void TpsRegistration::PrepareBasisKernel() {
// TODO(bing-jian): detect singularity of the data
vnl_matrix<double> K, U;
ComputeTPSKernel(model_, ctrl_pts_, U, K);
m_ = model_.rows();
vnl_matrix<double> Pm;
Pm.set_size(m_, d_ + 1);
Pm.set_column(0, 1);
Pm.update(model_, 0, 1);
vnl_matrix<double> Pn;
Pn.set_size(n_, d_ + 1);
Pn.set_column(0, 1);
Pn.update(ctrl_pts_, 0, 1);
/* should use SVD(Pn), but vnl's SVD is an ``economy-size'' SVD */
/* vnl_svd<double> SVD(Pn.transpose());
vnl_matrix<double> VV = SVD.V();
std::cout << VV.rows() << " " << VV.cols() << std::endl;
SaveMatrixToAsciiFile("./VV.txt", VV);
*/
vnl_qr<double> qr(Pn);
vnl_matrix<double> V = qr.Q();
vnl_matrix<double> PP = V.extract(n_, n_ - d_ - 1, 0, d_ + 1);
basis_.set_size(m_, n_);
basis_.update(Pm);
basis_.update(U * PP, 0, d_ + 1);
kernel_ = PP.transpose() * K * PP;
}
int ThinPlateSplineTransform(const char* f_config) {
vnl_matrix<double> model, scene, ctrl_pts, /*source,*/ transformed_source;
char f_model[256] = {0}, f_scene[256] = {0};
char common_section[80] = "FILES";
GetPrivateProfileString(common_section, "model", NULL,
f_model, 256, f_config);
if (LoadMatrixFromTxt(f_model, model) < 0) {
return -1;
}
int d = model.cols();
GetPrivateProfileString(common_section, "scene", NULL,
f_scene, 256, f_config);
if (LoadMatrixFromTxt(f_scene, scene) < 0) {
return -1;
}
assert(scene.cols() == d);
char f_ctrl_pts[256] = {0};
GetPrivateProfileString(common_section, "ctrl_pts", NULL,
f_ctrl_pts, 256, f_config);
if (LoadMatrixFromTxt(f_ctrl_pts, ctrl_pts) < 0) {
return -1;
}
assert(ctrl_pts.cols() == d);
int n = ctrl_pts.rows();
//char f_source[256] = {0};
//GetPrivateProfileString(common_section, "source", NULL,
// f_source, 256, f_config);
//if (LoadMatrixFromTxt(f_source, source) < 0) {
// return -1;
//}
//assert(source.cols() == d);
//int m = source.rows();
vnl_matrix<double> affine, tps;
char f_init_affine[256] = {0}, f_init_tps[256] = {0};
DWORD readCount = GetPrivateProfileString(common_section, "init_affine", NULL,
f_init_affine, 256, f_config);
if (readCount != 0)
{
if (LoadMatrixFromTxt(f_init_affine, affine) < 0) {
return -1;
}
}
assert(affine.cols() == d);
assert(affine.rows() == d+1);
GetPrivateProfileString(common_section, "init_tps", NULL,
f_init_tps, 256, f_config);
if (LoadMatrixFromTxt(f_init_tps, tps) < 0) {
return -1;
}
assert(tps.cols() == d);
assert(tps.rows() == (n - d - 1));
vnl_matrix<double> param_all;
param_all.set_size(n, d);
param_all.update(affine);
param_all.update(tps, d + 1);
// TODO: check if dimensions are consistent.
bool b_normalize = GetPrivateProfileInt("GMMREG_OPT", "normalize", 1, f_config);
double model_scale, scene_scale, ctrl_scale;
vnl_vector<double> ctrl_centroid, model_centroid, scene_centroid;
if (b_normalize) {
Normalize(ctrl_pts, ctrl_centroid, ctrl_scale);
Normalize(model, model_centroid, model_scale);
Normalize(scene, scene_centroid, scene_scale);
// perform normalization to source w.r.t to model space
//Denormalize(source, -model_centroid/model_scale, 1.0/model_scale);
}
vnl_matrix<double> K, U;
ComputeTPSKernel(source, ctrl_pts, U, K);
vnl_matrix<double> Pm;
Pm.set_size(m, d + 1);
Pm.set_column(0, 1);
Pm.update(source, 0, 1);
vnl_matrix<double> Pn;
Pn.set_size(n, d + 1);
Pn.set_column(0, 1);
Pn.update(ctrl_pts, 0, 1);
vnl_qr<double> qr(Pn);
vnl_matrix<double> V = qr.Q();
vnl_matrix<double> PP = V.extract(n, n - d - 1, 0, d + 1);
vnl_matrix<double> basis;
basis.set_size(m, n);
basis.update(Pm);
basis.update(U * PP, 0, d + 1);
transformed_source = basis * param_all;
if (b_normalize) {
Denormalize(transformed_source, scene_centroid, scene_scale);
}
char f_transformed_source[256] = {0};
GetPrivateProfileString(common_section, "transformed_source", NULL,
f_transformed_source, 256, f_config);
std::ofstream outfile(f_transformed_source, std::ios_base::out);
transformed_source.print(outfile);
return 0;
}