[Olena-patches] r1964: Update final_qk.

17 May 2008

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


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

	Update final_qk.

	Final_qk didn't use correct points.

	* jardonnet/test/icp.cc: .
	* jardonnet/registration/final_qk.hh: .
	* jardonnet/registration/icp.hh: .

	* jardonnet/test/no_final.ppm: New.

  registration/final_qk.hh |    6 +++---
  registration/icp.hh      |   11 ++++-------
  test/icp.cc              |    2 +-
  3 files changed, 8 insertions(+), 11 deletions(-)

Index: jardonnet/test/no_final.ppm
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream

Property changes on: jardonnet/test/no_final.ppm
___________________________________________________________________
Name: svn:mime-type
    + application/octet-stream

Index: jardonnet/test/icp.cc

--- jardonnet/test/icp.cc	(revision 1963)
+++ jardonnet/test/icp.cc	(working copy)
@@ -78,9 +78,9 @@
    for (size_t i = 0; i < c.npoints(); i++)
      length[i] = norm::l2(algebra::vec<3,int> (c[i] - map(c[i])));

-
    // final transform
    quat7<3> fqk = registration::final_qk(c, map, 2 * stddev);
+  std::cout << fqk << std::endl;
    fqk.apply_on(c, c, c.npoints());

    //to 2d : projection (FIXME:if 3d)
Index: jardonnet/registration/final_qk.hh
--- jardonnet/registration/final_qk.hh	(revision 1963)
+++ jardonnet/registration/final_qk.hh	(working copy)
@@ -46,10 +46,10 @@

        for (size_t i = 0; i < c.npoints(); ++i)
  	{
-	  algebra::vec<3,float> xki = map(c[i]);
  	  algebra::vec<3,float> ci = c[i];
+	  algebra::vec<3,float> xki = map(c[i]);

-	  if (norm::l2(ci - xki) > nstddev)
+	  if (norm::l2(ci - xki) < nstddev)
  	    {
  	      newc.append(c[i]);
  	      mu_newc += ci;
@@ -59,7 +59,7 @@

        quat7<P::dim> qk = match(newc, mu_newc, newc, map, newc.npoints());

-      qk._qT = - qk._qT; // FIXME : why?
+      //qk._qT = - qk._qT; // FIXME : why?

        return qk;
      }
Index: jardonnet/registration/icp.hh
--- jardonnet/registration/icp.hh	(revision 1963)
+++ jardonnet/registration/icp.hh	(working copy)
@@ -133,12 +133,10 @@


            //update qk
-          /*
            if (k > 3)
              qk = update_qk(buf_qk, buf_dk);
            qk._qR.set_unit();
            buf_qk[0] = qk;
-          */

            //Ck+1 = qk(C)
            qk.apply_on(C, Ck, c_length);
@@ -180,7 +178,7 @@
      template <typename P, typename M>
      inline
      quat7<P::dim>
-    icp(p_array<P> cloud, //here reference implies low efficiency 
(FIXME:check again)
+    icp(p_array<P> cloud, // More efficient without reference
          const M& map,
          const float q,
          const unsigned nb_it,
@@ -199,7 +197,7 @@


  #ifndef NDEBUG       // FIXME: theo
-      image2d<value::rgb8> tmp(500,800);
+      image2d<value::rgb8> tmp(500,500); // FIXME :
        level::fill(tmp, literal::black);
        //write X
        mln_piter(p_array<P>) p(x);
@@ -207,7 +205,7 @@
        {
          point2d qp = make::point2d(p[0], p[1]);
          if (tmp.has(qp))
-          tmp(qp) = literal::white;
+          tmp(qp) = literal::green;
        }
  #endif

@@ -224,7 +222,7 @@
            {
              value::rgb8 c;
              switch (e) {
-            case 2: c = literal::green; break;
+            case 2: c = literal::white; break;
              case 1: c = literal::blue; break;
              case 0: c = literal::red; break;
              }
@@ -236,7 +234,6 @@
                if (tmp.has(qp))
                  tmp(qp) = c;
              }
-            //if (e == 0)
                io::ppm::save(tmp, "tmp.ppm");
            }
  #endif

    