/******************************************************************** ** Image Component Library (ICL) ** ** ** ** Copyright (C) 2006-2012 CITEC, University of Bielefeld ** ** Neuroinformatics Group ** ** Website: www.iclcv.org and ** ** http://opensource.cit-ec.de/projects/icl ** ** ** ** File : ICLAlgorithms/examples/sq-fitting-demo.cpp ** ** Module : ICLAlgorithms ** ** Authors: Christian Groszewski ** ** ** ** ** ** Commercial License ** ** ICL can be used commercially, please refer to our website ** ** www.iclcv.org for more details. ** ** ** ** GNU General Public License Usage ** ** Alternatively, this file may be used under the terms of the ** ** GNU General Public License version 3.0 as published by the ** ** Free Software Foundation and appearing in the file LICENSE.GPL ** ** included in the packaging of this file. Please review the ** ** following information to ensure the GNU General Public License ** ** version 3.0 requirements will be met: ** ** http://www.gnu.org/copyleft/gpl.html. ** ** ** ** The development of this software was supported by the ** ** Excellence Cluster EXC 277 Cognitive Interaction Technology. ** ** The Excellence Cluster EXC 277 is a grant of the Deutsche ** ** Forschungsgemeinschaft (DFG) in the context of the German ** ** Excellence Initiative. ** ** ** *********************************************************************/ #include #include #include #include #include using namespace icl; SuperQuadric superquadric; //box1 double box1[3*4932] = 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0.003,65.738,22.2895,375.717,68.1753,24.3966,371.461,70.5957,26.487,367.234,72.9997,28.5609,363.038,75.3871,30.6185,358.87,77.7585,31.4067,351.852,82.4302,32.182,344.928,87.0392,35.4364,343.708,87.0618,37.4276,339.679,89.3547,39.4034,335.677,91.6321,40.1068,328.955,96.1194,40.7987,322.322,100.548,42.7246,318.445,102.751,44.6359,314.593,104.94,47.79,313.411,104.962,49.6741,309.59,107.137,51.5439,305.795,109.298,52.136,299.444,113.556,55.2409,298.28,113.577,58.3438,297.117,113.599,61.4444,295.954,113.62,67.1586,299.94,109.406,72.9451,303.979,105.138,77.4382,305.43,102.993,83.3453,309.547,98.6396,87.9128,311.031,96.4523,92.5086,312.526,94.2506,98.5885,316.748,89.7805,103.262,318.279,87.5342,107.964,319.822,85.2729,114.224,324.152,80.6818,119.007,325.732,78.374,123.821,327.323,76.0506,128.665,328.926,73.7111,133.54,330.54,71.3558,140.095,335.039,66.5732,19.606,388.151,55.5459,20.5073,380.73,60.5022,22.6385,376.427,62.9669,23.5051,369.165,67.8211,25.5995,364.947,70.2354,27.6774,360.759,72.6334,29.7389,356.6,75.015,31.7842,352.47,77.3804,33.8134,348.369,79.7298,34.5714,341.47,84.358,36.5664,337.448,86.6606,39.8063,336.234,86.6841,41.7729,332.245,88.9714,41.2027,322.83,95.6964,43.1345,318.938,97.924,43.7989,312.416,102.312,46.9538,311.234,102.335,48.8416,307.421,104.52,51.9821,306.245,104.542,52.5741,299.871,108.846,54.4191,296.134,110.988,57.5228,294.971,111.01,61.9153,296.371,108.913,67.6519,300.374,104.656,72.1162,301.807,102.518,77.972,305.887,98.1765,82.5099,307.354,95.9957,88.4884,311.512,91.568,93.1023,313.015,89.3435,97.7447,314.528,87.1042,102.416,316.052,84.8499,108.621,320.342,80.2723,113.372,321.903,77.972,118.153,323.476,75.6559,122.964,325.06,73.3243,129.407,329.489,68.589,135.937,333.98,63.7883,20.8513,381.462,55.2287,22.9896,377.142,57.7212,23.8578,369.85,62.6293,25.9591,365.616,65.0707,28.0439,361.412,67.4953,28.8591,354.329,72.2703,30.9082,350.207,74.6461,34.1997,348.975,74.6709,34.9585,342.049,79.3495,36.9599,338.013,81.6776,38.9457,334.004,83.9901,40.9161,330.022,86.2872,41.6091,323.34,90.8117,43.5468,319.435,93.0636,44.2115,312.889,97.4993,46.1175,309.057,99.7072,49.2711,307.876,99.7311,51.1502,304.076,101.925,53.0147,300.3,104.104,54.8651,296.549,106.269,57.9798,295.384,106.293,62.3889,296.791,104.175,66.8244,298.207,102.043,72.6295,302.249,97.7135,77.1382,303.7,95.5393,83.0645,307.82,91.1241,89.0676,311.996,86.6501,93.6997,313.505,84.4026,98.3605,315.026,82.1404,103.051,316.557,79.8627,109.281,320.866,75.2368,114.052,322.435,72.9125,118.852,324.015,70.5723,125.271,328.436,65.8192,130.155,330.055,63.4304,23.3428,377.86,52.4379,24.2125,370.539,57.4004,25.0678,363.319,62.2949,28.4125,362.068,62.3209,29.2288,354.957,67.1485,31.2846,350.82,69.5506,33.3243,346.711,71.9363,36.6145,345.481,71.9622,37.3557,338.58,76.6599,38.0848,331.772,81.2949,41.3243,330.56,81.3203,42.0178,323.852,85.8937,43.9615,319.933,88.1702,45.8902,316.04,90.4317,46.5382,309.518,94.8855,48.4352,305.699,97.1029,50.3179,301.906,99.3059,52.186,298.138,101.495,55.3138,296.967,101.519,58.4394,295.798,101.544,62.8652,297.211,99.4042,68.6474,301.247,95.0585,74.5037,305.336,90.6555,77.672,304.151,90.6804,83.6225,308.288,86.2192,88.2241,309.78,83.9788,92.8543,311.283,81.7234,98.9802,315.526,77.142,103.689,317.065,74.8408,109.946,321.392,70.166,113.196,320.177,70.1913,121.129,327.383,63.0463,25.4262,363.983,57.0827,28.7832,362.728,57.11,29.6008,355.589,61.9904,31.6633,351.436,64.4194,33.7095,347.312,66.8316,35.7396,343.217,69.2277,37.7539,339.15,71.6074,38.4836,332.316,76.2927,40.4641,328.328,78.625,42.429,324.368,80.9418,44.3786,320.434,83.2433,46.3133,316.527,85.5294,46.9615,309.981,90.031,48.8643,306.148,92.2725,50.7525,302.342,94.4993,52.6263,298.561,96.7117,54.4857,294.805,98.9098,58.9017,296.215,96.7627,63.3444,297.635,94.6014,69.1496,301.686,90.211,73.6656,303.14,88.0068,78.2091,304.604,85.7881,82.7806,306.078,83.5547,88.8036,310.257,79.017,93.4521,311.767,76.7385,99.6036,316.029,72.1089,104.331,317.575,69.7839,109.089,319.133,67.4429,113.877,320.702,65.0861,29.9749,356.224,56.7961,33.3168,354.976,56.8243,34.097,347.916,61.6911,36.1337,343.805,64.1135,38.1542,339.723,66.5197,38.8847,332.863,71.2558,40.8713,328.86,73.6138,42.8425,324.885,75.9559,44.7982,320.938,78.2825,46.7387,317.017,80.5938,48.6642,313.123,82.8896,49.2957,306.6,87.4094,51.1897,302.78,89.6603,51.7942,296.389,94.0919,54.9339,295.217,94.1183,59.3667,296.633,91.9495,65.1488,300.678,87.5425,69.6548,302.128,85.3305,74.1881,303.588,83.1039,78.7495,305.059,80.8625,84.7487,309.231,76.3078,89.3867,310.737,74.0211,94.0537,312.254,71.7191,98.75,313.782,69.4014,103.476,315.322,67.0681,109.755,319.653,62.3264,36.5301,344.397,58.9636,37.2797,337.458,63.7839,39.2883,333.413,66.1838,40.0074,326.619,70.9074,43.2584,325.406,70.9357,45.2202,321.444,73.2877,47.1667,317.509,75.624,47.8154,310.913,80.2228,49.7297,307.054,82.5131,51.6294,303.22,84.7884,53.5142,299.412,87.049,55.3848,295.63,89.2945,59.8344,297.053,87.1038,65.6396,301.115,82.6513,70.1629,302.571,80.4167,74.714,304.039,78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//box2 double box2[3*3324] = 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}; //box3 double box3[3*2881] = 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}; //cylinder1 double cylinder1[3*767] = 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//cylinder2 double cylinder2[3*679] = 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//sphere double sphere[3*354] = {-68.1856,56.0006,171.081,-71.3017,55.1895,168.976,-68.0974,55.8188,167.378,-65.6313,54.9232,167.426,-63.1669,54.0282,167.473,-61.4676,51.6179,169.166,-59.7792,49.2215,170.849,-56.5607,49.8358,169.261,-78.6392,57.6957,165.12,-77.6036,53.7544,168.462,-73.6934,55.9009,165.217,-71.9577,53.4833,166.916,-69.4959,52.5899,166.964,-67.0359,51.6971,167.013,-64.5775,50.8051,167.061,-62.8782,48.4106,168.75,-60.43,47.5221,168.799,-57.9834,46.6343,168.846,-56.3119,44.2595,170.527,-53.0953,44.8604,168.942,-49.8628,45.4651,167.349,-81.7755,56.881,163.002,-80.0118,54.4593,164.709,-77.5441,53.5645,164.758,-75.0782,52.6702,164.807,-72.614,51.7767,164.856,-70.8869,49.3781,166.552,-67.6907,49.9913,164.954,-65.9805,47.5988,166.65,-63.5298,46.7102,166.699,-61.0809,45.8221,166.747,-58.6336,44.9347,166.796,-56.9596,42.565,168.482,-55.2963,40.2089,170.159,-52.8675,39.3281,170.208,-49.653,39.9155,168.628,-47.2209,39.0334,168.676,-86.3055,53.0258,164.199,-83.8405,52.1326,164.249,-81.3772,51.2399,164.299,-79.6251,48.8479,165.993,-77.1719,47.959,166.043,-74.7204,47.0707,166.092,-72.2706,46.183,166.141,-69.0862,46.7863,164.547,-66.6331,45.8974,164.596,-64.1817,45.0092,164.646,-62.4886,42.6384,166.339,-60.0472,41.7538,166.388,-58.3733,39.3996,168.072,-56.71,37.0589,169.746,-53.5124,37.6383,168.17,-51.8656,35.3036,169.844,-47.8661,37.34,166.634,-46.2337,35.0009,168.317,-86.9641,51.3203,162.139,-85.8832,47.4352,165.481,-82.7353,48.0375,163.891,-80.9836,45.6611,165.582,-78.5364,44.775,165.632,-75.3736,45.3719,164.041,-72.9231,44.4846,164.091,-70.4743,43.598,164.142,-68.0272,42.712,164.192,-64.8338,43.3074,162.593,-63.1382,40.9418,164.292,-61.4534,38.5896,165.982,-59.0197,37.7084,166.032,-57.354,35.3726,167.712,-54.9303,34.4952,167.762,-52.5083,33.6182,167.812,-50.088,32.7418,167.861,-46.8767,33.3117,166.28,-44.4531,32.4342,166.33,-88.3087,48.1161,161.735,-86.5377,45.7386,163.433,-84.0863,44.8518,163.484,-81.6367,43.9655,163.534,-79.1888,43.0799,163.585,-77.4541,40.725,165.273,-74.298,41.3104,163.687,-71.8552,40.4265,163.738,-69.414,39.5433,163.788,-66.9746,38.6606,163.839,-65.2816,36.3209,165.526,-62.8521,35.442,165.577,-60.4244,34.5636,165.627,-58.7587,32.243,167.305,-56.3409,31.3682,167.355,-53.9247,30.4941,167.406,-50.7302,31.0562,165.829,-48.3108,30.1809,165.879,-45.0957,30.7448,164.293,-92.1016,45.8165,161.28,-89.6462,44.9288,161.331,-87.8757,42.5668,163.026,-85.4303,41.6827,163.078,-83.6794,39.3373,164.764,-81.244,38.4568,164.815,-79.5125,36.1275,166.492,-76.3783,36.6977,164.918,-73.948,35.819,164.969,-71.5193,34.9411,165.02,-68.36,35.5113,163.438,-66.6672,33.1868,165.122,-64.2436,32.3107,165.173,-62.5698,30.0023,166.848,-60.1561,29.1296,166.899,-57.7441,28.2576,166.95,-54.5661,28.812,165.377,-52.151,27.9388,165.428,-48.9526,28.495,163.846,-46.5342,27.6206,163.897,-92.7581,44.1178,159.228,-89.6234,44.7111,157.622,-88.5289,40.8738,160.982,-86.7672,38.5302,162.674,-85.0168,36.2,164.357,-82.5872,35.3223,164.409,-80.8561,33.0082,166.083,-78.4364,32.134,166.134,-76.0186,31.2605,166.186,-72.886,31.8177,164.616,-70.465,30.9431,164.668,-68.0455,30.069,164.719,-66.3636,27.7726,166.392,-64.6924,25.4893,168.056,-61.5462,26.0323,166.495,-59.14,25.1631,166.546,-56.7354,24.2944,166.598,-53.5644,24.8376,165.029,-49.5946,26.8085,161.813,-47.9652,24.5128,163.502,-45.5544,23.6418,163.554,-95.8733,43.3061,157.122,-93.4147,42.4185,157.175,-91.6309,40.0637,158.883,-89.1824,39.1799,158.936,-87.4182,36.8413,160.635,-86.3471,33.0788,163.952,-83.9235,32.2039,164.004,-81.5015,31.3296,164.056,-79.0811,30.4559,164.109,-77.3668,28.1627,165.78,-74.2456,28.7103,164.213,-72.5475,26.4231,165.884,-70.1404,25.5542,165.936,-67.735,24.6858,165.988,-65.3312,23.8181,166.04,-62.929,22.951,166.092,-60.5287,22.0845,166.144,-58.1298,21.2187,166.196,-54.9704,21.7524,164.631,-51.7955,22.2897,163.057,-48.605,22.8306,161.474,-45.3991,23.3748,159.883,-96.531,41.6057,155.068,-94.0716,40.7186,155.121,-92.2854,38.3687,156.836,-90.5104,36.0322,158.541,-89.4203,32.2739,161.87,-87.6707,29.9738,163.548,-85.2528,29.1017,163.6,-82.8366,28.2302,163.653,-80.4221,27.3591,163.706,-78.0093,26.489,163.759,-75.5981,25.6192,163.812,-73.1887,24.7501,163.865,-70.7808,23.8816,163.918,-68.3747,23.0137,163.971,-66.7012,20.7499,165.638,-63.5674,21.2797,164.076,-61.9101,19.0218,165.743,-59.517,18.1587,165.795,-56.3691,18.6832,164.234,-53.2058,19.2112,162.664,-50.0271,19.7427,161.086,-46.0402,21.6879,157.85,-96.5291,41.3762,151.337,-94.0624,40.4871,151.392,-92.2705,38.1319,153.122,-91.1626,34.3416,156.499,-89.3964,32.0234,158.201,-87.6415,29.7181,159.894,-85.8977,27.4258,161.577,-83.4808,26.5547,161.631,-81.7561,24.2784,163.305,-80.0424,22.0146,164.971,-77.6433,21.1501,165.024,-75.246,20.2859,165.077,-72.8504,19.4225,165.131,-69.7375,19.9465,163.572,-67.3388,19.082,163.626,-64.9417,18.218,163.679,-62.5463,17.3547,163.732,-59.4041,17.8769,162.166,-57.0057,17.0124,162.219,-53.8434,17.5363,160.645,-50.6657,18.0637,159.061,-47.4726,18.5945,157.47,-45.0613,17.7254,157.523,-94.7217,38.7811,149.331,-92.9273,36.43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//pointcloud to fit, points are rowwise DynMatrix tdata(3,4932,box1); //very simple test, seems to work fine void test3(){ tdata.setBounds(3,158); //# 2 sides of a cube with side length 2 double datx[8] = {-2,-2,-2,0,0,2,2,2}; DynMatrix x(1,8,datx); double daty[8] = {-2,-2,2,-2,0,-2,-2,2}; DynMatrix y(1,8,daty); double datz[] ={-2,2,2,0,2,-2,2,2}; DynMatrix z(1,8,datz); for(int i=0;i<8;++i){ tdata(0,i) = x[i]; tdata(1,i) = y[i]; tdata(2,i) = z[i]; } //add some random points for(int i=8;i<58;++i){ tdata(0,i) = 0+(2.0*rand())/RAND_MAX; tdata(1,i) = 0+(2.0*rand())/RAND_MAX; tdata(2,i) = -2+(0.5*rand())/RAND_MAX; tdata(0,i+50) = 0+(2.0*rand())/RAND_MAX; tdata(1,i+50) = -2+(0.5*rand())/RAND_MAX; tdata(2,i+50) = 0+(2.0*rand())/RAND_MAX; tdata(0,i+100) = -2+(0.5*rand())/RAND_MAX; tdata(1,i+100) = 0+(2.0*rand())/RAND_MAX; tdata(2,i+100) = 0+(2.0*rand())/RAND_MAX; } } GUI gui("hsplit"); Scene scene; float *sqsq = new float[13]; bool is_different(const float a[13],const float b[13]){ for(unsigned int i=0;i<13;++i){ if(fabs(a[i]-b[i]) > 0.0001){ return true; } } return false; } SceneObject *squad = 0; void init(){ if (pa("-box1") || pa("-b1")){ tdata = DynMatrix(3,4932,box1); } else if (pa("-box2") || pa("-b2")){ tdata = DynMatrix(3,3324,box2); } else if (pa("-box3") || pa("-b3")){ tdata = DynMatrix(3,2881,box3); } else if (pa("-cylinder1") || pa("-c1")){ tdata = DynMatrix(3,767,cylinder1); } else if (pa("-cylinder2") || pa("-c2")){ tdata = DynMatrix(3,679,cylinder2); } else if (pa("-sphere") || pa("-s")){ tdata = DynMatrix(3,354,sphere); } else if(pa("-test3") || pa("-t3")){ //simple quadric with random points test3(); } DynMatrix params(1,11,0.1); if(pa("-iv")){ for(int i=0;i<11;++i) params[i] = pa("-iv",i); } SQFitter sqf = SQFitter(&tdata); if(pa("-autoinit") || pa("-a")) if(pa("-errorthresh") || pa("-e")) if(pa("-steps")) sqf.fit(params, pa("-e"), pa("-steps"), true); else sqf.fit(params, pa("-e"), 100, true); else if(pa("-steps")) sqf.fit(params, 0.0025, pa("-steps"), true); else sqf.fit(params, 0.0025, 100, true); else if(pa("-errorthresh") || pa("-e")) if(pa("-steps")) sqf.fit(params, pa("-e"), pa("-steps"), false); else sqf.fit(params, pa("-e"), 100, false); else if(pa("-steps")) sqf.fit(params, 0.0025, pa("-steps"), false); else sqf.fit(params, 0.0025, 100, false); //sqf.fit(params, 0.0025, 100, false); superquadric.updateAll(params, false); double *pp = superquadric.getAllParams(); ostringstream p0str; p0str << pp[0]; ostringstream p1str; p1str << pp[1]; ostringstream p2str; p2str << pp[2]; ostringstream p3str; p3str << 1.0/pp[3]; ostringstream p4str; p4str << 1.0/pp[4]; ostringstream p5str; p5str << pp[5]; ostringstream p6str; p6str << pp[6]; ostringstream p7str; p7str << pp[7]; ostringstream p8str; p8str << pp[8]; ostringstream p9str; p9str << pp[9]; ostringstream p10str; p10str << pp[10]; gui << "draw3D(VGA)[@minsize=32x24@handle=draw]" << (GUI("vbox[@minsize=15x1]") << "fslider(-400,400,"+p0str.str()+")[@out=x@label=x-position]" << "fslider(-400,400,"+p1str.str()+")[@out=y@label=y-position]" << "fslider(-400,400,"+p2str.str()+")[@out=z@label=z-position]" << "fslider(-7,7,"+p8str.str()+")[@out=rx@label=x-rotation]" << "fslider(-7,7,"+p9str.str()+")[@out=ry@label=y-rotation]" << "fslider(-7,7,"+p10str.str()+")[@out=rz@label=z-rotation]" << "fslider(0.1,500,"+p5str.str()+")[@out=dx@label=x-size]" << "fslider(0.1,500,"+p6str.str()+")[@out=dy@label=y-size]" << "fslider(0.1,500,"+p7str.str()+")[@out=dz@label=z-size]" << ( GUI("hbox[@label=e1]") << "checkbox(1/x,checked)[@out=e1x]" << "fslider(1,100,"+p3str.str()+")[@out=e1]" ) << ( GUI("hbox[@label=e1]") << "checkbox(1/x,checked)[@out=e2x]" << "fslider(1,100,"+p4str.str()+")[@out=e2]" ) << "slider(5,100,30)[@out=step1@label=x-Steps]" << "slider(5,100,30)[@out=step2@label=y-Steps]" << "checkbox(grid,unchecked)[@out=grid]" ) << "!show"; delete[] pp; //change order of params to match [x,y,z,rx,ry,rz,dx,dy,dz,e1,e2,rzSteps,xySlices] double *sqp = superquadric.getAllParams(); //scene.addCamera(Camera(Vec(0,0,-10),Vec(0,0,1), Vec(1,0,0))); scene.addCamera(Camera(Vec(sqp[0],sqp[1]-sqp[6]-150,sqp[2]),Vec(-0.5,1,0), Vec(0,1,0))); for(unsigned int i=0;isetColor(Primitive::quad,geom_red(),true); o2->setVisible(Primitive::vertex,false); o2->setVisible(Primitive::line,false); scene.addObject(o2,true); } //plot scaled points /*for(unsigned int i=0;isetColor(Primitive::quad,geom_red(),true); o2->setVisible(Primitive::vertex,false); o2->setVisible(Primitive::line,false); scene.addObject(o2,true); }*/ sqsq[0] = sqp[0]; sqsq[1] = sqp[1]; sqsq[2] = sqp[2]; sqsq[3] = sqp[8]; sqsq[4] = sqp[9]; sqsq[5] = sqp[10]; sqsq[6] = sqp[5]; sqsq[7] = sqp[6]; sqsq[8] = sqp[7]; sqsq[9] = sqp[3]; sqsq[10] = sqp[4]; delete[] sqp; sqsq[11] = 20; sqsq[12] = 20; squad = new SceneObject("superquadric",sqsq); scene.addObject(squad,true); gui["draw"].install(scene.getMouseHandler(0)); DrawHandle3D draw = gui["draw"]; draw->lock(); draw->reset3D(); draw->callback(scene.getGLCallback(0)); draw->unlock(); SceneLight &l = scene.getLight(1); l.setOn(); l.setDiffuseEnabled(); l.setDiffuse(GeomColor(0,255,0,100)); l.setPosition(Vec(10,10,10,1)); l.setAnchorToWorld(); } int bla = 0; bool blub = true; void run(){ float sq_curr[] = { gui["x"], gui["y"], gui["z"], gui["rx"], gui["ry"], gui["rz"], gui["dx"], gui["dy"], gui["dz"], gui["e1"], gui["e2"], gui["step1"], gui["step2"] }; if(gui["e1x"]) sq_curr[9] = 1.0/sq_curr[9]; if(gui["e2x"]) sq_curr[10] = 1.0/sq_curr[10]; if (is_different(sq_curr, sqsq)){ std::copy(sq_curr,sq_curr+13,sqsq); scene.lock(); scene.removeObject(scene.getObjectCount()-1); squad = new SceneObject("superquadric",sqsq); //squad->setVisible(Primitive::vertex,false); //squad->setVisible(Primitive::line,false); scene.addObject(squad,true); scene.unlock(); } //makes the superquadric blink to see how good points are fitted /*++bla; if(bla %75 == 0){ if(blub){ blub = false; scene.lock(); for(int i=scene.getObjectCount()-1;i>-1;--i){ scene.removeObject(i); } for(unsigned int i=0;isetColor(Primitive::quad,geom_red(),true); o2->setVisible(Primitive::vertex,false); o2->setVisible(Primitive::line,false); scene.addObject(o2,true); } scene.unlock(); gui["draw"].update(); } else { scene.lock(); blub = true; squad = new SceneObject("superquadric",sqsq); scene.addObject(squad,true); scene.unlock(); } }*/ if(gui["grid"]){ squad->setVisible(Primitive::vertex,false); squad->setVisible(Primitive::line,true); squad->setVisible(Primitive::quad,false); }else{ if(blub){ squad->setVisible(Primitive::vertex,false); squad->setVisible(Primitive::line,false); squad->setVisible(Primitive::quad,true); } } //SHOW(scene.getCamera(0)); gui["draw"].update(); static FPSLimiter limiter(25); limiter.wait(); } int main(int n, char *ppc[]){ paex ("box1","try to fit box") ("box2","try to fit box") ("box3","try to fit box") ("cylinder1","try to fit cylinderdata") ("cylinder2","try to fit cylinderdata") ("sphere","sphere") ("test3","very simply basic quadric") ("autoinit","compute initial values automatically") ("steps","max number of iterations for Levenberg-Marquardt algorithm") ("errorthresh","max error allowed") ("initvalues","initial values for x,y,z,e1,e2,a1,a2,a3,rx,ry,rz"); return ICLApplication(n,ppc,"-box1|-b1 " "-box2|-b2 " "-box3|-b3 " "-cylinder1|-c1 " "-cylinder2|-c2 " "-sphere|-s " "-test3|-t3 " "-autoinit|-a " "-steps(count) " "-errorthresh|-e(thresh) " "-initvalues|-iv(x,y,z,e1,e2,a1,a2,a3,rx,ry,rz)" ,init,run).exec(); }