void gmmreg_base::save_transformed(const char* filename,
const vnl_vector<double>& params, const char* f_config) {
std::ofstream outfile(filename, std::ios_base::out);
perform_transform(params);
denormalize_all();
transformed_model.print(outfile);
char section_correspondence[256] = "CORRESPONDENCE";
int num = GetPrivateProfileInt(section_correspondence,
"num_of_thresholds", 0, f_config);
if (num > 0) {
char s_min[256], s_max[256], s_pairs[256];
GetPrivateProfileString(section_correspondence,
"min_threshold", NULL, s_min, 255, f_config);
GetPrivateProfileString(section_correspondence,
"max_threshold", NULL, s_max, 255, f_config);
GetPrivateProfileString(section_correspondence,
"matched_pairs", NULL, s_pairs, 255, f_config);
std::ofstream f_pair(s_pairs, std::ios_base::out);
double min_threshold, max_threshold, interval;
min_threshold = atof(s_min);
max_threshold = atof(s_max);
if (num == 1) {
interval = 0.0f;
} else {
interval = (max_threshold - min_threshold) / (num - 1);
}
//vnl_matrix<double> working_M, working_S;
vnl_matrix<double> dist;
vnl_matrix<int> pairs;
ComputeSquaredDistanceMatrix(transformed_model, scene, dist);
for (int i = 0; i < num; ++i) {
double threshold = min_threshold + i*interval;
//int n_match = find_working_pair(model, scene, transformed_model,
// threshold, working_M, working_S);
pick_indices(dist, pairs, threshold*threshold);
//printf("%f : %d\n",threshold, n_match);
f_pair << "distance threshold : " << threshold << std::endl;
f_pair << "# of matched point pairs : " << pairs.cols() << std::endl;
int j;
for (j = 0; j < pairs.cols(); ++j) {
f_pair.width(6);
f_pair << std::left << pairs(0, j);
}
f_pair << std::endl;
for (j = 0; j < pairs.cols(); ++j) {
f_pair.width(6);
f_pair << std::left << pairs(1, j);
}
f_pair << std::endl;
}
}
std::cout << "Please find the transformed model set in "
<< filename << std::endl;
}
int find_working_pair(const vnl_matrix<double>&M, const vnl_matrix<double>&S,
const vnl_matrix<double>&Transformed_M, const double threshold,
vnl_matrix<double>&working_M, vnl_matrix<double>&working_S) {
vnl_matrix<double> dist;
ComputeSquaredDistanceMatrix(Transformed_M, S, dist);
std::vector<int> row_index, col_index;
pick_indices(dist, row_index, col_index, threshold);
select_points(M, row_index, working_M);
select_points(S, col_index, working_S);
return row_index.size();
}
void f(const vnl_matrix<double>& model,
const vnl_matrix<double>& scene, double threshold,
vnl_matrix<double>& extracted_model,
vnl_matrix<double>& extracted_scene) {
vnl_matrix<double> dist;
vnl_matrix<int> pairs;
ComputeSquaredDistanceMatrix(model, scene, dist);
pick_indices(dist, pairs, threshold*threshold);
std::cout << "distance threshold : " << threshold << std::endl;
int j, n = pairs.cols();
int d = model.cols();
extracted_model.set_size(n,d);
extracted_scene.set_size(n,d);
std::cout << "# of matched point pairs : " << n << std::endl;
for (j=0; j<n; ++j) {
extracted_model.set_row(j,model.get_row(pairs(0,j)));
}
for (j=0; j<n; ++j) {
extracted_scene.set_row(j,scene.get_row(pairs(1,j)));
}
}
