https://svn.lrde.epita.fr/svn/oln/trunk/milena Index: ChangeLog from Ugo Jardonnet &lt;ugo.jardonnet(a)lrde.epita.fr&gt; Sandbox: ICP: ck point to xk point distance. * sandbox/jardonnet/test/icp.cc: Ck point color depends on the distance with its closest point. * sandbox/jardonnet/test/length.ppm: Result image. * sandbox/jardonnet/TODO: Update. * sandbox/jardonnet/registration/quat7.hh: Minor fix. * sandbox/jardonnet/registration/icp.hh: Minor fix. mln/core/dpoint.hh | 1 sandbox/jardonnet/TODO | 2 + sandbox/jardonnet/registration/quat7.hh | 2 - sandbox/jardonnet/test/icp.cc | 37 +++++++++++++++++++++++++++++--- 4 files changed, 36 insertions(+), 6 deletions(-) Index: mln/core/dpoint.hh --- mln/core/dpoint.hh (revision 1888) +++ mln/core/dpoint.hh (working copy) @@ -39,7 +39,6 @@ # include <mln/algebra/vec.hh> # include <mln/metal/converts_to.hh> - namespace mln { Index: sandbox/jardonnet/test/icp.cc --- sandbox/jardonnet/test/icp.cc (revision 1888) +++ sandbox/jardonnet/test/icp.cc (working copy) @@ -2,6 +2,8 @@ #include <mln/io/pbm/load.hh> #include <mln/io/pbm/save.hh> +#include <mln/io/ppm/save.hh> +#include <mln/norm/l2.hh> #include <sandbox/jardonnet/registration/icp.hh> #include <sandbox/jardonnet/registration/tools.hh> @@ -64,17 +66,46 @@ qk.apply_on(c, c, c.npoints()); const box_<point2d> box2d(400,700); - image2d<bool> output(box2d, 1); + image2d<value::rgb8> output(box2d, 1); + + + + std::vector<float> length(c.npoints()); + //mean + length + float mean = 0; + for (size_t i = 0; i < c.npoints(); i++) + { + float f = norm::l2(algebra::vec<3,int> (c[i] - map(c[i])));; + length[i] = f; + mean += f; + } + mean /= c.npoints(); + std::cout << mean << std::endl; + + //standar variation + float stdev = 0; + for (size_t i = 0; i < c.npoints(); i++) + stdev += (length[i] - mean) * (length[i] - mean); + stdev /= c.npoints(); + stdev = math::sqrt(stdev); + std::cout << stdev << std::endl; //to 2d : projection (FIXME:if 3d) for (size_t i = 0; i < c.npoints(); i++) { point2d p(c[i][0], c[i][1]); if (output.has(p)) - output(p) = true; + { + if (length[i] > 2 * stdev) + output(p) = value::rgb8(255,0,0); + else if (length[i] > stdev) + output(p) = value::rgb8(255,200,0); + else + output(p) = value::rgb8(255,255,255); + } } - io::pbm::save(output, "registred.pbm"); + io::ppm::save(output, "registred.ppm"); } Index: sandbox/jardonnet/test/length.ppm Cannot display: file marked as a binary type. svn:mime-type = application/octet-stream Property changes on: sandbox/jardonnet/test/length.ppm ___________________________________________________________________ Name: svn:mime-type + application/octet-stream Index: sandbox/jardonnet/TODO --- sandbox/jardonnet/TODO (revision 1888) +++ sandbox/jardonnet/TODO (working copy) @@ -19,3 +19,5 @@ trans : vec --> quat v |-> m = trans(t) +- - +io/all.hh cass� \ No newline at end of file Index: sandbox/jardonnet/registration/quat7.hh --- sandbox/jardonnet/registration/quat7.hh (revision 1888) +++ sandbox/jardonnet/registration/quat7.hh (working copy) @@ -129,8 +129,6 @@ M& map, size_t c_length) { - //FIXME: mix mu_Xk and qk loop - //mu_Xk = center map(Ck) algebra::vec<P::dim,float> mu_Xk(literal::zero); for (size_t i = 0; i < c_length; ++i) Index: sandbox/jardonnet/registration/icp.hh