* lazzara/igr.cc: update code. Add more debug and use a new variant of ICP. --- milena/sandbox/ChangeLog | 7 ++++ milena/sandbox/lazzara/igr.cc | 67 +++++++++++++++++++++++++++++++---------- 2 files changed, 58 insertions(+), 16 deletions(-) diff --git a/milena/sandbox/ChangeLog b/milena/sandbox/ChangeLog index 7c9b399..dc34f80 100644 --- a/milena/sandbox/ChangeLog +++ b/milena/sandbox/ChangeLog @@ -1,3 +1,10 @@ +2009-02-05 Guillaume Lazzara &lt;z(a)lrde.epita.fr&gt; + + Update IGR's code. + + * lazzara/igr.cc: update code. Add more debug and use a new variant of + ICP. + 2009-02-05 Fabien Freling &lt;freling(a)lrde.epita.fr&gt; Enable the fastest version of labeling. diff --git a/milena/sandbox/lazzara/igr.cc b/milena/sandbox/lazzara/igr.cc index 1a0d498..05d8471 100644 --- a/milena/sandbox/lazzara/igr.cc +++ b/milena/sandbox/lazzara/igr.cc @@ -11,8 +11,11 @@ #include <mln/essential/3d.hh> #include <mln/core/image/slice_image.hh> +#include <mln/core/image/tr_image.hh> +#include <mln/core/image/interpolated.hh> #include <mln/io/cloud/load.hh> +#include <mln/util/timer.hh> struct threshold : mln::Function_p2b<threshold> { @@ -219,11 +222,11 @@ keep_largest_component(const mln::Image<I>& ima) using namespace mln; image2d<bool> in_bw_cleaned = fill_holes(ima); - io::pbm::save(in_bw_cleaned, "0x_in_bw_cleaned.pbm"); + 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, "0x_in_bw_cleaned_full.pbm"); + io::pbm::save(in_bw_cleaned_full, "in_bw_cleaned_full.pbm"); logical::not_inplace(in_bw_cleaned_full); return in_bw_cleaned_full; @@ -244,16 +247,50 @@ get_main_object_shape(const mln::Image<I>& in) // 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, "02_ima.pbm"); + io::pbm::save(in, "ima.pbm"); std::cout << "Compute gradient" << std::endl; J ima_grad = morpho::gradient(ima, win_c4p()); - io::pbm::save(ima_grad, "03_ima_grad.pbm"); + io::pbm::save(ima_grad, "ima_grad.pbm"); return ima_grad; } +namespace mln +{ + + namespace debug + { + template <typename I, typename T> + void + compare_registration(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); + + 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"); + } + } +} + + int main(int, char* argv[]) { using namespace mln; @@ -288,21 +325,19 @@ int main(int, char* argv[]) K in_3d = convert::to<K>(in_3d_); K ref_3d = convert::to<K>(ref_3d_); - registration::basic_closest_point<point3d> closest_point(ref_3d_); + registration::closest_point_with_map<point3d> closest_point(ref_3d_); +// registration::closest_point_basic<point3d> closest_point(ref_3d_); + + util::timer t; + t.start(); + typedef rotation<3u,float> rot_t; typedef translation<3u,float> trans_t; - composed<rot_t,trans_t> qk = registration::icp(in_3d_, ref_3d_, closest_point); + composed<trans_t,rot_t> qk = registration::icp_clean2(in_3d_, ref_3d_, closest_point); - std::cout << "* Build result image" << std::endl; - box3d box = geom::bbox(ref_3d); - box.enlarge(40); - K res(box); - data::fill(res, false); + std::cout << "igr.cc - Registration - " << t << std::endl; - mln_VAR(ig, (in_3d | pw::value(in_3d) == true)); - mln_piter_(ig_t) p(ig.domain()); - for_all(p) - res(qk(p.to_vec())) = true; + std::cout << "* Build result image" << std::endl; + debug::compare_registration(in_3d, ref_3d, qk); - io::pbm::save(slice(res,0), "04_registered.pbm"); } -- 1.5.6.5