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get_rtransf.hh
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25 
26 #ifndef MLN_REGISTRATION_GET_RTRANSF_HH
27 # define MLN_REGISTRATION_GET_RTRANSF_HH
28 
29 # include <mln/core/site_set/p_array.hh>
30 # include <mln/fun/x2x/all.hh>
31 # include <mln/algebra/quat.hh>
32 # include <mln/algebra/vec.hh>
33 # include <mln/math/jacobi.hh>
34 # include <mln/registration/get_rot.hh>
35 
36 namespace mln
37 {
38 
39  namespace registration
40  {
41 
42  using namespace fun::x2x;
43 
44  template <typename P, typename M>
45  composed<rotation<P::dim, float>, translation<P::dim, float> >
46  get_rtransf(const p_array<P>& C,
47  const algebra::vec<P::dim,float>& mu_C,
48  const p_array<P>& ck,
49  const M& map);
50 
51 
52 # ifndef MLN_INCLUDE_ONLY
53 
54  template <typename P, typename M>
55  composed<rotation<P::dim, float>, translation<P::dim, float> >
56  get_rtransf(const p_array<P>& c,
57  const algebra::vec<P::dim,float>& mu_c,
58  const p_array<P>& ck,
59  const M& map)
60  {
61  //mu_xk = center map(Ck)
62  algebra::vec<P::dim,float> mu_xk(literal::zero);
63 
64  std::cout << c.nsites() << std::endl;
65  for (unsigned i = 0; i < c.nsites(); ++i)
66  {
67  if (not map.has(ck[i]))
68  {
69  std::cout << ck[i] << " " << i << std::endl;
70  }
71  else
72  mu_xk += convert::to< algebra::vec<P::dim,float> >
73  (map(convert::to< algebra::vec<P::dim,float> >(ck[i])));
74 
75  }
76  mu_xk /= c.nsites();
77 
78  // qR
79  rotation<P::dim, float> tqR = get_rot(c, mu_c, ck, map, mu_xk);
80 
81  // qT
82  const algebra::vec<P::dim,float> qT = mu_xk - tqR(mu_c);
83  translation<P::dim, float> tqT(qT);
84  return compose(tqR,tqT);
85  }
86 
87 # endif // ! MLN_INCLUDE_ONLY
88 
89 
90  } // end of namespace registration
91 
92 } // end of namespace mln
93 
94 #endif // ! MLN_REGISTRATION_GET_RTRANSF_HH