https://svn.lrde.epita.fr/svn/oln/branches/cleanup-2008/milena/sandbox Index: ChangeLog from Ugo Jardonnet <ugo.jardonnet@lrde.epita.fr> Sandbox: continue to revamp registration. * jardonnet/test/registration.cc: Make use of lazy_image. * jardonnet/registration/final_qk.hh: Remove use of size_t. * jardonnet/registration/cloud.hh, * jardonnet/registration/save.hh, * jardonnet/registration/update_qk.hh, * jardonnet/registration/registration.hh: Replace quat7 by generique T. * jardonnet/registration/tools.hh, * jardonnet/registration/quat7.hh, * jardonnet/registration/rotation.hh: Remove Whitespace. * jardonnet/virtual/access.hh: Minor fix. registration/cloud.hh | 12 ++++++------ registration/final_qk.hh | 18 +++++++++--------- registration/quat7.hh | 2 +- registration/registration.hh | 11 ++++------- registration/rotation.hh | 1 + registration/save.hh | 6 +++--- registration/tools.hh | 6 +++--- registration/update_qk.hh | 15 +++++++++------ test/registration.cc | 6 +++--- 9 files changed, 39 insertions(+), 38 deletions(-) Index: jardonnet/test/registration.cc --- jardonnet/test/registration.cc (revision 2447) +++ jardonnet/test/registration.cc (working copy) @@ -5,8 +5,9 @@ #include <mln/io/ppm/save.hh> #include <mln/convert/to_p_array.hh> #include <mln/norm/l2.hh> +#include <mln/core/image/lazy_image.hh> -#include <sandbox/jardonnet/registration/icp.hh> +#include <sandbox/jardonnet/registration/registration.hh> #include <sandbox/jardonnet/registration/tools.hh> #include <sandbox/jardonnet/registration/final_qk.hh> #include <mln/geom/bbox.hh> @@ -52,8 +53,7 @@ closest_point<mln_psite_(image2db)> fun(x, working_box); // * Use real lazy image - //lazy_image< closest_point<mln_psite_(image2db)> > map(fun); - p_array<point2d> map; + lazy_image<image2d<bool>, closest_point<mln_psite_(image2db)>, box2d > map(fun, fun.domain()); quat7<2> qk ;//= registration::icp(c, map, q, e, x); #ifndef NDEBUG Index: jardonnet/virtual/access.hh Index: jardonnet/registration/final_qk.hh --- jardonnet/registration/final_qk.hh (revision 2447) +++ jardonnet/registration/final_qk.hh (working copy) @@ -17,7 +17,7 @@ std::vector<float> length(c.nsites()); mean = 0; - for (size_t i = 0; i < c.nsites(); i++) + for (unsigned i = 0; i < c.nsites(); i++) { float f = norm::l2(convert::to< algebra::vec<P::dim,int> > (c[i] - map(c[i]))); length[i] = f; @@ -27,7 +27,7 @@ //standar variation stddev = 0; - for (size_t i = 0; i < c.nsites(); i++) + for (unsigned i = 0; i < c.nsites(); i++) stddev += (length[i] - mean) * (length[i] - mean); stddev /= c.nsites(); stddev = math::sqrt(stddev); @@ -42,12 +42,12 @@ float nstddev) { p_array<P> newc; - algebra::vec<3,float> mu_newc(literal::zero); + algebra::vec<P::dim,float> mu_newc(literal::zero); - for (size_t i = 0; i < c.nsites(); ++i) + for (unsigned i = 0; i < c.nsites(); ++i) { - algebra::vec<3,float> ci = c[i]; - algebra::vec<3,float> xki = map(c[i]); + algebra::vec<P::dim,float> ci = c[i]; + algebra::vec<P::dim,float> xki = map(c[i]); if (norm::l2(ci - xki) < nstddev) { @@ -74,11 +74,11 @@ float nstddev) { //mu_Xk = center map(Ck) - algebra::vec<3,float> mu_Xk(literal::zero); - algebra::vec<3,float> mu_C(literal::zero); + algebra::vec<P::dim,float> mu_Xk(literal::zero); + algebra::vec<P::dim,float> mu_C(literal::zero); float nb_point = 0; - for (size_t i = 0; i < c.nsites(); ++i) + for (unsigned i = 0; i < c.nsites(); ++i) { algebra::vec<P::dim,float> xki = map(c[i]); algebra::vec<P::dim,float> ci = c[i]; Index: jardonnet/registration/save.hh --- jardonnet/registration/save.hh (revision 2447) +++ jardonnet/registration/save.hh (working copy) @@ -9,7 +9,7 @@ # include <mln/core/alias/window2d.hh> # include <string> -# include "quat7.hh" +//# include "quat7.hh" # include "tools.hh" # include "power_it.hh" # include "center.hh" @@ -38,8 +38,8 @@ namespace registration { - template<typename P, typename M> - void save_(const quat7<3>& qk, + template<typename P, typename M, typename T> + void save_(const T& qk, const p_array<P>& c, const p_array<P>& x, const M& map, Index: jardonnet/registration/rotation.hh --- jardonnet/registration/rotation.hh (revision 2447) +++ jardonnet/registration/rotation.hh (working copy) @@ -26,6 +26,7 @@ return (q * algebra::quat(0. ,p) * q.inv()).v(); } + //FIXME : check if correct with n != 3 template <unsigned n> bool check_rotation(const algebra::mat<n,n,float>& mat, Index: jardonnet/registration/tools.hh --- jardonnet/registration/tools.hh (revision 2447) +++ jardonnet/registration/tools.hh (working copy) @@ -6,7 +6,7 @@ # include <mln/algebra/mat.hh> # include <mln/core/site_set/p_array.hh> -# include "quat7.hh" +//# include "quat7.hh" namespace mln @@ -110,7 +110,7 @@ #endif }; - + /* // FIXME: Should be a morpher ? // we could acces domain of a lazy map, iterator etc... template < typename F > @@ -147,7 +147,7 @@ mutable image3d<bool> is_known; const F& fun; }; - + */ // Box Index: jardonnet/registration/quat7.hh --- jardonnet/registration/quat7.hh (revision 2447) +++ jardonnet/registration/quat7.hh (working copy) @@ -127,7 +127,7 @@ const algebra::vec<P::dim,float>& mu_C, const p_array<P>& Ck, const M& map, - size_t c_length) + unsigned c_length) { //mu_Xk = center map(Ck) algebra::vec<P::dim,float> mu_Xk(literal::zero); Index: jardonnet/registration/cloud.hh --- jardonnet/registration/cloud.hh (revision 2447) +++ jardonnet/registration/cloud.hh (working copy) @@ -11,7 +11,7 @@ # include <mln/core/site_set/p_array.hh> # include <mln/norm/l2.hh> -#include "quat7.hh" +//#include "quat7.hh" namespace mln { @@ -64,9 +64,9 @@ return tmp; } - template <typename P, typename M> + template <typename P, typename M, typename T> float rms(const p_array<P>& a1, - quat7<P::dim>& qk, + const T& qk, const M& map, const size_t length) { @@ -82,12 +82,12 @@ return f / length; } - template <typename P, typename M> + template <typename P, typename M, typename T> float rms(const p_array<P>& a1, M& map, const size_t length, - quat7<P::dim>& q1, - quat7<P::dim>& q2) + const T& q1, + const T& q2) // FIXME : transformation T can be diff ? { assert(length <= a1.nsites()); Index: jardonnet/registration/registration.hh --- jardonnet/registration/registration.hh (revision 2447) +++ jardonnet/registration/registration.hh (working copy) @@ -37,7 +37,6 @@ # include <string> # include <cmath> -# include <mln/algebra/quat.hh> # include <mln/algebra/vec.hh> # include <mln/make/w_window.hh> # include <mln/make/w_window3d.hh> @@ -48,11 +47,9 @@ # include <mln/level/fill.hh> # include <mln/io/ppm/save.hh> - # include "tools.hh" # include "cloud.hh" -# include "quat7.hh" # include "update_qk.hh" # include "chamfer.hh" @@ -83,18 +80,18 @@ namespace impl { - template <typename P, typename M> + template <typename P, typename M, typename T> inline void registration_(const p_array<P>& C, const M& map, - quat7<P::dim>& qk, + const T& qk, const unsigned c_length, const float epsilon = 1e-3) { trace::entering("registration::impl::registration_"); - buffer<4,quat7<P::dim> > buf_qk; + buffer<4,T> buf_qk; buffer<3,float> buf_dk; float d_k = 10000; @@ -140,7 +137,7 @@ // FIXME: Make it works in 3d *AND* 2d template <typename P, typename M> inline - quat7<P::dim> + quat7<P::dim> // what is it suposed to return tr(rot()), rot(tr()) or something else ... registration(p_array<P>& cloud, const M& map, const p_array<P>& x) Index: jardonnet/registration/update_qk.hh --- jardonnet/registration/update_qk.hh (revision 2447) +++ jardonnet/registration/update_qk.hh (working copy) @@ -2,12 +2,14 @@ # define MLN_UPDATE_QK_HH #include "interpolation.hh" -#include "quat7.hh" +//#include "quat7.hh" namespace mln { - float arc(quat7<3> dqk, quat7<3> dqk_1) + // FIXME: T different ? + template <typename T> + float arc(const T& dqk, const T& dqk_1) { float res = 0.0; for (int i = 0; i < 7; i++) @@ -17,12 +19,13 @@ } - quat7<3> update_qk(const quat7<3> qk[4], + template <typename T> + T update_qk(const T qk[4], const float dk[3]) { - quat7<3> dqk_2 = qk[2] - qk[3]; - quat7<3> dqk_1 = qk[1] - qk[2]; - quat7<3> dqk = qk[0] - qk[1]; + T dqk_2 = qk[2] - qk[3]; + T dqk_1 = qk[1] - qk[2]; + T dqk = qk[0] - qk[1]; float tetak_1 = arc(dqk_1, dqk_2); float tetak = arc(dqk, dqk_1);