https://svn.lrde.epita.fr/svn/oln/trunk/milena/sandbox Index: ChangeLog from Ugo Jardonnet &lt;jardonnet(a)lrde.epita.fr&gt; 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