[Olena-patches] 3322: Update igr's code.

* lazzara/igr.cc: update code. More debug. * lazzara/igr-cloud.cc: new. Register clouds of points. * lazzara/irm_seg_with_mm_and_rag.mine.cc: new. Segment using meyer_wst and register clouds of points. --- milena/sandbox/ChangeLog | 11 + milena/sandbox/lazzara/igr-cloud.cc | 61 ++++ milena/sandbox/lazzara/igr.cc | 297 ++++++++---------- .../lazzara/irm_seg_with_mm_and_rag.mine.cc | 331 ++++++++++++++++++++ 4 files changed, 533 insertions(+), 167 deletions(-) create mode 100644 milena/sandbox/lazzara/igr-cloud.cc create mode 100644 milena/sandbox/lazzara/irm_seg_with_mm_and_rag.mine.cc diff --git a/milena/sandbox/ChangeLog b/milena/sandbox/ChangeLog index f82dab8..0e61ceb 100644 --- a/milena/sandbox/ChangeLog +++ b/milena/sandbox/ChangeLog @@ -1,3 +1,14 @@ +2009-02-09 Guillaume Lazzara &lt;z(a)lrde.epita.fr&gt; + + Update igr's code. + + * lazzara/igr.cc: update code. More debug. + + * lazzara/igr-cloud.cc: new. Register clouds of points. + + * lazzara/irm_seg_with_mm_and_rag.mine.cc: new. Segment using + meyer_wst and register clouds of points. + 2009-02-09 Fabien Freling &lt;freling(a)lrde.epita.fr&gt; Implement fastest versions of labeling. diff --git a/milena/sandbox/lazzara/igr-cloud.cc b/milena/sandbox/lazzara/igr-cloud.cc new file mode 100644 index 0000000..18d976f --- /dev/null +++ b/milena/sandbox/lazzara/igr-cloud.cc @@ -0,0 +1,61 @@ +# include <cmath> +# include <algorithm> + +# include <mln/core/alias/vec3d.hh> +# include <mln/math/jacobi.hh> +# include <mln/fun/x2x/all.hh> +# include <mln/fun/x2v/all.hh> +# include <mln/convert/to.hh> +# include <mln/accu/compute.hh> +# include <mln/accu/center.hh> +# include <mln/accu/rms.hh> +# include <mln/trait/image_from_grid.hh> +# include <mln/set/compute.hh> + +//Should be removed when closest_point functors are moved. +# include <mln/core/alias/neighb3d.hh> +# include <mln/transform/internal/closest_point_functor.hh> +# include <mln/canvas/distance_geodesic.hh> +# include <mln/pw/all.hh> + +# include <mln/io/ppm/save.hh> +# include <mln/io/pbm/save.hh> +# include <mln/debug/colorize.hh> + +# include <mln/literal/black.hh> +# include <mln/literal/white.hh> +# include <mln/literal/colors.hh> + +# include <mln/core/image/slice_image.hh> +# include <mln/util/timer.hh> + +#include <mln/core/image/tr_image.hh> +#include <mln/core/image/extension_fun.hh> + +#include <mln/accu/histo.hh> +#include <mln/accu/sum.hh> +#include <mln/debug/histo.hh> +#include <mln/io/cloud/load.hh> + +#include <mln/registration/icp2.hh> + +int main(int, char *argv[]) +{ + using namespace mln; + using namespace fun::x2x; + using value::rgb8; + using value::int_u8; + using value::label_16; + + //Load image + typedef image3d<bool> K; + + p_array<point3d> in_3d_, ref_3d_; + io::cloud::load(in_3d_, argv[1]); + io::cloud::load(ref_3d_, argv[2]); + + typedef rotation<3u,float> rot_t; + typedef translation<3u,float> trans_t; + composed<trans_t,rot_t> qk = registration::registration(in_3d_, ref_3d_); + +} diff --git a/milena/sandbox/lazzara/igr.cc b/milena/sandbox/lazzara/igr.cc index 05d8471..0df1d92 100644 --- a/milena/sandbox/lazzara/igr.cc +++ b/milena/sandbox/lazzara/igr.cc @@ -16,6 +16,10 @@ #include <mln/io/cloud/load.hh> #include <mln/util/timer.hh> +#include <mln/core/concept/function.hh> +#include <mln/trait/ch_value.hh> + +#include <mln/fun/p2b/big_chess.hh> struct threshold : mln::Function_p2b<threshold> { @@ -29,130 +33,10 @@ struct threshold : mln::Function_p2b<threshold> namespace mln { - using namespace fun::x2x; - - template <typename P> - struct transf_quat_t - { - transf_quat_t() - : q_(1,0,0,0), t_(literal::zero) - { - } - - - inline - float epsilon() - { - static const float e = 1e-5; - return e; - } - - inline - bool about_equal(float val1, float val2) - { - return fabs(val1 - val2) < epsilon(); - } - - template <unsigned n> - algebra::vec<n,float> rotate(const algebra::quat& q, const algebra::vec<n,float>& p) - { - return (q * algebra::quat(0. ,p) * q.inv()).v(); - } - - - bool check_rotation(const algebra::h_mat<3,float>& mat, const algebra::quat& q) - { - srand(time(0)); - assert(q.is_unit()); - rotation<3,float> rot(mat); - - algebra::vec<3,float> - tmp = make::vec(rand(), rand(), rand()), - p = tmp / norm::l2(tmp), - p_rot_1 = rotate(q, p), - p_rot_2 = rot(p); - return about_equal(norm::l2(p_rot_1 - p_rot_2), 0.f); - } - - - transf_quat_t(const algebra::quat& q, const vec3d_f& t) - : q_(q), t_(t) - { - assert(q.is_unit()); - float - 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; - float data[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}; - - algebra::h_mat<3,float> tmp = make::h_mat(data); - std::cout << tmp << std::endl; - // postcondition - assert(check_rotation(tmp, q)); - } - - void - set_quat(const algebra::quat& q) - { - q_ = q; - } - - - void - set_trans(const vec3d_f& t) - { - t_ = t; - } - - algebra::vec<P::dim,float> - operator()(const algebra::vec<P::dim,float>& v) const - { - return (q_ * algebra::quat(0., v) * q_.inv()).v() + t_; - } - - algebra::quat q_; - vec3d_f t_; - }; - - - template <typename P> - struct transf_mat_t - { - typedef rotation<P::dim,float> rot_t; - typedef translation<P::dim,float> trans_t; - - transf_mat_t() {} - transf_mat_t(const algebra::quat& q, const vec3d_f& t) - : r_(q), t_(t), c_(r_, t_) - { - } - - void - set_quat(const algebra::quat& q) - { - r_ = rot_t(q); - } - - void - set_trans_(const vec3d_f& t) - { - t_ = trans_t(t); - } - - algebra::vec<P::dim,float> - operator()(const algebra::vec<P::dim,float>& v) const - { - return c_(v); - } - - rot_t r_; - trans_t t_; - composed<rot_t, trans_t> c_; - }; - + namespace registration + { + extern std::string method; + } } @@ -240,18 +124,16 @@ get_main_object_shape(const mln::Image<I>& in) typedef image2d<bool> J; -// threshold f; -// J in_bw = binarization::binarization(in, f); -// io::pbm::save(in_bw, "01_in_bw.pbm"); + threshold f; + J in_bw = binarization::binarization(in, f); + io::pbm::save(in_bw, "01_in_bw.pbm"); -// J ima = keep_largest_component(in_bw); - J ima = keep_largest_component(in); -// io::pbm::save(in_bw, "02_ima.pbm"); - io::pbm::save(in, "ima.pbm"); + J ima = keep_largest_component(in_bw); +// J ima = keep_largest_component(in); + io::pbm::save(ima, "02_ima.pbm"); std::cout << "Compute gradient" << std::endl; J ima_grad = morpho::gradient(ima, win_c4p()); - io::pbm::save(ima_grad, "ima_grad.pbm"); return ima_grad; } @@ -262,31 +144,87 @@ namespace mln namespace debug { + template <typename I, typename T> - void - compare_registration(Image<I>& P_, Image<I>& X_, const T& transf) + image3d<value::rgb8> + make_registered_image(Image<I>& P_, Image<I>& X_, const T& transf) { I& P = exact(P_); I& X = exact(X_); mln_pset(I) box = geom::bbox(X); - box.enlarge(40); + box.enlarge(1, 60); + box.enlarge(2, 60); typedef mln_ch_value(I,value::rgb8) result_t; result_t result(box); extension_fun<result_t,pw::cst_<mln_value(result_t)> > ext_result(result, pw::cst(value::rgb8(0,0,0))); extension_fun<I,pw::cst_<mln_value(I)> > ext_X(X, pw::cst(false)); - data::fill(ext_result, literal::black); - data::fill((ext_result | (pw::value(ext_X) == true)).rw(), literal::white); mln_VAR(ig, (P | pw::value(P) == true)); mln_piter(ig_t) p(ig.domain()); for_all(p) ext_result(transf(p.to_vec())) = literal::green; - io::ppm::save(slice(ext_result,0), "registered-1.ppm"); + return ext_result; } + + template <typename I, typename J> + void + compare_registration(Image<I>& registered_, Image<J>& X_) + { + I& registered = exact(registered_); + J& X = exact(X_); + + typedef mln_ch_value(I,value::rgb8) result_t; + result_t result; + initialize(result, registered); + extension_fun<J,pw::cst_<mln_value(J)> > ext_X(X, pw::cst(false)); + + data::fill(result, literal::black); + data::fill((result | (pw::value(ext_X) == true)).rw(), literal::white); + data::fill((result | (pw::value(registered) != pw::cst(literal::black))).rw(), + literal::green); + + io::ppm::save(slice(result,0), "final_registered.ppm"); + } + + + + template <typename I, typename T> + void + compare_registration2(Image<I>& P_, Image<I>& X_, + const T& transf) + { + I& P = exact(P_); + const I& X = exact(X_); + + typedef extension_fun<I,pw::cst_<mln_value(I)> > ext_P_t; + ext_P_t ext_P(P, pw::cst(value::rgb8(literal::black))); + tr_image<box3d, ext_P_t, T> trima(P.domain(), ext_P, transf); + io::ppm::save(slice(trima, 0), "trima.ppm"); + + I reg(X.domain()); + data::fill(reg, literal::black); + mln_piter(I) p(P.domain()); + for_all(p) + if (reg.domain().has(transf(p.to_vec()))) + reg(transf(p.to_vec())) = P(p); + io::ppm::save(slice(reg,0), "registered-2.ppm"); + + I tmp2 = duplicate(X); + fun::p2b::big_chess<box3d> fun2(tmp2.domain(), 20); + data::paste((reg | fun2), tmp2); + io::ppm::save(slice(tmp2,0), "registration_filter-a.ppm"); + + I tmp = duplicate(X); + fun::p2b::big_chess<box3d> fun(tmp.domain(), 20); + data::paste((trima | fun), tmp); + + io::ppm::save(slice(tmp,0), "registration_filter.ppm"); + } + } } @@ -302,42 +240,67 @@ int main(int, char* argv[]) //Load image typedef image2d<rgb8> I; typedef image2d<bool> J; - -// I in; -// J in; -// io::pbm::load(in, argv[1]); -// J in_grad = get_main_object_shape(in); - -// I ref; -// J ref; -// io::pbm::load(ref, argv[2]); -// J ref_grad = get_main_object_shape(ref); - typedef image3d<bool> K; - - p_array<point3d> in_3d_, ref_3d_; - io::cloud::load(in_3d_, argv[1]); - io::cloud::load(ref_3d_, argv[2]); - - std::cout << "* loading data" << std::endl; - std::cout << " igr.cc - in_3d_.nsites = " << in_3d_.nsites() << std::endl; - std::cout << " igr.cc - ref_3d_.nsites = " << ref_3d_.nsites() << std::endl; - K in_3d = convert::to<K>(in_3d_); - K ref_3d = convert::to<K>(ref_3d_); - - registration::closest_point_with_map<point3d> closest_point(ref_3d_); -// registration::closest_point_basic<point3d> closest_point(ref_3d_); - + typedef image3d<value::rgb8> L; + + I in; + io::ppm::load(in, argv[1]); + J in_obj = get_main_object_shape(in); + io::pbm::save(in_obj, "in_obj.pbm"); + + I ref; + io::ppm::load(ref, argv[2]); + J ref_obj = get_main_object_shape(ref); + io::pbm::save(ref_obj, "ref_obj.pbm"); + +// p_array<point3d> in_3d_, ref_3d_; +// io::cloud::load(in_3d_, argv[1]); +// io::cloud::load(ref_3d_, argv[2]); +// +// std::cout << "* loading data" << std::endl; +// std::cout << " igr.cc - in_3d_.nsites = " << in_3d_.nsites() << std::endl; +// std::cout << " igr.cc - ref_3d_.nsites = " << ref_3d_.nsites() << std::endl; +// K in_3d = convert::to<image3d<bool> >(in_3d_); +// K ref_3d = convert::to<image3d<bool> >(ref_3d_); +// io::pbm::save(slice(in_3d,0), "in_shape.ppm"); +// io::pbm::save(slice(ref_3d,0), "ref_shape.ppm"); +// K in = duplicate(in_3d); +// K ref = duplicate(ref_3d); + + K in_3d = make::image3d(in_obj); + K ref_3d = make::image3d(ref_obj); + std::cout << " igr.cc - in_3d.nsites = " << in_3d.nsites() << std::endl; + std::cout << " igr.cc - ref_3d.nsites = " << ref_3d.nsites() << std::endl; + + typedef p_array<point3d> p_arr_t; + p_arr_t in_3d_ = convert::to<p_arr_t>(in_3d); + p_arr_t ref_3d_ = convert::to<p_arr_t>(ref_3d); + + +/// Add objects shapes in original images. + L in_wborders = make::image3d(duplicate(in)); + data::fill((in_wborders | in_3d_).rw(), literal::green); + io::ppm::save(slice(in_wborders,0), "in_with_borders.ppm"); + + L ref_wborders = make::image3d(duplicate(ref)); + data::fill((ref_wborders | ref_3d_).rw(), literal::green); + io::ppm::save(slice(ref_wborders,0), "ref_with_borders.ppm"); + + + + // Starting registration. util::timer t; t.start(); - typedef rotation<3u,float> rot_t; typedef translation<3u,float> trans_t; - composed<trans_t,rot_t> qk = registration::icp_clean2(in_3d_, ref_3d_, closest_point); + composed<trans_t,rot_t> qk = registration::registration(in_3d_, ref_3d_); + std::cout << "igr.cc - Registration - " << t << "s" << std::endl; - std::cout << "igr.cc - Registration - " << t << std::endl; std::cout << "* Build result image" << std::endl; - debug::compare_registration(in_3d, ref_3d, qk); + image3d<value::rgb8> registered = debug::make_registered_image(in_3d, ref_3d, qk); + debug::compare_registration(registered, ref_3d); + + debug::compare_registration2(in_wborders, ref_wborders, qk); } diff --git a/milena/sandbox/lazzara/irm_seg_with_mm_and_rag.mine.cc b/milena/sandbox/lazzara/irm_seg_with_mm_and_rag.mine.cc new file mode 100644 index 0000000..5b54eca --- /dev/null +++ b/milena/sandbox/lazzara/irm_seg_with_mm_and_rag.mine.cc @@ -0,0 +1,331 @@ + +#include <iterator> +#include <iostream> +#include <algorithm> + +#include <mln/core/image/image2d.hh> + +#include <mln/core/alias/neighb2d.hh> +#include <mln/core/alias/window2d.hh> +#include <mln/core/image/image_if.hh> +#include <mln/core/image/extension_fun.hh> +#include <mln/core/image/tr_image.hh> +#include <mln/core/var.hh> +#include <mln/win/rectangle2d.hh> + +#include <mln/fun/p2b/big_chess.hh> +#include <mln/fun/x2x/all.hh> + +#include <mln/io/pgm/load.hh> +#include <mln/io/pgm/save.hh> +#include <mln/io/pbm/save.hh> +#include <mln/io/ppm/save.hh> + +#include <mln/value/int_u8.hh> +#include <mln/value/label_16.hh> + +#include <mln/level/transform.hh> + +#include <mln/convert/to_window.hh> +#include <mln/convert/to_image.hh> +#include <mln/convert/to_fun.hh> + +#include <mln/labeling/compute.hh> +#include <mln/labeling/background.hh> + +#include <mln/level/convert.hh> + +#include <mln/make/image3d.hh> + +#include <mln/morpho/gradient.hh> +#include <mln/morpho/closing_area.hh> +#include <mln/morpho/meyer_wst.hh> + +#include <mln/accu/mean.hh> +//#include <mln/level/take.hh> + +#include <mln/util/graph.hh> + +#include <mln/literal/colors.hh> + +#include <mln/debug/println.hh> + +#include <mln/registration/icp2.hh> + +mln::value::int_u8 foo(unsigned u) +{ + return u == 0 ? + 0 : // wshed line + 1 + (u - 1) % 255; // basin +} + + +namespace mln +{ + namespace debug + { + + template <typename I, typename T> + image3d<value::rgb8> + make_registered_image(Image<I>& P_, Image<I>& X_, const T& transf) + { + I& P = exact(P_); + I& X = exact(X_); + + mln_pset(I) box = geom::bbox(X); + box.enlarge(1, 60); + box.enlarge(2, 60); + + typedef mln_ch_value(I,value::rgb8) result_t; + result_t result(box); + extension_fun<result_t,pw::cst_<mln_value(result_t)> > ext_result(result, pw::cst(value::rgb8(0,0,0))); + extension_fun<I,pw::cst_<mln_value(I)> > ext_X(X, pw::cst(false)); + data::fill(ext_result, literal::black); + + mln_VAR(ig, (P | pw::value(P) == true)); + mln_piter(ig_t) p(ig.domain()); + for_all(p) + ext_result(transf(p.to_vec())) = literal::green; + + return ext_result; + } + + template <typename I, typename J> + void + compare_registration(Image<I>& registered_, Image<J>& X_) + { + I& registered = exact(registered_); + J& X = exact(X_); + + typedef mln_ch_value(I,value::rgb8) result_t; + result_t result; + initialize(result, registered); + extension_fun<J,pw::cst_<mln_value(J)> > ext_X(X, pw::cst(false)); + + data::fill(result, literal::black); + data::fill((result | (pw::value(ext_X) == true)).rw(), literal::white); + data::fill((result | (pw::value(registered) != pw::cst(literal::black))).rw(), + literal::green); + + io::ppm::save(slice(result,0), "tmp_final_registered.ppm"); + } + + + + template <typename I, typename T> + void + compare_registration2(Image<I>& P_, Image<I>& X_, + const T& transf) + { + I& P = exact(P_); + const I& X = exact(X_); + + //FIXME: tr_image is bugged! +// typedef extension_fun<I,pw::cst_<mln_value(I)> > ext_P_t; +// ext_P_t ext_P(P, pw::cst(value::int_u8(0u))); +// tr_image<box3d, ext_P_t, T> trima(P.domain(), ext_P, transf); +// io::pgm::save(slice(trima, 0), "tmp_trima.ppm"); + + I reg(X.domain()); + data::fill(reg, literal::zero); + mln_piter(I) p(P.domain()); + for_all(p) + if (reg.domain().has(transf(p.to_vec()))) + reg(transf(p.to_vec())) = P(p); + io::pgm::save(slice(reg,0), "tmp_registered-2.ppm"); + + I tmp2 = duplicate(X); + fun::p2b::big_chess<box3d> fun2(tmp2.domain(), 20); + data::paste((reg | fun2), tmp2); + io::pgm::save(slice(tmp2,0), "tmp_registration_filter-a.ppm"); + +// I tmp = duplicate(X); +// fun::p2b::big_chess<box3d> fun(tmp.domain(), 20); +// data::paste((trima | fun), tmp); +// +// io::pgm::save(slice(tmp,0), "tmp_registration_filter.ppm"); + } + + } + + + struct threshold : Function_p2b<threshold> + { + bool operator()(const value::rgb8& val) const + { + unsigned inty = (val.red() + val.blue() + val.green()); + return inty > 100 && inty < 600; + } + + bool operator()(const unsigned& val) const + { + return val < 120;// && val < 230; + } + }; + + template <typename I> + mln_ch_value(I,bool) + fill_holes(const mln::Image<I>& ima) + { + using namespace mln; + + mln_ch_value(I,bool) output; + initialize(output, ima); + data::fill(output, true); + + value::label_16 nlabels; + mln_ch_value(I, value::label_16) lbl = labeling::background(ima, c4(), nlabels); + + mln_VAR(lbl_count, labeling::compute(accu::meta::count(), ima, lbl, nlabels)); + + unsigned max_id = 1; + for (unsigned i = 2; i <= nlabels; ++i) + if (lbl_count[max_id] < lbl_count[i]) + max_id = i; + + data::fill((output | pw::value(lbl) == max_id).rw(), false); + + return output; + } + + + template <typename I> + mln_ch_value(I,bool) + keep_largest_component(const Image<I>& ima) + { + using namespace mln; + + image2d<bool> in_bw_cleaned = fill_holes(ima); +// io::pbm::save(in_bw_cleaned, "in_bw_cleaned.pbm"); + + logical::not_inplace(in_bw_cleaned); + image2d<bool> in_bw_cleaned_full = fill_holes(in_bw_cleaned); +// io::pbm::save(in_bw_cleaned_full, "in_bw_cleaned_full.pbm"); + + logical::not_inplace(in_bw_cleaned_full); + return in_bw_cleaned_full; + } + + template <typename I> + mln_ch_value(I,bool) + get_main_object_shape(const Image<I>& in) + { + using namespace mln; + + typedef image2d<bool> J; + +// threshold f; +// J in_bw = binarization::binarization(in, f); +// io::pbm::save(in_bw, "01_in_bw.pbm"); + +// J ima = keep_largest_component(in_bw); + J ima = keep_largest_component(in); + + std::cout << "Compute gradient" << std::endl; + J ima_grad = morpho::gradient(ima, win_c4p()); + + return ima_grad; + } + + //FIXME: add conversion from label_16 to bool. + struct to_bool : Function_v2v<to_bool> + { + typedef bool result; + bool operator()(const value::label_16& l) const + { + return l != 0u; + } + + }; + + + template <typename I> + mln_ch_value(I,bool) + get_cloud_image(const Image<I>& irm) + { + using namespace mln; + using value::int_u8; + using value::label_16; + + window2d c4p = convert::to_window(c4()); + c4p.insert(0,0); + // debug::println(convert::to_image(c4p)); + image2d<int_u8> grad = morpho::gradient(irm, c4p); + io::pgm::save( grad, "tmp_grad_c4p.pgm" ); + + image2d<int_u8> clo; + initialize(clo, irm); + + clo = morpho::closing_area(grad, c4(), 100); + io::pgm::save( clo, "tmp_clo_a100.pgm" ); + + label_16 nbasins; + image2d<label_16> wshed = morpho::meyer_wst(clo, c4(), nbasins); + std::cout << "nbasins = " << nbasins << std::endl; + io::pgm::save( level::transform(wshed, convert::to_fun(foo)), + "tmp_wshed.pgm" ); + + mln_VAR(mean_values, labeling::compute(accu::meta::mean(), irm, wshed, nbasins)); + fun::i2v::array<label_16> to_keep(nbasins.next(), 0); + threshold f; + for (label_16 i = 1; i < mean_values.nelements(); ++i) + if (f(mean_values[i])) + to_keep(i) = i; + + wshed = level::transform(wshed, to_keep); + io::pgm::save( level::transform(wshed, convert::to_fun(foo)), + "tmp_wshed_2.pgm" ); + + image2d<bool> wshed_bw = level::transform(wshed, to_bool()); + image2d<bool> main_obj = get_main_object_shape(wshed_bw); + io::pbm::save(main_obj, "tmp_main_obj"); + + return main_obj; + } + +} // end of namespace mln + + +int main(int, char *argv[]) +{ + using namespace mln; + using value::int_u8; + using value::label_16; + + image2d<int_u8> irm; + io::pgm::load(irm, argv[1]); + + image2d<int_u8> irm_ref; + io::pgm::load(irm_ref, argv[2]); + + std::cout << "compute irm" << std::endl; + image3d<bool> P = make::image3d(get_cloud_image(irm)); + std::cout << "compute irm_ref" << std::endl; + image3d<bool> X = make::image3d(get_cloud_image(irm_ref)); + + std::cout << "Registration" << std::endl; + typedef fun::x2x::rotation<3u,float> rot_t; + typedef fun::x2x::translation<3u,float> trans_t; + typedef p_array<point3d> arr_t; + arr_t P_arr = convert::to<arr_t>(P); + arr_t X_arr = convert::to<arr_t>(X); + fun::x2x::composed<trans_t,rot_t> qk = registration::registration(P_arr, X_arr); + + + std::cout << "* Build result image" << std::endl; + image3d<value::rgb8> registered = debug::make_registered_image(P, X, qk); + debug::compare_registration(registered, X); + + + + image3d<int_u8> irm_wborders = make::image3d(duplicate(irm)); + data::fill((irm_wborders | P_arr).rw(), 255); + io::pgm::save(slice(irm_wborders,0), "tmp_irm_with_borders.ppm"); + + image3d<int_u8> ref_wborders = make::image3d(duplicate(irm_ref)); + data::fill((ref_wborders | X_arr).rw(), 255); + io::pgm::save(slice(ref_wborders,0), "tmp_ref_with_borders.ppm"); + + debug::compare_registration2(irm_wborders, ref_wborders, qk); + +} -- 1.5.6.5