[Olena-patches] 1766: Subsampling. Draft icp.

https://svn.lrde.epita.fr/svn/oln/trunk/milena Index: ChangeLog from Ugo Jardonnet &lt;ugo.jardonnet(a)lrde.epita.fr&gt; Subsampling. Draft icp. * mln/subsampling: New. * mln/subsampling/subsampling.hh: New. * mln/subsampling/gaussian_subsampling.hh: gaussian blur + subsampling. * mln/algebra: New. * mln/algebra/vec.hh: Copy of metal::vec. * sandbox/jardonnet/test/gaussian_subsampling.cc: New Test. * sandbox/jardonnet/subsampling/subsampling_2d.hh: Remove. * sandbox/jardonnet/subsampling/gaussian_subsampling.hh: New. * sandbox/jardonnet/registration: New. * sandbox/jardonnet/registration/icp.hh: Draft. mln/algebra/vec.hh | 562 ++++++++++++++++++ mln/linear/gaussian.hh | 1 mln/subsampling/gaussian_subsampling.hh | 93 ++ mln/subsampling/subsampling.hh | 117 +++ sandbox/jardonnet/registration/icp.hh | 122 +++ sandbox/jardonnet/subsampling/gaussian_subsampling.hh | 93 ++ sandbox/jardonnet/test/Makefile | 12 sandbox/jardonnet/test/gaussian_subsampling.cc | 21 sandbox/jardonnet/test/subsampling.cc | 6 9 files changed, 1021 insertions(+), 6 deletions(-) Index: mln/subsampling/subsampling.hh --- mln/subsampling/subsampling.hh (revision 0) +++ mln/subsampling/subsampling.hh (revision 0) @@ -0,0 +1,117 @@ +// Copyright (C) 2008 EPITA Research and Development Laboratory +// +// This file is part of the Olena Library. This library is free +// software; you can redistribute it and/or modify it under the terms +// of the GNU General Public License version 2 as published by the +// Free Software Foundation. +// +// This library 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 this library; see the file COPYING. If not, write to +// the Free Software Foundation, 51 Franklin Street, Fifth Floor, +// Boston, MA 02111-1307, USA. +// +// As a special exception, you may use this file as part of a free +// software library 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_SUBSAMPLING_SUBSAMPLING_HH +# define MLN_SUBSAMPLING_SUBSAMPLING_HH + +/*! \file mln/binarization/threshold.hh + * + * \brief Produce a subsampled image + */ + +# include <mln/geom/ncols.hh> +# include <mln/geom/nrows.hh> + + +namespace mln +{ + + namespace subsampling + { + + /*! Subsampling FIXME : doxy + * + * + */ + template <typename I> + inline + mln_concrete(I) + subsampling(const Image<I>& input, + const mln_dpoint(I)& first_p, + const mln_coord(I)& gap); + +# ifndef MLN_INCLUDE_ONLY + + namespace impl + { + + //FIXME : add version for every image types. + + template <typename T> + inline + mln_concrete(image2d<T>) + subsampling_(const image2d<T>& input, + const mln_dpoint(image2d<T>)& first_p, + const mln_coord(image2d<T>)& gap) + { + trace::entering("subsampling::impl::subsampling_"); + mln_concrete(image2d<T>) output(geom::nrows(input) / gap, + geom::ncols(input) / gap); + + for (unsigned j = 0; j < geom::ncols(output); ++j) + for (unsigned i = 0; i < geom::nrows(output); ++i) + { + point2d p1(i, j); + point2d p2(first_p[0] + i * gap, first_p[1] + j * gap); + + output(p1) = input(p2); + } + + trace::exiting("subsampling::impl::subsampling_"); + return output; + } + + } // end of namespace mln::subsampling::impl + + + template <typename I> + inline + mln_concrete(I) + subsampling(const Image<I>& input, + const mln_dpoint(I)& first_p, + const mln_coord(I)& gap) + { + trace::entering("subsampling::subsampling"); + mln_precondition(exact(input).has_data()); + + mln_concrete(I) output(geom::nrows(input) / gap, + geom::ncols(input) / gap); // FIXME: only 2d here + + output = impl::subsampling_(exact(input), first_p, gap); + + trace::exiting("subsampling::subsampling"); + return output; + } + +# endif // ! MLN_INCLUDE_ONLY + + } // end of namespace mln::subsampling + +} // end of namespace mln + + +#endif // ! MLN_SUBSAMPLING_SUBSAMPLING_HH Index: mln/subsampling/gaussian_subsampling.hh --- mln/subsampling/gaussian_subsampling.hh (revision 0) +++ mln/subsampling/gaussian_subsampling.hh (revision 0) @@ -0,0 +1,93 @@ +// Copyright (C) 2008 EPITA Research and Development Laboratory +// +// This file is part of the Olena Library. This library is free +// software; you can redistribute it and/or modify it under the terms +// of the GNU General Public License version 2 as published by the +// Free Software Foundation. +// +// This library 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 this library; see the file COPYING. If not, write to +// the Free Software Foundation, 51 Franklin Street, Fifth Floor, +// Boston, MA 02111-1307, USA. +// +// As a special exception, you may use this file as part of a free +// software library 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_SUBSAMPLING_GAUSSIAN_SUBSAMPLING_HH +# define MLN_SUBSAMPLING_GAUSSIAN_SUBSAMPLING_HH + +/*! \file mln/binarization/threshold.hh + * + * \brief Produce a subsampled image + */ + +# include <mln/geom/ncols.hh> +# include <mln/geom/nrows.hh> + + +# include <mln/linear/gaussian.hh> +# include <mln/subsampling/subsampling.hh> + + + +namespace mln +{ + + namespace subsampling + { + + /*! Gaussian subsampling FIXME : doxy + * + * + */ + template <typename I> + inline + mln_concrete(I) + gaussian_subsampling(const Image<I>& input, float sigma + const mln_dpoint(I)& first_p, + const mln_coord(I)& gap); + +# ifndef MLN_INCLUDE_ONLY + + + template <typename I> + inline + mln_concrete(I) + gaussian_subsampling(const Image<I>& input, float sigma, + const mln_dpoint(I)& first_p, + const mln_coord(I)& gap) + { + trace::entering("subsampling::gaussian_subsampling"); + mln_precondition(exact(input).has_data()); + + mln_concrete(I) temp(exact(input).domain()); + mln_concrete(I) output(geom::nrows(input) / gap, + geom::ncols(input) / gap); //FIXME : image2d only + + linear::gaussian(input, 0.1, temp); + output = impl::subsampling_(exact(temp), first_p, gap); + + trace::exiting("subsampling::gaussian_subsampling"); + return output; + } + +# endif // ! MLN_INCLUDE_ONLY + + } // end of namespace mln::subsampling + +} // end of namespace mln + + +#endif // ! MLN_SUBSAMPLING_GAUSSIAN_SUBSAMPLING_HH Index: mln/linear/gaussian.hh --- mln/linear/gaussian.hh (revision 1765) +++ mln/linear/gaussian.hh (working copy) @@ -1,3 +1,4 @@ + // Copyright (C) 2001, 2002, 2003, 2004 EPITA Research and Development // Laboratory // Index: mln/algebra/vec.hh --- mln/algebra/vec.hh (revision 0) +++ mln/algebra/vec.hh (revision 0) @@ -0,0 +1,562 @@ +// Copyright (C) 2006 EPITA Research and Development Laboratory +// +// This file is part of the Olena Library. This library is free +// software; you can redistribute it and/or modify it under the terms +// of the GNU General Public License version 2 as published by the +// Free Software Foundation. +// +// This library 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 this library; see the file COPYING. If not, write to +// the Free Software Foundation, 51 Franklin Street, Fifth Floor, +// Boston, MA 02111-1307, USA. +// +// As a special exception, you may use this file as part of a free +// software library 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_ALGEBRA_VEC_HH +# define MLN_ALGEBRA_VEC_HH + +/*! + * \file mln/algebra/vec.hh + * + * \brief Definition of a generic vector class. + */ + +# include <iostream> +# include <cmath> + +# include <mln/core/concept/object.hh> + +# include <mln/trait/all.hh> +# include <mln/trait/value_.hh> +# include <mln/fun/i2v/all_to.hh> +# include <mln/debug/format.hh> + +# include <mln/value/ops.hh> + + +// FIXME: Document. + + +namespace mln +{ + + // Fwd decls. + namespace algebra { + template <unsigned n, typename T> class vec; + } + namespace literal { + struct zero_t; + } + template <unsigned d, typename C> struct h_vec; + + + + namespace trait + { + + template <unsigned n, typename T> + struct value_< mln::algebra::vec<n,T> > + { + typedef trait::value::nature::vectorial nature; + typedef trait::value::kind::data kind; + + enum { + nbits = n * mln_nbits(T), + card = n * mln_card(T) + }; + typedef mln_value_quant_from_(card) quant; + + typedef algebra::vec<n, mln_sum(T)> sum; + }; + + } // end of namespace mln::trait + + + + namespace algebra + { + + namespace internal + { + + template <unsigned n, typename T> + class vec_base_ : public Object< vec<n,T> > + { + protected: + T data_[n]; + }; + + template <typename T> + class vec_base_ <1, T> : public Object< vec<1,T> > + { + public: + void set(const T& val0) + { + data_[0] = val0; + } + protected: + T data_[1]; + }; + + template <typename T> + class vec_base_ <2, T> : public Object< vec<2,T> > + { + public: + void set(const T& val0, const T& val1) + { + data_[0] = val0; + data_[1] = val1; + } + protected: + T data_[2]; + }; + + template <typename T> + class vec_base_ <3, T> : public Object< vec<3,T> > + { + public: + void set(const T& val0, const T& val1, const T& val2) + { + data_[0] = val0; + data_[1] = val1; + data_[2] = val2; + } + protected: + T data_[3]; + }; + + template <typename T> + class vec_base_ <4, T> : public Object< vec<4,T> > + { + public: + void set(const T& val0, const T& val1, const T& val2, const T& val3) + { + data_[0] = val0; + data_[1] = val1; + data_[2] = val2; + data_[3] = val3; + } + protected: + T data_[4]; + }; + + + } // end of namespace mln::algebra::internal + + + + template <unsigned n, typename T> + class vec : public internal::vec_base_<n, T> + { + typedef internal::vec_base_<n, T> super_; + + protected: + using super_::data_; + + public: + + typedef T equiv[n]; + typedef T enc[n]; + + typedef T coord; + enum { dim = n }; + + vec(); + + /// \{ Constructors/assignments with literal zero. + vec(const literal::zero_t&); + vec& operator=(const literal::zero_t&); + /// \} + + vec(const vec<n, T>& rhs); + + template <typename U> + vec(const vec<n, U>& rhs); + + template <typename U> + vec& operator=(const vec<n, U>& rhs); + + + // Immersion of the vector into its homogeneous space. + h_vec<n, T> to_h_vec() const; + + + const T& operator[](unsigned i) const; + + T& operator[](unsigned i); + + void set_all(const T& val); + + unsigned size() const; + + const vec<n, T>& normalize(); + + /// Constructor; coordinates are set by function \p f. + template <typename F> + vec(const Function_i2v<F>& f); + + /// Zero value. + static const vec<n, T> zero; + + /// Origin value. + static const vec<n, T> origin; + }; + + } // end of namespace mln::algebra + + + namespace trait + { + + // For unary traits. + + template < template <class> class Name, + unsigned n, typename T > + struct set_precise_unary_< Name, algebra::vec<n, T> > + { + typedef mln_trait_unary(Name, T) V; + typedef algebra::vec<n, V> ret; + }; + + // For binary traits. + + template < template <class, class> class Name, + unsigned n, typename T, + typename U > + struct set_precise_binary_< Name, + algebra::vec<n, T>, algebra::vec<n, U> > + { + typedef mln_trait_binary(Name, T, U) V; + typedef algebra::vec<n, V> ret; + }; + + template < unsigned n, typename T, + typename U > + struct set_precise_binary_< op::times, + algebra::vec<n, T>, algebra::vec<n, U> > + { + typedef mln_sum_x(T,U) ret; + }; + + template < template <class, class> class Name, + unsigned n, typename T, + typename S > + struct set_precise_binary_< Name, + algebra::vec<n, T>, mln::value::scalar_<S> > + { + typedef mln_trait_binary(Name, T, S) V; + typedef algebra::vec<n, V> ret; + }; + + template < template<class, class> class Name, + unsigned n, typename T, + typename S > + struct set_binary_< Name, + mln::Object, algebra::vec<n, T>, + mln::value::Scalar, S > + { + typedef mln_trait_binary(Name, T, S) V; + typedef algebra::vec<n, V> ret; + }; + + } // end of namespace mln::trait + + + + namespace algebra + { + + // eq + + template <unsigned n, typename T, typename U> + bool operator==(const vec<n,T>& lhs, const vec<n,U>& rhs); + + // + + + template <unsigned n, typename T, typename U> + vec<n, mln_trait_op_plus(T,U)> + operator+(const vec<n,T>& lhs, const vec<n,U>& rhs); + + // - + + template <unsigned n, typename T, typename U> + vec<n, mln_trait_op_minus(T,U)> + operator-(const vec<n,T>& lhs, const vec<n,U>& rhs); + + // vec * vec + + template <unsigned n, typename T, typename U> + mln_sum_x(T,U) + operator*(const vec<n,T>& lhs, const vec<n,U>& rhs); + + // vec * s + + template <unsigned n, typename T, typename S> + vec<n, mln_trait_op_times(T, S)> + operator*(const vec<n,T>& lhs, const mln::value::scalar_<S>& s); + + // vec / s + + template <unsigned n, typename T, typename S> + vec<n, mln_trait_op_div(T, S)> + operator/(const vec<n,T>& lhs, const mln::value::scalar_<S>& s); + + // << + + template <unsigned n, typename T> + std::ostream& + operator<<(std::ostream& ostr, const vec<n,T>& v); + + // vprod // FIXME: Generalize... + + template <typename T, typename U> + vec<3, mln_trait_op_times(T,U)> // FIXME: Sum of product... + vprod(const vec<3, T>& lhs, const vec<3, U>& rhs); + + +# ifndef MLN_INCLUDE_ONLY + + template <unsigned n, typename T> + inline + vec<n,T>::vec() + { + } + + template <unsigned n, typename T> + inline + vec<n,T>::vec(const literal::zero_t&) + { + this->set_all(0); + } + + template <unsigned n, typename T> + inline + vec<n,T>& + vec<n,T>::operator=(const literal::zero_t&) + { + this->set_all(0); + return *this; + } + + template <unsigned n, typename T> + inline + vec<n,T>::vec(const vec<n,T>& rhs) + : super_() + { + for (unsigned i = 0; i < n; ++i) + data_[i] = rhs[i]; + } + + template <unsigned n, typename T> + template <typename U> + inline + vec<n,T>::vec(const vec<n, U>& rhs) + : super_() + { + for (unsigned i = 0; i < n; ++i) + data_[i] = rhs[i]; + } + + template <unsigned n, typename T> + template <typename U> + inline + vec<n,T>& vec<n,T>::operator=(const vec<n, U>& rhs) + { + for (unsigned i = 0; i < n; ++i) + data_[i] = rhs[i]; + return *this; + } + + template <unsigned n, typename T> + inline + const T& vec<n,T>::operator[](unsigned i) const + { + mln_precondition(i < dim); + return data_[i]; + } + + template <unsigned n, typename T> + inline + T& vec<n,T>::operator[](unsigned i) + { + mln_precondition(i < dim); + return data_[i]; + } + + template <unsigned n, typename T> + inline + void vec<n,T>::set_all(const T& val) + { + for (unsigned i = 0; i < n; ++i) + data_[i] = val; + } + + template <unsigned n, typename T> + inline + unsigned vec<n,T>::size() const + { + return n; + } + + template <unsigned n, typename T> + inline + const vec<n, T>& vec<n, T>::normalize() + { + float n_l2 = 0; + for (unsigned i = 0; i < n; ++i) + n_l2 += data_[i] * data_[i]; + n_l2 = sqrt(n_l2); + for (unsigned i = 0; i < n; ++i) + data_[i] = T(data_[i] / n_l2); + return *this; + } + + template <unsigned n, typename T> + template <typename F> + inline + vec<n, T>::vec(const Function_i2v<F>& f_) + { + mlc_converts_to(mln_result(F), T)::check(); + const F& f = exact(f_); + for (unsigned i = 0; i < n; ++i) + data_[i] = f(i); + } + + + template <unsigned n, typename T> + const vec<n, T> vec<n, T>::zero = all_to(0); + + template <unsigned n, typename T> + const vec<n, T> vec<n, T>::origin = all_to(0); + + + // Operators. + + + template <unsigned n, typename T, typename U> + inline + bool operator==(const vec<n,T>& lhs, const vec<n,U>& rhs) + { + for (unsigned i = 0; i < n; ++i) + if (lhs[i] != rhs[i]) + return false; + return true; + } + + + template <unsigned n, typename T, typename U> + inline + vec<n, mln_trait_op_plus(T,U)> + operator+(const vec<n,T>& lhs, const vec<n,U>& rhs) + { + vec<n, mln_trait_op_plus(T,U)> tmp; + for (unsigned i = 0; i < n; ++i) + tmp[i] = lhs[i] + rhs[i]; + return tmp; + } + + template <unsigned n, typename T, typename U> + inline + vec<n, mln_trait_op_minus(T,U)> + operator-(const vec<n,T>& lhs, const vec<n,U>& rhs) + { + vec<n, mln_trait_op_minus(T,U)> tmp; + for (unsigned i = 0; i < n; ++i) + tmp[i] = lhs[i] - rhs[i]; + return tmp; + } + + template <unsigned n, typename T, typename U> + inline + mln_sum_x(T,U) + operator*(const vec<n,T>& lhs, const vec<n,U>& rhs) + { + mln_sum_x(T,U) tmp(literal::zero); + for (unsigned i = 0; i < n; ++i) + tmp += lhs[i] * rhs[i]; + return tmp; + } + + template <unsigned n, typename T, typename S> + inline + vec<n, mln_trait_op_times(T, S)> + operator*(const vec<n,T>& lhs, const mln::value::scalar_<S>& s) + { + // FIXME: We made a choice here but is it correct? + // FIXME: We "un-scalar" s so that the scalar status do not propagate. + + // Think of the case: vec<mat> v * scalar(vec w) s + // It gives: for all i, v[i] * w so the i-th mat * vec w -> vec + // The result is a vec<vec> + + // If we really want to propage the "scalar" status then + // we shall allow for scalar(scalar(..)) !!! => FIXME + + vec<n, mln_trait_op_times(T, S)> tmp; + for (unsigned i = 0; i < n; ++i) + tmp[i] = lhs[i] * s.to_equiv(); + return tmp; + } + + template <unsigned n, typename T, typename S> + inline + vec<n, mln_trait_op_div(T, S)> + operator/(const vec<n,T>& lhs, const mln::value::scalar_<S>& s) + { + mln_precondition(value::equiv(s) != literal::zero); + vec<n, mln_trait_op_div(T, S)> tmp; + for (unsigned i = 0; i < n; ++i) + tmp[i] = lhs[i] / s.to_equiv(); + return tmp; + } + + + template <unsigned n, typename T> + inline + std::ostream& + operator<<(std::ostream& ostr, const vec<n,T>& v) + { + ostr << '('; + for (unsigned i = 0; i < n; ++i) + ostr << debug::format(v[i]) << (i == n - 1 ? ")" : ", "); + return ostr; + } + + // vprod + + template <typename T, typename U> + inline + vec<3, mln_trait_op_times(T,U)> // FIXME: typename binary_arith_trait<T, U>::ret> + vprod(const vec<3, T>& lhs, const vec<3, U>& rhs) + { + vec<3, mln_trait_op_times(T,U)> tmp; // FIXME: Likewise. + tmp[0] = lhs[1] * rhs[2] - lhs[2] * rhs[1]; + tmp[1] = lhs[2] * rhs[0] - lhs[0] * rhs[2]; + tmp[2] = lhs[0] * rhs[1] - lhs[1] * rhs[0]; + return tmp; + } + +# endif // MLN_INCLUDE_ONLY + + } // end of namespace mln::algebra + +} // end of namespace mln + + +# include <mln/make/vec.hh> + + +#endif // ! MLN_ALGEBRA_VEC_HH Index: sandbox/jardonnet/test/gaussian_subsampling.cc --- sandbox/jardonnet/test/gaussian_subsampling.cc (revision 0) +++ sandbox/jardonnet/test/gaussian_subsampling.cc (revision 0) @@ -0,0 +1,21 @@ +#include <mln/core/image2d.hh> + +#include <mln/io/pgm/load.hh> +#include <mln/io/pgm/save.hh> + +#include <sandbox/jardonnet/subsampling/gaussian_subsampling.hh> + + +int main(int argc, char*) +{ + using namespace mln; + using value::int_u8; + + image2d<int_u8> img; + + io::pgm::load(img, "../../../img/lena.pgm"); + + image2d<int_u8> output = subsampling::gaussian_subsampling(img, make::dpoint2d(1,1), argc); + + io::pgm::save(output, "gsub.pgm"); +} Index: sandbox/jardonnet/test/subsampling.cc --- sandbox/jardonnet/test/subsampling.cc (revision 1765) +++ sandbox/jardonnet/test/subsampling.cc (working copy) @@ -3,7 +3,7 @@ #include <mln/io/pgm/load.hh> #include <mln/io/pgm/save.hh> -#include <sandbox/jardonnet/subsampling/subsampling_2d.hh> +#include <mln/subsampling/subsampling.hh> int main(int argc, char*) @@ -16,7 +16,7 @@ io::pgm::load(img, "../../../img/lena.pgm"); std::cout << geom::nrows(img) << geom::ncols(img) << std::endl; - image2d<int_u8> output = subsampling::subsampling_2d(img, make::dpoint2d(1,1), argc); + image2d<int_u8> output = subsampling::subsampling(img, make::dpoint2d(1,1), argc); - io::pgm::save(output, "out1.pgm"); + io::pgm::save(output, "sub.pgm"); } Index: sandbox/jardonnet/test/Makefile --- sandbox/jardonnet/test/Makefile (revision 1765) +++ sandbox/jardonnet/test/Makefile (working copy) @@ -1,8 +1,14 @@ SOURCE=test.cc subsampling.cc FLAG=-Wall -W -I../../.. -g -all: - g++ $(SOURCE) $(FLAG) -o '+a.out' +all: sub gsub + sub: - g++ subsampling.cc $(FLAG) -o '+a.out' + g++ subsampling.cc $(FLAG) -o '+sub.exe' + +gsub: + g++ gaussian_subsampling.cc $(FLAG) -o '+gsub.exe' + +run: + time ./+sub.exe . . ; time ./+gsub.exe . . \ No newline at end of file Index: sandbox/jardonnet/subsampling/gaussian_subsampling.hh --- sandbox/jardonnet/subsampling/gaussian_subsampling.hh (revision 0) +++ sandbox/jardonnet/subsampling/gaussian_subsampling.hh (revision 0) @@ -0,0 +1,93 @@ +// Copyright (C) 2008 EPITA Research and Development Laboratory +// +// This file is part of the Olena Library. This library is free +// software; you can redistribute it and/or modify it under the terms +// of the GNU General Public License version 2 as published by the +// Free Software Foundation. +// +// This library 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 this library; see the file COPYING. If not, write to +// the Free Software Foundation, 51 Franklin Street, Fifth Floor, +// Boston, MA 02111-1307, USA. +// +// As a special exception, you may use this file as part of a free +// software library 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_SUBSAMPLING_GAUSSIAN_SUBSAMPLING_HH +# define MLN_SUBSAMPLING_GAUSSIAN_SUBSAMPLING_HH + +/*! \file mln/binarization/threshold.hh + * + * \brief Produce a subsampled image + */ + +# include <mln/geom/ncols.hh> +# include <mln/geom/nrows.hh> + + +# include <mln/linear/gaussian.hh> +# include <mln/subsampling/subsampling.hh> + + + +namespace mln +{ + + namespace subsampling + { + + /*! Subsampling FIXME : doxy + * + * + */ + template <typename I> + inline + mln_concrete(I) + gaussian_subsampling(const Image<I>& input, float sigma + const mln_dpoint(I)& first_p, + const mln_coord(I)& gap); + +# ifndef MLN_INCLUDE_ONLY + + + template <typename I> + inline + mln_concrete(I) + gaussian_subsampling(const Image<I>& input, float sigma, + const mln_dpoint(I)& first_p, + const mln_coord(I)& gap) + { + trace::entering("subsampling::gaussian_subsampling"); + mln_precondition(exact(input).has_data()); + + mln_concrete(I) temp(exact(input).domain()); + mln_concrete(I) output(geom::nrows(input) / gap, + geom::ncols(input) / gap); //FIXME : only for image2d. + + linear::gaussian(input, 0.1, temp); + output = impl::subsampling_(exact(temp), first_p, gap); + + trace::exiting("subsampling::gaussian_subsampling"); + return output; + } + +# endif // ! MLN_INCLUDE_ONLY + + } // end of namespace mln::subsampling + +} // end of namespace mln + + +#endif // ! MLN_SUBSAMPLING_GAUSSIAN_SUBSAMPLING_HH Index: sandbox/jardonnet/registration/icp.hh --- sandbox/jardonnet/registration/icp.hh (revision 0) +++ sandbox/jardonnet/registration/icp.hh (revision 0) @@ -0,0 +1,122 @@ +// Copyright (C) 2008 EPITA Research and Development Laboratory +// +// This file is part of the Olena Library. This library is free +// software; you can redistribute it and/or modify it under the terms +// of the GNU General Public License version 2 as published by the +// Free Software Foundation. +// +// This library 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 this library; see the file COPYING. If not, write to +// the Free Software Foundation, 51 Franklin Street, Fifth Floor, +// Boston, MA 02111-1307, USA. +// +// As a special exception, you may use this file as part of a free +// software library 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_REGISTRATION_REGISTRATION_HH +# define MLN_REGISTRATION_REGISTRATION_HH + +/*! \file mln/binarization/threshold.hh + * + * \brief Produce a subsampled image + */ + +# include <mln/value/quat.hh> +# include <mln/algebra/vec.hh> + +namespace mln +{ + + namespace registration + { + + /*! Registration FIXME : doxy + * + * + */ + template <typename I> + inline + void + icp(const Image<I>& cloud, + const Image<J>& surface); + +# ifndef MLN_INCLUDE_ONLY + + namespace impl + { + + //FIXME : add version for every image types. + + template <typename I, typename J> + inline + void + icp_(const I& P, + const J& X) + { + trace::entering("registration::impl::icp_"); + + mln_concrete(I) Pk(cloud.domain()); + + const float epsilon = 1e-3; + float err, err_bis; + quat old_qk, qk; + unsigned int k; + + + k = 0; + Pk = P; + do { + //projection + + old_qk = qk; + + //qk = match(P, mu_P, Xk, mu_Xk); + + // error = + + } while (k < 3 || (qk - old_qk).sqr_norm() > epsilon); + + + trace::exiting("registration::impl::icp_"); + } + + } // end of namespace mln::registration::impl + + + template <typename I, typename J> + inline + void + icp(const Image<I>& cloud, + const Image<J>& surface) + { + trace::entering("registration::icp"); + mln_precondition(exact(cloud).has_data()); + mln_precondition(exact(surface).has_data()); + + output = impl::icp_(exact(cloud), exact(surface)); + + trace::exiting("registration::icp"); + } + + //cloud == image ? + +# endif // ! MLN_INCLUDE_ONLY + + } // end of namespace mln::registration + +} // end of namespace mln + + +#endif // ! MLN_REGISTRATION_ICP_HH