mln::registration Namespace Reference

Namespace of "point-wise" expression tools. More...

Classes
class	closest_point_basic
	Closest point functor based on map distance. More...
class	closest_point_with_map
	Closest point functor based on map distance. More...
Namespaces
namespace	impl
namespace	internal
Functions
template<typename P, typename F>
float	compute_d_k (const p_array< P > &P_, const F &closest_point, const algebra::quat &qR, const algebra::quat &qR_old, const vec3d_f &qT, const vec3d_f &qT_old)
template<typename P, typename F>
void	compute_distance_criteria (const p_array< P > &P_, const F &closest_point, const std::pair< algebra::quat, mln_vec(P)> &pair, unsigned r, int &d_min, int &d_max)
template<typename P, typename F>
float	compute_standard_deviation (const p_array< P > &P_, const std::pair< algebra::quat, mln_vec(P)> &pair, const F &closest_point)
template<typename P>
void	display_sites_used_in_icp (image3d< value::rgb8 > &out, const p_array< P > &P_sub, const p_array< P > &P_, const p_array< P > &X, unsigned r, const std::string &prefix, const std::pair< algebra::quat, mln_vec(P)> &pair, const std::string &period, const value::rgb8 &c)
template<typename P>
void	draw_last_run (const box3d &box, const p_array< P > &kept, const p_array< P > &removed, const p_array< P > &X, const algebra::quat &qR, const vec3d_f qT)
template<typename P, typename F>
vec3d_f	get_mu_yk (const p_array< P > &P_, const F &closest_point, const algebra::quat &qR, const vec3d_f &qT, float &e_k)
template<typename P, typename F>
algebra::quat	get_rot (const p_array< P > &P_, const vec3d_f &mu_P, const vec3d_f &mu_Yk, const F &closest_point, const algebra::quat &qR, const vec3d_f &qT)
	FIXME: work only for 3d images.
template<typename P, typename M>
fun::x2x::rotation< 3u, float >	get_rot (const p_array< P > &c, const algebra::vec< 3u, float > &mu_c, const p_array< P > &ck, const M &map, const algebra::vec< 3u, float > &mu_xk)
template<typename P, typename M>
fun::x2x::rotation< 2u, float >	get_rot (const p_array< P > &c, const algebra::vec< 2u, float > &mu_c, const p_array< P > &ck, const M &map, const algebra::vec< 2u, float > &mu_xk)
template<typename P, typename M>
fun::x2x::rotation< P::dim, float >	get_rot (const p_array< P > &c, const algebra::vec< P::dim, float > &mu_c, const p_array< P > &ck, const M &map, const algebra::vec< P::dim, float > &mu_xk)
template<typename P, typename M>
composed< rotation< P::dim, float >, translation< P::dim, float > >	get_rtransf (const p_array< P > &C, const algebra::vec< P::dim, float > &mu_C, const p_array< P > &ck, const M &map)
template<typename P, typename F>
composed< translation< P::dim, float >, rotation< P::dim, float > >	icp (const p_array< P > &P_, const p_array< P > &X, const F &closest_point)
template<typename P, typename F>
std::pair< algebra::quat, mln_vec(P)>	icp (const p_array< P > &P_, const p_array< P > &X, const F &closest_point, const algebra::quat &initial_rot, const mln_vec(P)&initial_translation)
	Base version of the ICP algorithm. It is called in other variants.
template<typename P>
composed< translation< P::dim, float >, rotation< P::dim, float > >	registration1 (const box< P > &domain, const p_array< P > &P_, const p_array< P > &X)
	Call ICP once and return the resulting transformation.
template<typename P>
composed< translation< P::dim, float >, rotation< P::dim, float > >	registration2 (const box< P > &domain, const p_array< P > &P_, const p_array< P > &X)
	Call ICP 10 times.
template<typename P>
composed< translation< P::dim, float >, rotation< P::dim, float > >	registration3 (const box< P > &domain, const p_array< P > &P_, const p_array< P > &X)
	Call ICP 10 times.
template<typename P, typename F>
p_array< P >	remove_too_far_sites (image3d< value::rgb8 > &out, const p_array< P > &P_, const F &closest_point, const std::pair< algebra::quat, mln_vec(P)> &pair, const p_array< P > &X, p_array< P > &removed_set, unsigned r, int d_min, int d_max, const std::string &method)
template<typename P, typename F>
void	remove_too_far_sites_debug (image3d< value::rgb8 > &out, const p_array< P > &P_, const F &closest_point, const std::pair< algebra::quat, mln_vec(P)> &pair, const p_array< P > &X, unsigned r, int d_min, int d_max, unsigned prefix)

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Detailed Description

Namespace of "point-wise" expression tools.

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Function Documentation

template<typename P, typename F>

float mln::registration::compute_d_k	(	const p_array< P > &	P_,
		const F &	closest_point,
		const algebra::quat &	qR,
		const algebra::quat &	qR_old,
		const vec3d_f &	qT,
		const vec3d_f &	qT_old
	)			[inline]

Definition at line 502 of file icp.hh.

References mln::algebra::quat::rotate(), mln::accu::rms< T, V >::take(), and mln::accu::rms< T, V >::to_result().

Referenced by icp().

template<typename P, typename F>

void mln::registration::compute_distance_criteria	(	const p_array< P > &	P_,
		const F &	closest_point,
		const std::pair< algebra::quat, mln_vec(P)> &	pair,
		unsigned	r,
		int &	d_min,
		int &	d_max
	)			[inline]

Definition at line 371 of file icp.hh.

References mln::p_array< P >::nsites(), mln::accu::math::sum< T, S >::take(), mln::accu::histo< V >::take(), and mln::point< G, C >::to_vec().

Referenced by mln::registration::impl::registration2(), and mln::registration::impl::registration3().

template<typename P, typename F>

float mln::registration::compute_standard_deviation	(	const p_array< P > &	P_,
		const std::pair< algebra::quat, mln_vec(P)> &	pair,
		const F &	closest_point
	)			[inline]

Definition at line 303 of file icp.hh.

References mln::accu::rms< T, V >::hook_value_(), mln::p_array< P >::nsites(), mln::accu::rms< T, V >::take(), and mln::accu::rms< T, V >::to_result().

template<typename P>

void mln::registration::display_sites_used_in_icp	(	image3d< value::rgb8 > &	out,
		const p_array< P > &	P_sub,
		const p_array< P > &	P_,
		const p_array< P > &	X,
		unsigned	r,
		const std::string &	prefix,
		const std::pair< algebra::quat, mln_vec(P)> &	pair,
		const std::string &	period,
		const value::rgb8 &	c
	)			[inline]

Definition at line 469 of file icp.hh.

References mln::literal::black, mln::data::fill(), mln::literal::red, mln::io::ppm::save(), mln::slice(), and mln::literal::white.

Referenced by mln::registration::impl::registration2(), and mln::registration::impl::registration3().

template<typename P>

void mln::registration::draw_last_run	(	const box3d &	box,
		const p_array< P > &	kept,
		const p_array< P > &	removed,
		const p_array< P > &	X,
		const algebra::quat &	qR,
		const vec3d_f	qT
	)			[inline]

Definition at line 277 of file icp.hh.

References mln::literal::black, mln::pw::cst(), mln::data::fill(), mln::literal::green, mln::literal::red, mln::algebra::quat::rotate(), mln::io::ppm::save(), mln::slice(), mln::point< G, C >::to_vec(), and mln::literal::white.

Referenced by mln::registration::impl::registration2(), and mln::registration::impl::registration3().

template<typename P, typename F>

vec3d_f mln::registration::get_mu_yk	(	const p_array< P > &	P_,
		const F &	closest_point,
		const algebra::quat &	qR,
		const vec3d_f &	qT,
		float &	e_k
	)			[inline]

Definition at line 582 of file icp.hh.

References mln::algebra::quat::rotate(), mln::accu::rms< T, V >::take(), mln::accu::center< P, V >::take(), mln::accu::center< P, V >::to_result(), mln::accu::rms< T, V >::to_result(), and mln::point< G, C >::to_vec().

Referenced by icp().

template<typename P, typename F>

algebra::quat mln::registration::get_rot	(	const p_array< P > &	P_,
		const vec3d_f &	mu_P,
		const vec3d_f &	mu_Yk,
		const F &	closest_point,
		const algebra::quat &	qR,
		const vec3d_f &	qT
	)			[inline]

FIXME: work only for 3d images.

Spx: cross-covariance matrix.

Definition at line 526 of file icp.hh.

References mln::math::jacobi(), mln::p_array< P >::nsites(), mln::algebra::quat::rotate(), and mln::algebra::mat< n, m, T >::t().

template<typename P, typename M>

fun::x2x::rotation<3u, float> mln::registration::get_rot	(	const p_array< P > &	c,
		const algebra::vec< 3u, float > &	mu_c,
		const p_array< P > &	ck,
		const M &	map,
		const algebra::vec< 3u, float > &	mu_xk
	)			[inline]

Definition at line 83 of file get_rot.hh.

References mln::math::jacobi(), mln::p_array< P >::nsites(), mln::algebra::mat< n, m, T >::t(), and mln::literal::zero.

template<typename P, typename M>

fun::x2x::rotation<2u, float> mln::registration::get_rot	(	const p_array< P > &	c,
		const algebra::vec< 2u, float > &	mu_c,
		const p_array< P > &	ck,
		const M &	map,
		const algebra::vec< 2u, float > &	mu_xk
	)			[inline]

Definition at line 56 of file get_rot.hh.

template<typename P, typename M>

fun::x2x::rotation<P::dim, float> mln::registration::get_rot	(	const p_array< P > &	c,
		const algebra::vec< P::dim, float > &	mu_c,
		const p_array< P > &	ck,
		const M &	map,
		const algebra::vec< P::dim, float > &	mu_xk
	)			[inline]

Referenced by get_rtransf(), and icp().

template<typename P, typename M>

composed< rotation< P::dim, float >, translation< P::dim, float > > mln::registration::get_rtransf	(	const p_array< P > &	C,
		const algebra::vec< P::dim, float > &	mu_C,
		const p_array< P > &	ck,
		const M &	map
	)			[inline]

Definition at line 56 of file get_rtransf.hh.

References mln::compose(), get_rot(), mln::p_array< P >::nsites(), mln::convert::to(), and mln::literal::zero.

template<typename P, typename F>

composed< translation<P::dim,float>,rotation<P::dim,float> > mln::registration::icp	(	const p_array< P > &	P_,
		const p_array< P > &	X,
		const F &	closest_point
	)			[inline]

Register point in c using a function of closest points closest_point.

Parameters:

[in]	P_	The cloud of points.
[in]	X	the reference surface.
[in]	closest_point	The function of closest points.

Returns:

the rigid transformation which may be use later to create a registered image.

template<typename P, typename F>

std::pair< algebra::quat, mln_vec(P)> mln::registration::icp	(	const p_array< P > &	P_,
		const p_array< P > &	X,
		const F &	closest_point,
		const algebra::quat &	initial_rot,
		const mln_vec(P)&	initial_translation
	)			[inline]

Base version of the ICP algorithm. It is called in other variants.

Register point in c using a function of closest points closest_point. This overload allows to specify initial transformations.

Parameters:

[in]	P_	The cloud of points.
[in]	X	the reference surface.
[in]	closest_point	The function of closest points.
[in]	initial_rot	An initial rotation.
[in]	initial_translation	An initial translation.

Returns:

the rigid transformation which may be use later to create a registered image.

WARNING: the function closest_point *MUST* take float/double vector as arguments. Otherwise the resulting transformation may be wrong due to the truncation of the vector coordinate values.

Precondition:

P_ and X must not be empty.

Reference article: "A Method for Registration of 3-D Shapes", Paul J. Besl and Neil D. McKay, IEEE, 2, February 1992.

Compute transformation

End of "compute transformation"

Definition at line 611 of file icp.hh.

References mln::geom::bbox(), mln::literal::black, mln::set::compute(), compute_d_k(), mln::duplicate(), mln::box< P >::enlarge(), mln::trace::entering(), mln::trace::exiting(), mln::data::fill(), get_mu_yk(), get_rot(), mln::literal::green, mln::internal::site_set_base_< P, E >::is_empty(), mln::algebra::quat::is_null(), mln::norm::l2(), mln::algebra::quat::rotate(), mln::io::ppm::save(), mln::slice(), mln::algebra::quat::v(), and mln::literal::white.

Referenced by mln::registration::impl::registration1(), mln::registration::impl::registration2(), and mln::registration::impl::registration3().

template<typename P>

composed< translation< P::dim, float >, rotation< P::dim, float > > mln::registration::registration1	(	const box< P > &	domain,
		const p_array< P > &	P_,
		const p_array< P > &	X
	)			[inline]

Call ICP once and return the resulting transformation.

Definition at line 325 of file registration.hh.

References mln::trace::entering(), mln::trace::exiting(), icp(), mln::registration::impl::registration1(), mln::registration::internal::registration_tests(), mln::util::timer::start(), and mln::literal::zero.

Referenced by registration1().

template<typename P>

composed< translation< P::dim, float >, rotation< P::dim, float > > mln::registration::registration2	(	const box< P > &	domain,
		const p_array< P > &	P_,
		const p_array< P > &	X
	)			[inline]

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.

Definition at line 345 of file registration.hh.

References mln::literal::blue, compute_distance_criteria(), display_sites_used_in_icp(), draw_last_run(), mln::trace::entering(), mln::trace::exiting(), mln::literal::green, icp(), mln::registration::impl::registration2(), mln::registration::internal::registration_tests(), remove_too_far_sites(), mln::util::timer::start(), and mln::literal::zero.

Referenced by registration2().

template<typename P>

composed< translation< P::dim, float >, rotation< P::dim, float > > mln::registration::registration3	(	const box< P > &	domain,
		const p_array< P > &	P_,
		const p_array< P > &	X
	)			[inline]

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.

Definition at line 365 of file registration.hh.

References mln::literal::blue, compute_distance_criteria(), display_sites_used_in_icp(), draw_last_run(), mln::trace::entering(), mln::trace::exiting(), mln::literal::green, icp(), mln::registration::impl::registration3(), mln::registration::internal::registration_tests(), remove_too_far_sites(), mln::util::timer::start(), and mln::literal::zero.

Referenced by registration3().

template<typename P, typename F>

p_array<P> mln::registration::remove_too_far_sites	(	image3d< value::rgb8 > &	out,
		const p_array< P > &	P_,
		const F &	closest_point,
		const std::pair< algebra::quat, mln_vec(P)> &	pair,
		const p_array< P > &	X,
		p_array< P > &	removed_set,
		unsigned	r,
		int	d_min,
		int	d_max,
		const std::string &	method
	)			[inline]

Definition at line 405 of file icp.hh.

References mln::p_array< P >::append(), mln::literal::black, mln::data::fill(), mln::literal::green, mln::literal::red, mln::io::ppm::save(), mln::io::cloud::save(), mln::slice(), mln::point< G, C >::to_vec(), and mln::literal::white.

Referenced by mln::registration::impl::registration2(), and mln::registration::impl::registration3().

template<typename P, typename F>

void mln::registration::remove_too_far_sites_debug	(	image3d< value::rgb8 > &	out,
		const p_array< P > &	P_,
		const F &	closest_point,
		const std::pair< algebra::quat, mln_vec(P)> &	pair,
		const p_array< P > &	X,
		unsigned	r,
		int	d_min,
		int	d_max,
		unsigned	prefix
	)			[inline]

Definition at line 328 of file icp.hh.

References mln::literal::black, mln::data::fill(), mln::literal::green, mln::literal::red, mln::io::ppm::save(), mln::slice(), and mln::literal::white.