register

Image Processing, Analysis, and Machine Vision 3rd Edition (2007)

#!/bin/sh
#
# This is a very simple shell script used to register (find suitable 
# geometrical transformation) two sets of 3D points using 
# Iterative Closest Reciprocal Point algorithm
#
# Jan Kybic, 1996
#
# This script may need some changes to work in your setup
#
# Usage: register datafilename.vtx modelfilename.vtx 
#

echo Register script started

# Set a top of the ICRP tree 
#BASE="/home/kybic/icrp"
#BASE="/home/pavel/icrp"
BASE="/home/krsek/Vyzkum/RecCad/icrp/"



# Set TSET resp. PSET if you want to use resp. want not to use 
# triangles as model/data internal represenation
DATATYPE="TSET"
MODELTYPE="TSET"


# Vector to use for projections
VECTOR="1 1 1"

# Construct names of the executables
MATCH="${BASE}/icp/match"
VORONOI="${BASE}/voronoi/voronoi"
PROJECT="${BASE}/project/project"
WC="wc -l"

DATAFILE=`dirname $1`/`basename $1 .vtx`
MODELFILE=`dirname $2`/`basename $2 .vtx`
RESULTFILE=`dirname $1`/`basename $1`-`basename $2`.res

if [ ! -f ${DATAFILE}.vtx ] ; then
  echo ERROR: Datafile not readable. ;
  exit 1 ;
  fi ;

if [ ! -f ${MODELFILE}.vtx ] ; then
  echo ERROR: Modelfile not readable. ;
  exit 1 ;
  fi ;

echo Files checked - OK

if [ ! ${MODELTYPE} = PSET ] ; then
  if [ -f ${MODELFILE}.tri ] ; then
    echo Triangulation file for model exists already. ;
   else
    echo Projecting modelfile into 2D ;
    ${PROJECT} ${VECTOR} <${MODELFILE}.vtx >${MODELFILE}.2d ;
    echo Computing triangulation ;
    ${VORONOI} -t <${MODELFILE}.2d >${MODELFILE}.tri ;
  fi ;
fi

if [ ! ${DATATYPE} = PSET ] ; then
  if [ -f ${DATAFILE}.tri ] ; then
    echo Triangulation file for data exists already. ;
   else
    echo Projecting datafile into 2D ;
    ${PROJECT} ${VECTOR} <${DATAFILE}.vtx >${DATAFILE}.2d ;
    echo Computing triangulation ;
    ${VORONOI} -t <${DATAFILE}.2d >${DATAFILE}.tri ;
  fi ;
fi

echo Building parameter file
echo "datafilename ${DATAFILE}"    >match.prm
echo "modelfilename ${MODELFILE}" >>match.prm
echo "datarepr ${DATATYPE}"   >>match.prm
echo "modelrepr ${MODELTYPE}" >>match.prm

if [ ${DATATYPE} = PSET ] ; then
  echo "dataelements " 0 `${WC} <${DATAFILE}.vtx` >>match.prm ;
 else
  echo "dataelements " `${WC} <${DATAFILE}.tri` `${WC} <${DATAFILE}.vtx` >>match.prm ;
fi 

if [ ${MODELTYPE} = PSET ] ; then
  echo "modelelements " 0 `${WC} <${MODELFILE}.vtx` >>match.prm ;
 else
  echo "modelelements " `${WC} <${MODELFILE}.tri` `${WC} <${MODELFILE}.vtx` >>match.prm ;
fi 

cat ${BASE}/icp/template.prm >>match.prm
    
echo Performing registration
${MATCH}

mv match.res ${RESULTFILE}
echo Results written into ${RESULTFILE}

echo Registration script finished