* registration/icp2.hh: move registration*... * registration/registration.hh: ... here. --- milena/ChangeLog | 7 + milena/mln/registration/icp2.hh | 301 ++++++--------------------- milena/mln/registration/registration.hh | 346 +++++++++++++++++++++++++++---- 3 files changed, 384 insertions(+), 270 deletions(-) diff --git a/milena/ChangeLog b/milena/ChangeLog index 2282bcd..682d896 100644 --- a/milena/ChangeLog +++ b/milena/ChangeLog @@ -1,5 +1,12 @@ 2009-02-16 Guillaume Lazzara <z@lrde.epita.fr> + Revamp icp2.hh. + + * registration/icp2.hh: move registration*... + * registration/registration.hh: ... here. + +2009-02-16 Guillaume Lazzara <z@lrde.epita.fr> + Fix make::graph and add make::region_adjacency_graph. * mln/make/graph.hh: use an adjacency matrix and a neighborhood. diff --git a/milena/mln/registration/icp2.hh b/milena/mln/registration/icp2.hh index 916f8c0..de763ea 100644 --- a/milena/mln/registration/icp2.hh +++ b/milena/mln/registration/icp2.hh @@ -113,6 +113,7 @@ namespace mln const algebra::quat& initial_rot, const mln_vec(P)& initial_translation); + template <typename P, typename F> composed< translation<P::dim,float>,rotation<P::dim,float> > icp(const p_array<P>& P_, @@ -120,40 +121,6 @@ namespace mln const F& closest_point); - //FIXME: move to registration.hh - /// Call ICP once and return the resulting transformation. - template <typename P, typename F> - inline - composed< translation<P::dim,float>,rotation<P::dim,float> > - registration1(const p_array<P>& P_, - const p_array<P>& X); - - //FIXME: move to registration.hh - /// Call ICP 10 times. - /// Do the first call to ICP with all sites then work on a subset of - /// which size is decreasing. - /// For each call, sites part of the subset which are too far or too - /// close are removed. - /// Removed sites are *NOT* reused later in the subset. - template <typename P> - inline - composed< translation<P::dim,float>,rotation<P::dim,float> > - registration2(const p_array<P>& P_, - const p_array<P>& X); - - //FIXME: move to registration.hh - /// Call ICP 10 times. - /// Do the first call to ICP with all sites then work on a subset. - /// For each call, a distance criterion is computed on a subset. - /// A new subset is computed from the whole set of points according - /// to this distance. It will be used in the next call. - /// Sites which have been removed can be reintegrated. - template <typename P> - inline - composed< translation<P::dim,float>,rotation<P::dim,float> > - registration3(const p_array<P>& P_, - const p_array<P>& X); - # ifndef MLN_INCLUDE_ONLY @@ -172,8 +139,21 @@ namespace mln box3d box = geom::bbox(X); box.enlarge(1, box.nrows()); box.enlarge(2, box.ncols()); + + mln_postcondition(box.is_valid()); + std::cout << "Map image defined on " << box << std::endl; + init(X, box); + } + + closest_point_with_map(const p_array<P>& X, const box<P>& box) + { + init(X, box); + } + + void init(const p_array<P>& X, const box<P>& box) + { typedef mln_ch_value(I, bool) model_t; model_t model(box); data::fill(model, false); @@ -187,30 +167,36 @@ namespace mln f); std::cout << "canvas::distance_geodesic - " << t << "s" << std::endl; - cp_ima_ = f.cp_ima; - -#ifndef NDEBUG - mln_ch_value(I, bool) debug2(box); - data::fill(debug2, false); - mln_ch_value(I, value::rgb8) debug(box); - mln_piter(p_array<P>) p(X); - for_all(p) - { - debug(p) = debug::internal::random_color(value::rgb8()); - debug2(p) = true; - } - io::pbm::save(slice(debug2,0), "debug2-a.ppm"); + initialize(this->cp_ima_, f.cp_ima); + this->cp_ima_ = f.cp_ima; - mln_piter(I) pi(cp_ima_.domain()); - for_all(pi) - { - debug(pi) = debug(cp_ima_(pi)); - debug2(pi) = debug2(cp_ima_(pi)); - } + mln_postcondition(cp_ima_.is_valid()); + mln_postcondition(cp_ima_.domain().is_valid()); + std::cout << "pmin = " << cp_ima_.domain().pmin() << std::endl;; + std::cout << "pmax = " << cp_ima_.domain().pmax() << std::endl;; - io::pbm::save(slice(debug2,0), "debug2-b.ppm"); - io::ppm::save(slice(debug,0), "debug.ppm"); - std::cout << "map saved" << std::endl; +#ifndef NDEBUG +// mln_ch_value(I, bool) debug2(box); +// data::fill(debug2, false); +// mln_ch_value(I, value::rgb8) debug(box); +// mln_piter(p_array<P>) p(X); +// for_all(p) +// { +// debug(p) = debug::internal::random_color(value::rgb8()); +// debug2(p) = true; +// } +// io::pbm::save(slice(debug2,0), "debug2-a.ppm"); +// +// mln_piter(I) pi(cp_ima_.domain()); +// for_all(pi) +// { +// debug(pi) = debug(cp_ima_(pi)); +// debug2(pi) = debug2(cp_ima_(pi)); +// } +// +// io::pbm::save(slice(debug2,0), "debug2-b.ppm"); +// io::ppm::save(slice(debug,0), "debug.ppm"); +// std::cout << "map saved" << std::endl; #endif } @@ -219,9 +205,11 @@ namespace mln return cp_ima_(p); } + // Distance map dmap_t dmap_X_; - private: + // Closest point image. cp_ima_t cp_ima_; + private: }; @@ -355,6 +343,7 @@ namespace mln } + template <typename P, typename F> void compute_distance_criteria(const p_array<P>& P_, @@ -401,8 +390,10 @@ namespace mln p_array<P> tmp; unsigned removed = 0; +# ifndef NDEBUG data::fill(out, literal::black); data::fill((out | X).rw(), literal::white); +# endif // ! NDEBUG mln_piter(p_array<P>) p(P_); for_all(p) @@ -424,11 +415,19 @@ namespace mln } } + +# ifndef NDEBUG std::ostringstream ss2; ss2 << method << "_" << r << "_removed_sites" << ".ppm"; io::ppm::save(mln::slice(out,0), ss2.str()); std::cout << "Points removed: " << removed << std::endl; +# endif // ! NDEBUG + // They are used for debug purpose only. + // When NDEBUG is set, they are unused. + (void) X; + (void) r; + (void) method; return tmp; } @@ -441,8 +440,10 @@ namespace mln const std::pair<algebra::quat,mln_vec(P)>& pair, const std::string& period, const value::rgb8& c) { +# ifndef NDEBUG data::fill(out, literal::black); data::fill((out | X).rw(), literal::white); +# endif // !NDEBUG mln_piter(p_array<P>) p1(P_); for_all(p1) @@ -458,10 +459,12 @@ namespace mln out(Pk_i) = c; } +# ifndef NDEBUG std::ostringstream ss; ss << prefix << "_" << r << "_" << period << ".ppm"; io::ppm::save(slice(out,0), ss.str()); +# endif // ! NDEBUG } @@ -487,6 +490,7 @@ namespace mln return accu.to_result(); } + /// FIXME: work only for 3d images. template <typename P, typename F> algebra::quat @@ -639,7 +643,7 @@ namespace mln for_all(p_dbg) tmp_(qR_old.rotate(p_dbg.to_vec()) + qT_old) = literal::green; std::ostringstream ss; - ss << "reg/tmp_0"; + ss << "tmp_0"; if (k < 10) ss << "0"; ss << k << ".ppm"; @@ -650,14 +654,16 @@ namespace mln std::cout << "d_" << k << "=" << d_k << std::endl; // Check distance and error according to the related paper. - mln_assertion(0 <= d_k); - mln_assertion(d_k <= e_k); - // Disabled because of the following 'if' +// mln_assertion(0 <= d_k); +// mln_assertion(d_k <= e_k); + // mln_assertion(e_k <= d_k_old); // mln_assertion(d_k_old <= e_k_old); - if (d_k > d_k_old) + // During the first runs, d_k may be higher than e_k. + // Hence, there we test k > 3. + if (k > 3 && (d_k > e_k || d_k > d_k_old || e_k > e_k_old)) { qR = qR_old; qT = qT_old; @@ -678,177 +684,6 @@ namespace mln } - - template <typename P, typename F> - inline - composed< translation<P::dim,float>,rotation<P::dim,float> > - registration1(const p_array<P>& P_, - const p_array<P>& X) - { - trace::entering("mln::registration::registration1"); - - util::timer t; - t.start(); - - registration::closest_point_with_map<P> closest_point(X); - - std::pair<algebra::quat,mln_vec(P)> pair = icp(P_, X, closest_point, - algebra::quat(1,0,0,0), - literal::zero); - std::cout << "icp = " << t << std::endl; - - typedef rotation<3u,float> rot_t; - rot_t tqR(pair.first); - typedef translation<3u,float> trans_t; - trans_t tqT(pair.second); - composed<trans_t, rot_t> result(tqT, tqR); - - trace::exiting("mln::registration::registration1"); - - return result; - } - - - template <typename P> - inline - composed< translation<P::dim,float>,rotation<P::dim,float> > - registration2(const p_array<P>& P_, - const p_array<P>& X) - { - trace::entering("mln::registration::registration2"); - - std::string method = "compute_on_subsets"; - - registration::closest_point_with_map<P> closest_point(X); - - util::timer t; - t.start(); - - // P_bak is shuffled. - p_array<P> P_bak = P_; - - unsigned r = 0; - std::pair<algebra::quat,mln_vec(P)> pair; - pair.first = algebra::quat(1,0,0,0); - pair.second = literal::zero; - box3d box = geom::bbox(X); - box.enlarge(1, 60); - box.enlarge(2, 60); - image3d<value::rgb8> out(box); - p_array<P> removed_set; - - do - { - std::cout << std::endl << std::endl << "==== New run - " << r << std::endl; - pair = icp(P_bak, X, closest_point, - pair.first, - pair.second); - - display_sites_used_in_icp(out, P_bak, P_, X, r, method, pair, "final", literal::blue); - - int d_min, d_max; - compute_distance_criteria(P_bak, closest_point, pair, r, d_min, d_max); - - P_bak = remove_too_far_sites(out, P_bak, - closest_point, pair, X, removed_set, - r, d_min, d_max, method); - -#ifndef NDEBUG - display_sites_used_in_icp(out, P_bak, P_, X, r, method, pair, "schanges", literal::green); -#endif - - ++r; - - std::cout << "==== End of run" << std::endl; - } while (r < 10); - std::cout << "icp = " << t << std::endl; - -#ifndef NDEBUG - draw_last_run(box, P_bak, removed_set, X, pair.first, pair.second); -#endif - - typedef rotation<3u,float> rot_t; - rot_t tqR(pair.first); - typedef translation<3u,float> trans_t; - trans_t tqT(pair.second); - composed<trans_t,rot_t> result(tqT, tqR); - - trace::exiting("mln::registration::registration2"); - - return result; - } - - - template <typename P> - inline - composed< translation<P::dim,float>,rotation<P::dim,float> > - registration3(const p_array<P>& P_, - const p_array<P>& X) - { - trace::entering("mln::registration::registration3"); - - registration::closest_point_with_map<P> closest_point(X); - - std::string method = "compute_on_subset_and_p"; - - util::timer t; - t.start(); - - // P_bak is shuffled. - p_array<P> P_bak = P_; - - unsigned r = 0; - std::pair<algebra::quat,mln_vec(P)> pair; - pair.first = algebra::quat(1,0,0,0); - pair.second = literal::zero; - box3d box = geom::bbox(X); - box.enlarge(1, 60); - box.enlarge(2, 60); - image3d<value::rgb8> out(box); - p_array<P> removed_set; - - do - { - std::cout << std::endl << std::endl << "==== New run - " << r << std::endl; - pair = icp(P_bak, X, closest_point, - pair.first, - pair.second); - - display_sites_used_in_icp(out, P_bak, P_, X, r, method, pair, "final", literal::blue); - - int d_min, d_max; - compute_distance_criteria(P_bak, closest_point, pair, r, d_min, d_max); - - P_bak = remove_too_far_sites(out, P_, - closest_point, pair, X, removed_set, - r, d_min, d_max, method); - -#ifndef NDEBUG - display_sites_used_in_icp(out, P_bak, P_, X, r, method, pair, "schanges", literal::green); -#endif - - ++r; - - std::cout << "==== End of run" << std::endl; - } while (r < 10); - std::cout << "icp = " << t << std::endl; - -#ifndef NDEBUG - draw_last_run(box, P_bak, removed_set, X, pair.first, pair.second); -#endif - - typedef rotation<3u,float> rot_t; - rot_t tqR(pair.first); - typedef translation<3u,float> trans_t; - trans_t tqT(pair.second); - composed<trans_t,rot_t> result(tqT, tqR); - - trace::exiting("mln::registration::registration3"); - - return result; - } - - # endif // ! MLN_INCLUDE_ONLY } // end of namespace mln::registration diff --git a/milena/mln/registration/registration.hh b/milena/mln/registration/registration.hh index 7ad7b00..f96787a 100644 --- a/milena/mln/registration/registration.hh +++ b/milena/mln/registration/registration.hh @@ -1,4 +1,4 @@ -// Copyright (C) 2008 EPITA Research and Development Laboratory +// Copyright (C) 2008, 2009 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 @@ -30,12 +30,13 @@ /// \file mln/registration/registration.hh /// -/// image registration +/// Image registration +/// \sa registration::icp -# include <mln/registration/icp.hh> +# include <mln/core/image/image3d.hh> +# include <mln/registration/icp2.hh> # include <mln/fun/x2x/all.hh> # include <mln/fun/x2p/closest_point.hh> -# include <mln/core/image/lazy_image.hh> # include <mln/convert/to_p_array.hh> namespace mln @@ -46,63 +47,334 @@ namespace mln using namespace mln::fun::x2x; - /// Register an image \p cloud over the image \p surface. - template <typename I, typename J> + + //FIXME: move to registration.hh + /// Call ICP once and return the resulting transformation. + template <typename P> + inline + composed< translation<P::dim,float>,rotation<P::dim,float> > + registration1(const p_array<P>& P_, + const p_array<P>& X); + + //FIXME: move to registration.hh + /// Call ICP 10 times. + /// Do the first call to ICP with all sites then work on a subset of + /// which size is decreasing. + /// For each call, a distance criterion is computed on a subset. + /// Sites part of the subset which are too far or too + /// close are removed. + /// Removed sites are *NOT* reused later in the subset. + template <typename P> inline - composed< rotation<I::psite::dim, float>, translation<I::psite::dim, float> > - registration(const Image<I>& cloud, - const Image<J>& surface); + composed< translation<P::dim,float>,rotation<P::dim,float> > + registration2(const p_array<P>& P_, + const p_array<P>& X); + + //FIXME: move to registration.hh + /// Call ICP 10 times. + /// Do the first call to ICP with all sites then work on a subset. + /// For each call, a distance criterion is computed on a subset. + /// A new subset is computed from the whole set of points according + /// to this distance. It will be used in the next call. + /// Removed Sites *MAY* be reintegrated. + template <typename P> + inline + composed< translation<P::dim,float>,rotation<P::dim,float> > + registration3(const p_array<P>& P_, + const p_array<P>& X); + # ifndef MLN_INCLUDE_ONLY + + namespace internal + { + + template <typename P> + inline + void + registration_tests(const p_array<P>& P_, const p_array<P>& X) + { + mln_assertion(P_.is_valid()); + mln_assertion(X.is_valid()); + mln_assertion(!X.is_empty()); + mln_assertion(!P_.is_empty()); + + // FIXME: Work only in 3D for now... + mln_precondition(P::dim == 3); + (void) P_; + (void) X; + } + + } // end of namespace mln::registration::internal + + namespace impl { - template <typename I, typename J> + template <typename P> + inline + composed< translation<P::dim,float>,rotation<P::dim,float> > + registration1(const p_array<P>& P_, + const p_array<P>& X) + { + trace::entering("mln::registration::registration1"); + +# ifndef NDEBUG + util::timer t; + t.start(); +# endif // ! NDEBUG + + registration::closest_point_with_map<P> closest_point(X); + + std::pair<algebra::quat,mln_vec(P)> pair = icp(P_, X, closest_point, + algebra::quat(1,0,0,0), + literal::zero); +# ifndef NDEBUG + std::cout << "icp = " << t << std::endl; +# endif // ! NDEBUG + + typedef rotation<3u,float> rot_t; + rot_t tqR(pair.first); + typedef translation<3u,float> trans_t; + trans_t tqT(pair.second); + composed<trans_t, rot_t> result(tqT, tqR); + + trace::exiting("mln::registration::registration1"); + + return result; + } + + + template <typename P> + inline + composed< translation<P::dim,float>,rotation<P::dim,float> > + registration2(const p_array<P>& P_, + const p_array<P>& X) + { + trace::entering("mln::registration::registration2"); + + // Used for debug. + std::string method = "registration2"; + + registration::closest_point_with_map<P> closest_point(X); + +# ifndef NDEBUG + util::timer t; + t.start(); +# endif // ! NDEBUG + + // P_bak is shuffled. + p_array<P> P_bak = P_; + + unsigned r = 0; + std::pair<algebra::quat,mln_vec(P)> pair; + pair.first = algebra::quat(1,0,0,0); + pair.second = literal::zero; + box3d box = geom::bbox(X); + box.enlarge(1, 60); + box.enlarge(2, 60); + + // Used for debug. + image3d<value::rgb8> out(box); + + p_array<P> removed_set; + + do + { + +# ifndef NDEBUG + std::cout << std::endl << std::endl << "==== New run - " << r << std::endl; +# endif // ! NDEBUG + + pair = icp(P_bak, X, closest_point, + pair.first, + pair.second); + +# ifndef NDEBUG + display_sites_used_in_icp(out, P_bak, P_, X, r, method, pair, + "final", literal::blue); +# endif // ! NDEBUG + + int d_min, d_max; + compute_distance_criteria(P_bak, closest_point, pair, r, d_min, d_max); + + P_bak = remove_too_far_sites(out, P_bak, + closest_point, pair, X, removed_set, + r, d_min, d_max, method); + +# ifndef NDEBUG + display_sites_used_in_icp(out, P_bak, P_, X, r, method, pair, + "schanges", literal::green); + std::cout << "==== End of run" << std::endl; +# endif + + ++r; + + } while (r < 10); + +# ifndef NDEBUG + std::cout << "icp = " << t << std::endl; + draw_last_run(box, P_bak, removed_set, X, pair.first, pair.second); +# endif + + typedef rotation<3u,float> rot_t; + rot_t tqR(pair.first); + typedef translation<3u,float> trans_t; + trans_t tqT(pair.second); + composed<trans_t,rot_t> result(tqT, tqR); + + trace::exiting("mln::registration::registration2"); + + return result; + } + + + template <typename P> inline - composed< rotation<I::psite::dim, float>, translation<I::psite::dim, float> > - registration_(const I& cloud, - const J& surface) + composed< translation<P::dim,float>,rotation<P::dim,float> > + registration3(const p_array<P>& P_, + const p_array<P>& X) { - //FIXME: Use convert::to< p_array<mln_psite(I)> >() - p_array<mln_psite(I)> c = convert::to< p_array<mln_psite(I)> >(cloud); - p_array<mln_psite(J)> x = convert::to< p_array<mln_psite(J)> >(surface); + trace::entering("mln::registration::registration3"); + + registration::closest_point_with_map<P> closest_point(X); + std::cout << " pmin and pmax: " << std::endl; + std::cout << closest_point.cp_ima_.domain().pmin() << std::endl; + std::cout << closest_point.cp_ima_.domain().pmax() << std::endl; + + // Used for debug. + std::string method = "registration3"; + +# ifndef NDEBUG + util::timer t; + t.start(); +# endif // ! NDEBUG + + // P_bak is shuffled. + p_array<P> P_bak = P_; + + unsigned r = 0; + std::pair<algebra::quat,mln_vec(P)> pair; + pair.first = algebra::quat(1,0,0,0); + pair.second = literal::zero; + box3d box = geom::bbox(X); + box.enlarge(1, 60); + box.enlarge(2, 60); + + // Used for debug. + image3d<value::rgb8> out(box); + + p_array<P> removed_set; + + do + { +# ifndef NDEBUG + std::cout << std::endl << std::endl << "==== New run - " + << r << std::endl; +# endif // ! NDEBUG + + pair = icp(P_bak, X, closest_point, + pair.first, + pair.second); + +# ifndef NDEBUG + display_sites_used_in_icp(out, P_bak, P_, X, r, method, pair, + "final", literal::blue); +# endif // ! NDEBUG + + int d_min, d_max; + compute_distance_criteria(P_bak, closest_point, pair, r, d_min, d_max); + + P_bak = remove_too_far_sites(out, P_, + closest_point, pair, X, removed_set, + r, d_min, d_max, method); + +# ifndef NDEBUG + display_sites_used_in_icp(out, P_bak, P_, X, r, method, pair, + "schanges", literal::green); + std::cout << "==== End of run" << std::endl; +# endif // ! NDEBUG + + ++r; - //init rigid transform qk - composed< rotation<I::psite::dim, float>, translation<I::psite::dim, float> > qk; + } while (r < 10); - //working box - const box<mln_psite(I)> working_box = - larger_than(geom::bbox(c), geom::bbox(x)).to_larger(100); +# ifndef NDEBUG + std::cout << "icp = " << t << std::endl; + draw_last_run(box, P_bak, removed_set, X, pair.first, pair.second); +# endif // ! NDEBUG - //make a lazy_image map via function closest_point - fun::x2p::closest_point<mln_psite(I)> fun(x, working_box); - lazy_image< I, fun::x2p::closest_point<mln_psite(I)>, box<mln_psite(I)> > - map(fun, fun.domain()); + typedef rotation<3u,float> rot_t; + rot_t tqR(pair.first); + typedef translation<3u,float> trans_t; + trans_t tqT(pair.second); + composed<trans_t,rot_t> result(tqT, tqR); - //run registration - return registration::icp(c, map, 1e-3); + trace::exiting("mln::registration::registration3"); + return result; } + } // end of namespace mln::registration::impl + + + + // Facade + + template <typename P> + inline + composed< translation<P::dim,float>,rotation<P::dim,float> > + registration1(const p_array<P>& cloud, + const p_array<P>& surface) + { + trace::entering("registration::registration1"); + + registration_tests(cloud, surface); + + composed< translation<P::dim,float>, rotation<P::dim,float> > + qk = impl::registration1(cloud, surface); + + trace::exiting("registration::registration1"); + + return qk; } - template <typename I, typename J> + + template <typename P> + inline + composed< translation<P::dim,float>,rotation<P::dim,float> > + registration2(const p_array<P>& cloud, + const p_array<P>& surface) + { + trace::entering("registration::registration2"); + + registration_tests(cloud, surface); + + composed< translation<P::dim,float>, rotation<P::dim,float> > + qk = impl::registration2(cloud, surface); + + trace::exiting("registration::registration2"); + + return qk; + } + + + template <typename P> inline - composed< rotation<I::psite::dim, float>, translation<I::psite::dim, float> > - registration(const Image<I>& cloud, - const Image<J>& surface) + composed< translation<P::dim,float>,rotation<P::dim,float> > + registration3(const p_array<P>& cloud, + const p_array<P>& surface) { - trace::entering("registration::registration"); + trace::entering("registration::registration3"); - mln_precondition(I::psite::dim == J::psite::dim); - mln_precondition(I::psite::dim == 3 || J::psite::dim == 2); + internal::registration_tests(cloud, surface); - composed< rotation<I::psite::dim, float>, translation<I::psite::dim, float> > - qk = impl::registration_(exact(cloud), exact(surface)); + composed< translation<P::dim,float>, rotation<P::dim,float> > + qk = impl::registration3(cloud, surface); - trace::exiting("registration::registration"); + trace::exiting("registration::registration3"); return qk; } -- 1.5.6.5