, + xy + zw, 1.f - x2 - z2, yz - xw, + xz - yw, yz + xw, 1.f - x2 - y2}; + + m = mln::make::h_mat(t); + return m; + } + + # endif // ! MLN_INCLUDE_ONLY } // end of namespace mln::make diff --git a/milena/mln/value/builtin/integers.hh b/milena/mln/value/builtin/integers.hh index 05cbede..8cc173c 100644 --- a/milena/mln/value/builtin/integers.hh +++ b/milena/mln/value/builtin/integers.hh @@ -1,4 +1,5 @@ -// Copyright (C) 2007, 2008, 2009 EPITA Research and Development Laboratory (LRDE) +// Copyright (C) 2007, 2008, 2009, 2012 EPITA Research and Development +// Laboratory (LRDE) // // This file is part of Olena. // @@ -81,6 +82,7 @@ namespace mln static const E min() { return mln::value::internal::limits<E>::min(); } static const E max() { return mln::value::internal::limits<E>::max(); } + static const E epsilon() { return mln::value::internal::limits<E>::epsilon(); } typedef float sum; }; diff --git a/milena/tests/algebra/h_mat.cc b/milena/tests/algebra/h_mat.cc index a5bb31c..7a30f6b 100644 --- a/milena/tests/algebra/h_mat.cc +++ b/milena/tests/algebra/h_mat.cc @@ -1,4 +1,5 @@ -// Copyright (C) 2007, 2009 EPITA Research and Development Laboratory (LRDE) +// Copyright (C) 2007, 2009, 2012 EPITA Research and Development +// Laboratory (LRDE) // // This file is part of Olena. // @@ -26,34 +27,55 @@ #include <mln/fun/i2v/all_to.hh> #include <mln/algebra/mat.hh> #include <mln/algebra/h_mat.hh> +#include <mln/make/h_mat.hh> +template <typename T> +bool about_equal(const T& f, const T& q) +{ + return mln::math::abs(q - f) <= 0.000001; +} + int main() { using namespace mln; - algebra::mat<1,3,float> m1; - m1.set_all(4); - algebra::mat<2,2,float> m2 = literal::identity; + // Reading in h_mat. + algebra::h_mat<3,float> hm2(all_to(2.5)); + for (int i = 0; i < 4; ++i) + for (int j = 0; j < 4; ++j) + mln_assertion(hm2(i, j) == 2.5f); + // Conversion from mat to h_mat + algebra::mat<2,2,float> m2 = literal::identity; algebra::h_mat<1,float> hm1(m2); - algebra::h_mat<2,float> hm2; - algebra::h_mat<3,float> hm3(all_to(1.5)); + mln_assertion(m2.size() == hm1.size()); + for (int i = 0; i < 2; ++i) + for (int j = 0; j < 2; ++j) + mln_assertion(m2(i, j) == hm1(i, j)); + // Conversion from h_mat to mat. + algebra::h_mat<3,float> hm3(all_to(1.5)); algebra::mat<4,4,float> m4 = hm3; + mln_assertion(m4.size() == hm3.size()); + for (int i = 0; i < 4; ++i) + for (int j = 0; j < 4; ++j) + mln_assertion(m4(i, j) == hm3(i, j)); - std::cout << "m1 = " << m1 << ";" << std::endl; - std::cout << "m2 = " << m2 << ";" << std::endl; - std::cout << "m4 = " << m4 << ";" << std::endl; - std::cout << "hm1 = " << hm1 << ";" << std::endl; - std::cout << "hm2 = " << hm2 << ";" << std::endl; - std::cout << "hm3 = " << hm3 << ";" << std::endl; + // Check from_to_ overloads. { - algebra::h_mat<2,float> m, m2; - m = m2; - // FIXME: Test *many* => runs ok... + algebra::quat q_ref(0.92388, 0.186238, 0.310397, 0.124159); + double vals[9] = { 0.776477, -0.113801, 0.619785, + 0.345031, 0.8998, -0.267046, + -0.527293, 0.4212, 0.737938 }; + algebra::h_mat<3,double> m = make::h_mat(vals); + algebra::quat q2; + algebra::from_to_(m, q2); + + for (int i = 0; i < 4; ++i) + mln_assertion(about_equal(q_ref.to_vec()[i], q2.to_vec()[i])); } } diff --git a/milena/tests/make/h_mat.cc b/milena/tests/make/h_mat.cc index a737252..eaf232e 100644 --- a/milena/tests/make/h_mat.cc +++ b/milena/tests/make/h_mat.cc @@ -1,4 +1,5 @@ -// Copyright (C) 2009 EPITA Research and Development Laboratory (LRDE) +// Copyright (C) 2009, 2012 EPITA Research and Development Laboratory +// (LRDE) // // This file is part of Olena. // @@ -24,6 +25,7 @@ // executable file might be covered by the GNU General Public License. #include <mln/make/h_mat.hh> +#include <mln/math/abs.hh> static const int result[4][4] = { { 2, 3, 4, 0 }, @@ -31,6 +33,19 @@ static const int result[4][4] = { { 2, 3, 4, 0 }, { 8, 9, 10, 0 }, { 0, 0, 0, 1 } }; +static const double result_q[4][4] = { { 0.776477, -0.113801, 0.619785, 0 }, + { 0.345031, 0.8998, -0.267046, 0 }, + { -0.527293, 0.4212, 0.737938, 0 }, + { 0, 0, 0, 1 } }; + + +template <typename T> +bool about_equal(const T& f, const T& q) +{ + return mln::math::abs(q - f) <= 0.000001; +} + + int main() { using namespace mln; @@ -39,8 +54,27 @@ int main() 5, 6, 7, 8, 9, 10 }; algebra::h_mat<3,int> m = make::h_mat(vals); - + for (unsigned i = 0; i < 4; ++i) for (unsigned j = 0; j < 4; ++j) mln_assertion(m(i,j) == result[i][j]); + + + // Checking creation from quaternions. + { + algebra::vec<3,double> v; + v[0] = 1; + v[1] = 2; + v[2] = 3; + v.normalize(); + + algebra::quat q(0.92388, 0.186238, 0.310397, 0.124159); + q.set_unit(); + + algebra::h_mat<3,double> mat = make::h_mat(double(), q); + + for (unsigned i = 0; i < 4; ++i) + for (unsigned j = 0; j < 4; ++j) + mln_assertion(about_equal(mat(i,j), result_q[i][j])); + } } -- 1.7.2.5

1 0

olena-2.0-108-g7fb7ed4 New routines to get bottom left and top right sites.
by Guillaume Lazzara 22 Jun '12

22 Jun '12

* mln/geom/bottom_left.hh, * mln/geom/top_right.hh: New. * mln/geom/all.hh: Add includes. --- milena/ChangeLog | 9 ++ milena/mln/geom/all.hh | 4 +- milena/mln/geom/bottom_left.hh | 160 ++++++++++++++++++++++++++++++++++++++++ milena/mln/geom/top_right.hh | 160 ++++++++++++++++++++++++++++++++++++++++ 4 files changed, 332 insertions(+), 1 deletions(-) create mode 100644 milena/mln/geom/bottom_left.hh create mode 100644 milena/mln/geom/top_right.hh diff --git a/milena/ChangeLog b/milena/ChangeLog index 0f3a431..9ece21f 100644 --- a/milena/ChangeLog +++ b/milena/ChangeLog @@ -1,5 +1,14 @@ 2012-05-25 Guillaume Lazzara <z(a)lrde.epita.fr> + New routines to get bottom left and top right sites. + + * mln/geom/bottom_left.hh, + * mln/geom/top_right.hh: New. + + * mln/geom/all.hh: Add includes. + +2012-05-25 Guillaume Lazzara <z(a)lrde.epita.fr> + Improve conversion between algebra::h_mat and algebra::quat. * mln/algebra/h_mat.hh, diff --git a/milena/mln/geom/all.hh b/milena/mln/geom/all.hh index 70a719f..fb258f0 100644 --- a/milena/mln/geom/all.hh +++ b/milena/mln/geom/all.hh @@ -1,4 +1,4 @@ -// Copyright (C) 2007, 2008, 2009, 2010, 2011 EPITA Research and +// Copyright (C) 2007, 2008, 2009, 2010, 2011, 2012 EPITA Research and // Development Laboratory (LRDE) // // This file is part of Olena. @@ -68,6 +68,8 @@ namespace mln # include <mln/geom/size1d.hh> # include <mln/geom/size2d.hh> # include <mln/geom/size3d.hh> +# include <mln/geom/top_right.hh> +# include <mln/geom/bottom_left.hh> # include <mln/geom/translate.hh> diff --git a/milena/mln/geom/bottom_left.hh b/milena/mln/geom/bottom_left.hh new file mode 100644 index 0000000..a7ee930 --- /dev/null +++ b/milena/mln/geom/bottom_left.hh @@ -0,0 +1,160 @@ +// Copyright (C) 2012 EPITA Research and Development Laboratory (LRDE) +// +// This file is part of Olena. +// +// Olena is free software: you can redistribute it and/or modify it under +// the terms of the GNU General Public License as published by the Free +// Software Foundation, version 2 of the License. +// +// Olena is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Olena. If not, see <http://www.gnu.org/licenses/>. +// +// As a special exception, you may use this file as part of a free +// software project without restriction. Specifically, if other files +// instantiate templates or use macros or inline functions from this +// file, or you compile this file and link it with other files to produce +// an executable, this file does not by itself cause the resulting +// executable to be covered by the GNU General Public License. This +// exception does not however invalidate any other reasons why the +// executable file might be covered by the GNU General Public License. + +#ifndef MLN_GEOM_BOTTOM_LEFT_HH +# define MLN_GEOM_BOTTOM_LEFT_HH + +/// \file +/// +/// Give the bottom left point of an image. + +# include <mln/core/concept/image.hh> +# include <mln/geom/bbox.hh> + + +namespace mln +{ + + namespace geom + { + + /*! \brief Give the bottom left point of a 2d or 3d image. + + In 3d, the top-right point corresponds to the bottom left corner + of the front face. + */ + template <typename I> + mln_site(I) bottom_left(const Image& ima); + + + /*! \brief Give the bottom left point of a box 2d or 3d. + \overload + */ + template <typename B> + mln_site(B) bottom_left(const Box& b); + +# ifndef MLN_INCLUDE_ONLY + + + namespace impl + { + + template <typename B> + inline + mln_site(B) bottom_left_2d(const Box& b_) + { + const B& b = exact(b_); + mln_site(B) bottom_left(b.pmax().row(), + b.pmin().col()); + return bottom_left; + } + + template <typename B> + inline + mln_site(B) bottom_left_3d(const Box& b_) + { + const B& b = exact(b_); + mln_site(B) bottom_left(b.pmax().sli(), + b.pmax().row(), + b.pmin().col()); + return bottom_left; + } + + } // end of namespace mln::geom::impl + + + namespace internal + { + + // Not implemented. + template <unsigned n> + struct bottom_left_dispatch_impl; + + // 2d + template <> + struct bottom_left_dispatch_impl<2> + { + template <typename B> + inline + mln_site(B) run(const Box& box) const + { + return impl::bottom_left_2d(box); + } + }; + + // 3d + template <> + struct bottom_left_dispatch_impl<3> + { + template <typename B> + inline + mln_site(B) run(const Box& box) const + { + return impl::bottom_left_3d(box); + } + }; + + + template <typename B> + inline + mln_site(B) bottom_left_dispatch(const Box& box) + { + typedef mln_site(B) P; + return bottom_left_dispatch_impl<P::dim>().run(box); + } + + } // end of namespace mln::geom::internal + + + // Facades + + template <typename I> + inline + mln_site(I) bottom_left(const Image& ima) + { + mln_precondition(exact(ima).is_valid()); + mln_site(I) output = internal::bottom_left_dispatch(exact(ima).domain()); + + return output; + } + + template <typename B> + inline + mln_site(B) bottom_left(const Box& b) + { + mln_precondition(exact(b).is_valid()); + mln_site(B) output = internal::bottom_left_dispatch(b); + + return output; + } + +# endif // ! MLN_INCLUDE_ONLY + + } // end of namespace mln::geom + +} // end of namespace mln + + +#endif // ! MLN_GEOM_BOTTOM_LEFT_HH diff --git a/milena/mln/geom/top_right.hh b/milena/mln/geom/top_right.hh new file mode 100644 index 0000000..655eef0 --- /dev/null +++ b/milena/mln/geom/top_right.hh @@ -0,0 +1,160 @@ +// Copyright (C) 2012 EPITA Research and Development Laboratory (LRDE) +// +// This file is part of Olena. +// +// Olena is free software: you can redistribute it and/or modify it under +// the terms of the GNU General Public License as published by the Free +// Software Foundation, version 2 of the License. +// +// Olena is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Olena. If not, see <http://www.gnu.org/licenses/>. +// +// As a special exception, you may use this file as part of a free +// software project without restriction. Specifically, if other files +// instantiate templates or use macros or inline functions from this +// file, or you compile this file and link it with other files to produce +// an executable, this file does not by itself cause the resulting +// executable to be covered by the GNU General Public License. This +// exception does not however invalidate any other reasons why the +// executable file might be covered by the GNU General Public License. + +#ifndef MLN_GEOM_TOP_RIGHT_HH +# define MLN_GEOM_TOP_RIGHT_HH + +/// \file +/// +/// Give the top right point of an image. + +# include <mln/core/concept/image.hh> +# include <mln/geom/bbox.hh> + + +namespace mln +{ + + namespace geom + { + + /*! \brief Give the top right point of a 2d or 3d image. + + In 3d, the top-right point corresponds to the top right corner + of the back face. + */ + template <typename I> + mln_site(I) top_right(const Image& ima); + + + /*! \brief Give the top right point of a box 2d or 3d. + \overload + */ + template <typename B> + mln_site(B) top_right(const Box& b); + +# ifndef MLN_INCLUDE_ONLY + + + namespace impl + { + + template <typename B> + inline + mln_site(B) top_right_2d(const Box& b_) + { + const B& b = exact(b_); + mln_site(B) top_right(b.pmin().row(), + b.pmax().col()); + return top_right; + } + + template <typename B> + inline + mln_site(B) top_right_3d(const Box& b_) + { + const B& b = exact(b_); + mln_site(B) top_right(b.pmin().sli(), + b.pmin().row(), + b.pmax().col()); + return top_right; + } + + } // end of namespace mln::geom::impl + + + namespace internal + { + + // Not implemented. + template <unsigned n> + struct top_right_dispatch_impl; + + // 2d + template <> + struct top_right_dispatch_impl<2> + { + template <typename B> + inline + mln_site(B) run(const Box& box) const + { + return impl::top_right_2d(box); + } + }; + + // 3d + template <> + struct top_right_dispatch_impl<3> + { + template <typename B> + inline + mln_site(B) run(const Box& box) const + { + return impl::top_right_3d(box); + } + }; + + + template <typename B> + inline + mln_site(B) top_right_dispatch(const Box& box) + { + typedef mln_site(B) P; + return top_right_dispatch_impl<P::dim>().run(box); + } + + } // end of namespace mln::geom::internal + + + // Facades + + template <typename I> + inline + mln_site(I) top_right(const Image& ima) + { + mln_precondition(exact(ima).is_valid()); + mln_site(I) output = internal::top_right_dispatch(exact(ima).domain()); + + return output; + } + + template <typename B> + inline + mln_site(B) top_right(const Box& b) + { + mln_precondition(exact(b).is_valid()); + mln_site(B) output = internal::top_right_dispatch(b); + + return output; + } + +# endif // ! MLN_INCLUDE_ONLY + + } // end of namespace mln::geom + +} // end of namespace mln + + +#endif // ! MLN_GEOM_TOP_RIGHT_HH -- 1.7.2.5

1 0

olena-2.0-109-g87c1ef5 mln/algebra/mat.hh: Add implementations for 4x4 matrices.
by Guillaume Lazzara 22 Jun '12

22 Jun '12

--- milena/ChangeLog | 4 + milena/mln/algebra/mat.hh | 265 ++++++++++++++++++++++++++++++++------------- 2 files changed, 195 insertions(+), 74 deletions(-) diff --git a/milena/ChangeLog b/milena/ChangeLog index 9ece21f..3ac56ac 100644 --- a/milena/ChangeLog +++ b/milena/ChangeLog @@ -1,3 +1,7 @@ +2012-05-28 Guillaume Lazzara <z(a)lrde.epita.fr> + + * mln/algebra/mat.hh: Add implementations for 4x4 matrices. + 2012-05-25 Guillaume Lazzara <z(a)lrde.epita.fr> New routines to get bottom left and top right sites. diff --git a/milena/mln/algebra/mat.hh b/milena/mln/algebra/mat.hh index 0fc08b4..e51f6e1 100644 --- a/milena/mln/algebra/mat.hh +++ b/milena/mln/algebra/mat.hh @@ -1,4 +1,5 @@ -// Copyright (C) 2006, 2008, 2009 EPITA Research and Development Laboratory (LRDE) +// Copyright (C) 2006, 2008, 2009, 2012 EPITA Research and Development +// Laboratory (LRDE) // // This file is part of Olena. // @@ -123,7 +124,7 @@ namespace mln mat<m,n,T> t() const; /// Return the inverse of the matrix. - /// Only compile on square matrix. + /// Only compile on square matrix. mat<n,m,T> _1() const; private: @@ -134,18 +135,6 @@ namespace mln }; - template <typename T> - mat<2,2,T> - make(const T& t00, const T& t01, - const T& t10, const T& t11); - - template <typename T> - mat<3,3,T> - make(const T& t00, const T& t01, const T& t02, - const T& t10, const T& t11, const T& t12, - const T& t20, const T& t21, const T& t22); - - } // end of namespace algebra @@ -225,7 +214,7 @@ namespace mln { typedef algebra::mat<m, m, mln_trait_op_times(T, U)> ret; }; - + // mat * s template < unsigned n, unsigned m, typename T, @@ -245,7 +234,7 @@ namespace mln // { // typedef algebra::mat<n, m, mln_trait_binary(Name, T, S)> ret; // }; - + // mat / s template < unsigned n, unsigned m, typename T, @@ -340,6 +329,7 @@ namespace mln // Trace. + /// Compute the trace of a matrix \p m template<unsigned n, typename T> mln_sum(T) tr(const mat<n,n,T>& m); @@ -347,13 +337,10 @@ namespace mln // Determinant. - template<typename T> - mln_sum_product(T,T) - det(const mat<2,2,T>& m); - - template<typename T> + /// Compute the determinant of a matrix \p m + template<unsigned n, typename T> mln_sum_product(T,T) - det(const mat<3,3,T>& m); + det(const mat<n,n,T>& m); @@ -548,6 +535,37 @@ namespace mln namespace internal { + // "Make" routines. + + template <typename T> + inline + mat<2,2,T> + make(const T& t00, const T& t01, + const T& t10, const T& t11) + { + mat<2,2,T> tmp; + tmp(0, 0) = t00; tmp(0, 1) = t01; + tmp(1, 0) = t10; tmp(1, 1) = t11; + return tmp; + } + + template <typename T> + inline + mat<3,3,T> + make(const T& t00, const T& t01, const T& t02, + const T& t10, const T& t11, const T& t12, + const T& t20, const T& t21, const T& t22) + { + mat<3,3,T> tmp; + tmp(0, 0) = t00; tmp(0, 1) = t01; tmp(0, 2) = t02; + tmp(1, 0) = t10; tmp(1, 1) = t11; tmp(1, 2) = t12; + tmp(2, 0) = t20; tmp(2, 1) = t21; tmp(2, 2) = t22; + return tmp; + } + + + // Inverse routines. + template <typename T> inline mat<2,2,float> @@ -568,35 +586,119 @@ namespace mln mln_precondition(d != 0); return make<float>( det(make(m(1,1), m(1,2), m(2,1), m(2,2))), - + det(make(m(0,2), m(0,1), m(2,2), m(2,1))), - + det(make(m(0,1), m(0,2), m(1,1), m(1,2))), - + det(make(m(1,2), m(1,0), m(2,2), m(2,0))), - + det(make(m(0,0), m(0,2), m(2,0), m(2,2))), - + det(make(m(0,2), m(0,0), m(1,2), m(1,0))), det(make(m(1,0), m(1,1), m(2,0), m(2,1))), - + det(make(m(0,1), m(0,0), m(2,1), m(2,0))), - + det(make(m(0,0), m(0,1), m(1,0), m(1,1))) ) / d; } - } // end of namespace algebra::inverse + template <typename T> + inline + mat<4,4,float> + inverse(const mat<4,4,T>& m) + { + mat<4,4,T> mo; + + // Based on MESA implementation of the GLU library. + mo(0,0) = m(1,1) * m(2,2) * m(3,3) - m(1,1) * m(2,3) * m(3,2) - + m(2,1) * m(1,2) * m(3,3) + m(2,1) * m(1,3) * m(3,2) + + m(3,1) * m(1,2) * m(2,3) - m(3,1) * m(1,3) * m(2,2); + + mo(1,0) = -m(1,0) * m(2,2) * m(3,3) + m(1,0) * m(2,3) * m(3,2) + + m(2,0) * m(1,2) * m(3,3) - m(2,0) * m(1,3) * m(3,2) - + m(3,0) * m(1,2) * m(2,3) + m(3,0) * m(1,3) * m(2,2); + + mo(2,0) = m(1,0) * m(2,1) * m(3,3) - m(1,0) * m(2,3) * m(3,1) - + m(2,0) * m(1,1) * m(3,3) + m(2,0) * m(1,3) * m(3,1) + + m(3,0) * m(1,1) * m(2,3) - m(3,0) * m(1,3) * m(2,1); + + mo(3,0) = -m(1,0) * m(2,1) * m(3,2) + m(1,0) * m(2,2) * m(3,1) + + m(2,0) * m(1,1) * m(3,2) - m(2,0) * m(1,2) * m(3,1) - + m(3,0) * m(1,1) * m(2,2) + m(3,0) * m(1,2) * m(2,1); + + mo(0,1) = -m(0,1) * m(2,2) * m(3,3) + m(0,1) * m(2,3) * m(3,2) + + m(2,1) * m(0,2) * m(3,3) - m(2,1) * m(0,3) * m(3,2) - + m(3,1) * m(0,2) * m(2,3) + m(3,1) * m(0,3) * m(2,2); + + mo(1,1) = m(0,0) * m(2,2) * m(3,3) - m(0,0) * m(2,3) * m(3,2) - + m(2,0) * m(0,2) * m(3,3) + m(2,0) * m(0,3) * m(3,2) + + m(3,0) * m(0,2) * m(2,3) - m(3,0) * m(0,3) * m(2,2); + + mo(2,1) = -m(0,0) * m(2,1) * m(3,3) + m(0,0) * m(2,3) * m(3,1) + + m(2,0) * m(0,1) * m(3,3) - m(2,0) * m(0,3) * m(3,1) - + m(3,0) * m(0,1) * m(2,3) + m(3,0) * m(0,3) * m(2,1); + + mo(3,1) = m(0,0) * m(2,1) * m(3,2) - m(0,0) * m(2,2) * m(3,1) - + m(2,0) * m(0,1) * m(3,2) + m(2,0) * m(0,2) * m(3,1) + + m(3,0) * m(0,1) * m(2,2) - m(3,0) * m(0,2) * m(2,1); + + mo(0,2) = m(0,1) * m(1,2) * m(3,3) - m(0,1) * m(1,3) * m(3,2) - + m(1,1) * m(0,2) * m(3,3) + m(1,1) * m(0,3) * m(3,2) + + m(3,1) * m(0,2) * m(1,3) - m(3,1) * m(0,3) * m(1,2); + + mo(1,2) = -m(0,0) * m(1,2) * m(3,3) + m(0,0) * m(1,3) * m(3,2) + + m(1,0) * m(0,2) * m(3,3) - m(1,0) * m(0,3) * m(3,2) - + m(3,0) * m(0,2) * m(1,3) + m(3,0) * m(0,3) * m(1,2); + + mo(2,2) = m(0,0) * m(1,1) * m(3,3) - m(0,0) * m(1,3) * m(3,1) - + m(1,0) * m(0,1) * m(3,3) + m(1,0) * m(0,3) * m(3,1) + + m(3,0) * m(0,1) * m(1,3) - m(3,0) * m(0,3) * m(1,1); + + mo(3,2) = -m(0,0) * m(1,1) * m(3,2) + m(0,0) * m(1,2) * m(3,1) + + m(1,0) * m(0,1) * m(3,2) - m(1,0) * m(0,2) * m(3,1) - + m(3,0) * m(0,1) * m(1,2) + m(3,0) * m(0,2) * m(1,1); + + mo(0,3) = -m(0,1) * m(1,2) * m(2,3) + m(0,1) * m(1,3) * m(2,2) + + m(1,1) * m(0,2) * m(2,3) - m(1,1) * m(0,3) * m(2,2) - + m(2,1) * m(0,2) * m(1,3) + m(2,1) * m(0,3) * m(1,2); + + mo(1,3) = m(0,0) * m(1,2) * m(2,3) - m(0,0) * m(1,3) * m(2,2) - + m(1,0) * m(0,2) * m(2,3) + m(1,0) * m(0,3) * m(2,2) + + m(2,0) * m(0,2) * m(1,3) - m(2,0) * m(0,3) * m(1,2); + + mo(2,3) = -m(0,0) * m(1,1) * m(2,3) + m(0,0) * m(1,3) * m(2,1) + + m(1,0) * m(0,1) * m(2,3) - m(1,0) * m(0,3) * m(2,1) - + m(2,0) * m(0,1) * m(1,3) + m(2,0) * m(0,3) * m(1,1); + + mo(3,3) = m(0,0) * m(1,1) * m(2,2) - m(0,0) * m(1,2) * m(2,1) - + m(1,0) * m(0,1) * m(2,2) + m(1,0) * m(0,2) * m(2,1) + + m(2,0) * m(0,1) * m(1,2) - m(2,0) * m(0,2) * m(1,1); + + double det = m(0,0) * mo(0,0) + m(0,1) * mo(1,0) + m(0,2) * mo(2,0) + m(0,3) * mo(0,3); + mln_precondition(det != 0); + + det = 1.0 / det; + + for (int i = 0; i < 4; i++) + for (int j = 0; j < 4; j++) + mo(i,j) *= det; + + return mo; + } + + } // end of namespace algebra::internal template <unsigned n, unsigned m, typename T> inline @@ -608,35 +710,6 @@ namespace mln } - // "Make" routines. - - template <typename T> - inline - mat<2,2,T> - make(const T& t00, const T& t01, - const T& t10, const T& t11) - { - mat<2,2,T> tmp; - tmp(0, 0) = t00; tmp(0, 1) = t01; - tmp(1, 0) = t10; tmp(1, 1) = t11; - return tmp; - } - - template <typename T> - inline - mat<3,3,T> - make(const T& t00, const T& t01, const T& t02, - const T& t10, const T& t11, const T& t12, - const T& t20, const T& t21, const T& t22) - { - mat<3,3,T> tmp; - tmp(0, 0) = t00; tmp(0, 1) = t01; tmp(0, 2) = t02; - tmp(1, 0) = t10; tmp(1, 1) = t11; tmp(1, 2) = t12; - tmp(2, 0) = t20; tmp(2, 1) = t21; tmp(2, 2) = t22; - return tmp; - } - - // Operators. @@ -827,29 +900,72 @@ namespace mln // Determinant. - template<typename T> - inline - mln_sum_product(T,T) - det(const mat<2,2,T>& m) + namespace impl { - return m(0,0) * m(1,1) - m(0,1) * m(1,0); - } - template<typename T> + template<unsigned n, typename T> + mln_sum_product(T,T) + det(const mat<n,n,T>& m) + { + // Not implemented. + mlc_abort(T)::check(); + } + + template<typename T> + inline + mln_sum_product(T,T) + det(const mat<2,2,T>& m) + { + return m(0,0) * m(1,1) - m(0,1) * m(1,0); + } + + template<typename T> + inline + mln_sum_product(T,T) + det(const mat<3,3,T>& m) + { + return + + m(0,0) * m(1,1) * m(2,2) + - m(0,0) * m(1,2) * m(2,1) + - m(0,1) * m(1,0) * m(2,2) + + m(0,1) * m(1,2) * m(2,0) + + m(0,2) * m(1,0) * m(2,1) + - m(0,2) * m(1,1) * m(2,0); + } + + template<typename T> + inline + mln_sum_product(T,T) + det(const mat<4,4,T>& m) + { + return m(0,3) * m(1,2) * m(2,1) * m(3,0) - m(0,2) * m(1,3) * m(2,1) * m(3,0) - + m(0,3) * m(1,1) * m(2,2) * m(3,0) + m(0,1) * m(1,3) * m(2,2) * m(3,0) + + m(0,2) * m(1,1) * m(2,3) * m(3,0) - m(0,1) * m(1,2) * m(2,3) * m(3,0) - + m(0,3) * m(1,2) * m(2,0) * m(3,1) + m(0,2) * m(1,3) * m(2,0) * m(3,1) + + m(0,3) * m(1,0) * m(2,2) * m(3,1) - m(0,0) * m(1,3) * m(2,2) * m(3,1) - + m(0,2) * m(1,0) * m(2,3) * m(3,1) + m(0,0) * m(1,2) * m(2,3) * m(3,1) + + m(0,3) * m(1,1) * m(2,0) * m(3,2) - m(0,1) * m(1,3) * m(2,0) * m(3,2) - + m(0,3) * m(1,0) * m(2,1) * m(3,2) + m(0,0) * m(1,3) * m(2,1) * m(3,2) + + m(0,1) * m(1,0) * m(2,3) * m(3,2) - m(0,0) * m(1,1) * m(2,3) * m(3,2) - + m(0,2) * m(1,1) * m(2,0) * m(3,3) + m(0,1) * m(1,2) * m(2,0) * m(3,3) + + m(0,2) * m(1,0) * m(2,1) * m(3,3) - m(0,0) * m(1,2) * m(2,1) * m(3,3) - + m(0,1) * m(1,0) * m(2,2) * m(3,3) + m(0,0) * m(1,1) * m(2,2) * m(3,3); + } + + } // end of namespace mln::algebra::impl + + + template<unsigned n, typename T> inline mln_sum_product(T,T) - det(const mat<3,3,T>& m) + det(const mat<n,n,T>& m) { - return - + m(0,0) * m(1,1) * m(2,2) - - m(0,0) * m(1,2) * m(2,1) - - m(0,1) * m(1,0) * m(2,2) - + m(0,1) * m(1,2) * m(2,0) - + m(0,2) * m(1,0) * m(2,1) - - m(0,2) * m(1,1) * m(2,0); + return mln::algebra::impl::det(m); } + + // vec methods. template <unsigned n, typename T> @@ -863,6 +979,7 @@ namespace mln return tmp; } + # endif // ! MLN_INCLUDE_ONLY } // end of namespace mln::algebra -- 1.7.2.5

1 0

olena-2.0-110-g1ff7fba mln/geom/rotate.hh: Add support for n-D images.
by Guillaume Lazzara 22 Jun '12

22 Jun '12

--- milena/ChangeLog | 4 ++++ milena/mln/geom/rotate.hh | 22 ++++++++++------------ 2 files changed, 14 insertions(+), 12 deletions(-) diff --git a/milena/ChangeLog b/milena/ChangeLog index 3ac56ac..5c4d6ba 100644 --- a/milena/ChangeLog +++ b/milena/ChangeLog @@ -1,5 +1,9 @@ 2012-05-28 Guillaume Lazzara <z(a)lrde.epita.fr> + * mln/geom/rotate.hh: Add support for n-D images. + +2012-05-28 Guillaume Lazzara <z(a)lrde.epita.fr> + * mln/algebra/mat.hh: Add implementations for 4x4 matrices. 2012-05-25 Guillaume Lazzara <z(a)lrde.epita.fr> diff --git a/milena/mln/geom/rotate.hh b/milena/mln/geom/rotate.hh index 1ba8cb1..218aeeb 100644 --- a/milena/mln/geom/rotate.hh +++ b/milena/mln/geom/rotate.hh @@ -1,5 +1,5 @@ -// Copyright (C) 2009, 2010 EPITA Research and Development Laboratory -// (LRDE) +// Copyright (C) 2009, 2010, 2012 EPITA Research and Development +// Laboratory (LRDE) // // This file is part of Olena. // @@ -44,6 +44,8 @@ # include <mln/data/paste.hh> # include <mln/geom/bbox.hh> +# include <mln/geom/top_right.hh> +# include <mln/geom/bottom_left.hh> # include <mln/extension/duplicate.hh> @@ -132,7 +134,6 @@ namespace mln // Do not check that output_domain_ is valid. If it is not, // further in this routine, we define a default domain. typedef mln_site(I) P; - mln_precondition(P::dim == 2); mln_precondition(input.is_valid()); mln_precondition(angle >= -360.0f && angle <= 360.0f); // mlc_converts_to(mln_exact(Ext), mln_value(I))::check(); @@ -142,12 +143,12 @@ namespace mln extension::duplicate(input); mln_site(I) c = geom::bbox(input).pcenter(); - typedef fun::x2x::translation<2,double> trans_t; + typedef fun::x2x::translation<P::dim,double> trans_t; trans_t t(-1 * c.to_vec()), t_1(c.to_vec()); - typedef fun::x2x::rotation<2,double> rot_t; + typedef fun::x2x::rotation<P::dim,double> rot_t; rot_t rot(math::pi * angle / 180.f, literal::origin); typedef @@ -209,16 +210,15 @@ namespace mln const B& box = exact(box_); typedef mln_site(B) P; - mln_precondition(P::dim == 2); mln_precondition(box.is_valid()); mln_precondition(angle >= -360.0f && angle <= 360.0f); - typedef fun::x2x::translation<2,double> trans_t; + typedef fun::x2x::translation<P::dim,double> trans_t; trans_t t(-1 * ref.to_vec()), t_1(ref.to_vec()); - typedef fun::x2x::rotation<2,double> rot_t; + typedef fun::x2x::rotation<P::dim,double> rot_t; rot_t rot(math::pi * angle / 180.f, literal::origin); typedef @@ -230,10 +230,8 @@ namespace mln accu::shape::bbox accu; P - top_right(box.pmin().row(), - box.pmax().col()), - bot_left(box.pmax().row(), - box.pmin().col()); + top_right = geom::top_right(box), + bot_left = geom::bottom_left(box); accu.take(P(comp_transf(box.pmin().to_vec()))); accu.take(P(comp_transf(top_right.to_vec()))); -- 1.7.2.5

1 0

olena-2.0-111-gd50796a mln/registration/icp.hh: Cleanup some debug.
by Guillaume Lazzara 22 Jun '12

22 Jun '12

--- 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 5c4d6ba..f732b77 100644 --- a/milena/ChangeLog +++ b/milena/ChangeLog @@ -1,5 +1,9 @@ 2012-05-28 Guillaume Lazzara <z(a)lrde.epita.fr> + * mln/registration/icp.hh: Cleanup some debug. + +2012-05-28 Guillaume Lazzara <z(a)lrde.epita.fr> + * mln/geom/rotate.hh: Add support for n-D images. 2012-05-28 Guillaume Lazzara <z(a)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

1 0

olena-2.0-112-gc2dc161 mln/fun/x2x/rotation.hh: Remove alpha and axis attributes.
by Guillaume Lazzara 22 Jun '12

22 Jun '12

--- milena/ChangeLog | 4 +++ milena/mln/fun/x2x/rotation.hh | 55 +++++++-------------------------------- 2 files changed, 14 insertions(+), 45 deletions(-) diff --git a/milena/ChangeLog b/milena/ChangeLog index f732b77..5ed9064 100644 --- a/milena/ChangeLog +++ b/milena/ChangeLog @@ -1,5 +1,9 @@ 2012-05-28 Guillaume Lazzara <z(a)lrde.epita.fr> + * mln/fun/x2x/rotation.hh: Remove alpha and axis attributes. + +2012-05-28 Guillaume Lazzara <z(a)lrde.epita.fr> + * mln/registration/icp.hh: Cleanup some debug. 2012-05-28 Guillaume Lazzara <z(a)lrde.epita.fr> diff --git a/milena/mln/fun/x2x/rotation.hh b/milena/mln/fun/x2x/rotation.hh index da0e1fc..8e106f7 100644 --- a/milena/mln/fun/x2x/rotation.hh +++ b/milena/mln/fun/x2x/rotation.hh @@ -1,4 +1,4 @@ -// Copyright (C) 2007, 2008, 2009, 2010, 2011 EPITA Research and +// Copyright (C) 2007, 2008, 2009, 2010, 2011, 2012 EPITA Research and // Development Laboratory (LRDE) // // This file is part of Olena. @@ -163,7 +163,7 @@ namespace mln rotation(); /// Constructor with radian alpha and a facultative direction /// (rotation axis). - rotation(C alpha, const algebra::vec<n,C>& axis); + rotation(const C& alpha, const algebra::vec<n,C>& axis); /// Constructor with quaternion rotation(const algebra::quat& q); /// Constructor with h_mat. @@ -172,24 +172,16 @@ namespace mln /// Perform the rotation of the given vector. algebra::vec<n,C> operator()(const algebra::vec<n,C>& v) const; - /// Set a new grade alpha. - void set_alpha(C alpha); - /// Set a new rotation axis. - void set_axis(const algebra::vec<n,C>& axis); - protected: - void update(); + void update(const C& alpha, const algebra::vec<n,C>& axis); bool check_rotation(const algebra::quat& q); - /* FIXME: Is it useful to keep these values, since they are - primarily used to build the matrix `m_'? */ - C alpha_; - algebra::vec<n,C> axis_; }; # ifndef MLN_INCLUDE_ONLY + template <unsigned n, typename C> inline rotation<n,C>::rotation() @@ -198,12 +190,10 @@ namespace mln template <unsigned n, typename C> inline - rotation<n,C>::rotation(C alpha, const algebra::vec<n,C>& axis) - : alpha_(alpha), - axis_(axis) + rotation<n,C>::rotation(const C& alpha, const algebra::vec<n,C>& axis) { this->m_ = algebra::h_mat<n,C>::Id; - update(); + update(alpha, axis); } template <unsigned n, typename C> @@ -214,15 +204,8 @@ namespace mln mlc_bool(n == 3)::check(); mln_precondition(q.is_unit()); - this->m_ = mln::make::h_mat(q); + this->m_ = mln::make::h_mat(C(), q); mln_assertion(check_rotation(q)); - - /// Update attributes. - alpha_ = acos(w) * 2; - axis_[0] = x; - axis_[1] = y; - axis_[2] = z; - axis_.normalize(); } @@ -257,36 +240,18 @@ namespace mln rotation<n,C> rotation<n,C>::inv() const { - typename rotation::invert res(-alpha_, axis_); + typename rotation::invert res(this->m_._1()); return res; } - template <unsigned n, typename C> - inline - void - rotation<n,C>::set_alpha(C alpha) - { - alpha_ = alpha; - update(); - } - - template <unsigned n, typename C> - inline - void - rotation<n,C>::set_axis(const algebra::vec<n,C>& axis) - { - axis_ = axis; - update(); - } - // Homogenous matrix for a rotation of a point (x,y,z) // about the vector (u,v,w) by the angle alpha. template <unsigned n, typename C> inline void - rotation<n,C>::update() + rotation<n,C>::update(const C& alpha, const algebra::vec<n,C>& axis) { - this->m_ = internal::get_rot_h_mat(alpha_, axis_); + this->m_ = internal::get_rot_h_mat(alpha, axis); } template <unsigned n, typename C> -- 1.7.2.5

1 0