Searches along a profile using a statistical model. More...
#include <mfpf_profile_pdf.h>
Public Member Functions | |
| mfpf_profile_pdf () | |
| virtual | ~mfpf_profile_pdf () |
| virtual double | radius () const |
| Radius of circle containing modelled region. | |
| void | set (int ilo, int ihi, const vpdfl_pdf_base &pdf) |
| Define size and PDF (clone taken). | |
| int | ilo () const |
| Kernel mask is [ilo_,ihi_]. | |
| int | ihi () const |
| Kernel mask is [ilo_,ihi_]. | |
| const vpdfl_pdf_base & | pdf () const |
| PDf for profile vector. | |
| virtual double | evaluate (const vimt_image_2d_of< float > &image, const vgl_point_2d< double > &p, const vgl_vector_2d< double > &u) |
| Evaluate match at p, using u to define scale and orientation. | |
| virtual void | evaluate_region (const vimt_image_2d_of< float > &image, const vgl_point_2d< double > &p, const vgl_vector_2d< double > &u, vimt_image_2d_of< double > &response) |
| Evaluate match at in a region around p. | |
| virtual double | search_one_pose (const vimt_image_2d_of< float > &image, const vgl_point_2d< double > &p, const vgl_vector_2d< double > &u, vgl_point_2d< double > &new_p) |
| Search given image around p, using u to define scale and angle. | |
| virtual void | get_outline (vcl_vector< vgl_point_2d< double > > &pts) const |
| Generate points in ref frame that represent boundary. | |
| short | version_no () const |
| Version number for I/O. | |
| virtual vcl_string | is_a () const |
| Name of the class. | |
| virtual mfpf_point_finder * | clone () const |
| Create a copy on the heap and return base class pointer. | |
| virtual void | print_summary (vcl_ostream &os) const |
| Print class to os. | |
| virtual void | b_write (vsl_b_ostream &bfs) const |
| Save class to binary file stream. | |
| virtual void | b_read (vsl_b_istream &bfs) |
| Load class from binary file stream. | |
| bool | operator== (const mfpf_profile_pdf &nc) const |
| Test equality. | |
| virtual void | set_step_size (double) |
| Size of step between sample points. | |
| double | step_size () const |
| Size of step between sample points. | |
| virtual void | set_search_area (unsigned ni, unsigned nj) |
| Define search region size. | |
| void | set_angle_range (unsigned nA, double dA) |
| Define angle search parameters. | |
| void | set_scale_range (unsigned ns, double ds) |
| Define scale search parameters. | |
| int | search_ni () const |
| Number of points either side of centre to search along i. | |
| int | search_nj () const |
| Number of points either side of centre to search along j. | |
| virtual bool | set_model (const vcl_vector< double > &v) |
| Set model to a new value when provided with a vector. | |
| virtual unsigned | model_dim () |
| Number of dimensions in the model. | |
| virtual void | get_sample_vector (const vimt_image_2d_of< float > &image, const vgl_point_2d< double > &p, const vgl_vector_2d< double > &u, vcl_vector< double > &v) |
| Get sample of region around specified point in image. | |
| virtual double | search_one_pose_with_opt (const vimt_image_2d_of< float > &image, const vgl_point_2d< double > &p, const vgl_vector_2d< double > &u, vgl_point_2d< double > &new_p) |
| Search given image around p, using u to define scale and angle. | |
| virtual double | search (const vimt_image_2d_of< float > &image, const vgl_point_2d< double > &p, const vgl_vector_2d< double > &u, vgl_point_2d< double > &new_p, vgl_vector_2d< double > &new_u) |
| Search given image around p, using u to define scale and orientation. | |
| virtual double | search_with_opt (const vimt_image_2d_of< float > &image, const vgl_point_2d< double > &p, const vgl_vector_2d< double > &u, vgl_point_2d< double > &new_p, vgl_vector_2d< double > &new_u) |
| Search given image around p, using u to define scale and orientation. | |
| virtual void | grid_search_one_pose (const vimt_image_2d_of< float > &image, const vgl_point_2d< double > &p, const vgl_vector_2d< double > &u, vcl_vector< mfpf_pose > &pts, vcl_vector< double > &fit) |
| Search for local optima around given point/scale/angle. | |
| virtual void | multi_search_one_pose (const vimt_image_2d_of< float > &image, const vgl_point_2d< double > &p, const vgl_vector_2d< double > &u, vcl_vector< mfpf_pose > &pts, vcl_vector< double > &fit) |
| Search for local optima around given point/scale/angle. | |
| virtual void | grid_search (const vimt_image_2d_of< float > &image, const vgl_point_2d< double > &p, const vgl_vector_2d< double > &u, vcl_vector< mfpf_pose > &poses, vcl_vector< double > &fit) |
| Search for local optima around given point/scale/angle. | |
| virtual void | multi_search (const vimt_image_2d_of< float > &image, const vgl_point_2d< double > &p, const vgl_vector_2d< double > &u, vcl_vector< mfpf_pose > &poses, vcl_vector< double > &fits) |
| Search for local optima around given point/scale/angle. | |
| virtual void | refine_match (const vimt_image_2d_of< float > &image, vgl_point_2d< double > &p, vgl_vector_2d< double > &u, double &fit) |
| Perform local optimisation to refine position,scale and angle. | |
| virtual bool | overlap (const mfpf_pose &pose1, const mfpf_pose &pose2) const |
| Return true if modelled regions at pose1 and pose2 overlap. | |
| virtual void | aligned_bounding_box (const mfpf_pose &pose, mfpf_pose &box_pose, double &wi, double &wj) const |
| Computes the aligned bounding box for feature with given pose. | |
| virtual void | get_image_of_model (vimt_image_2d_of< vxl_byte > &image) const |
| Create an image summarising the average model (where possible). | |
| unsigned | image_level (const mfpf_pose &pose, const vimt_image_pyramid &im_pyr) const |
| Select best level for searching around pose. | |
Protected Member Functions | |
| bool | base_equality (const mfpf_point_finder &pf) const |
| Return true if base class parameters are the same in pf. | |
Protected Attributes | |
| double | step_size_ |
| Size of step between sample points. | |
| int | search_ni_ |
| Number of points either side of centre to search. | |
| int | search_nj_ |
| Number of points either side of centre to search. | |
| unsigned | nA_ |
| Define N. angles (ie try at A+idA, i in [-nA,+nA]). | |
| double | dA_ |
| Angle step size (ie try at A+idA, i in [-nA,+nA]). | |
| unsigned | ns_ |
| Number of scales to try at. | |
| double | ds_ |
| Scaling factor (ie try at ((ds)^i), i in [-ns,+ns]. | |
Private Member Functions | |
| void | set_defaults () |
| Define default values. | |
Private Attributes | |
| int | ilo_ |
| Kernel mask is [ilo_,ihi_]. | |
| int | ihi_ |
| Kernel mask is [ilo_,ihi_]. | |
| mbl_cloneable_ptr< vpdfl_pdf_base > | pdf_ |
| PDf for profile vector. | |
Detailed Description
Searches along a profile using a statistical model.
Definition at line 15 of file mfpf_profile_pdf.h.
Constructor & Destructor Documentation
| mfpf_profile_pdf::mfpf_profile_pdf | ( | ) |
Definition at line 23 of file mfpf_profile_pdf.cxx.
| mfpf_profile_pdf::~mfpf_profile_pdf | ( | ) | [virtual] |
Definition at line 40 of file mfpf_profile_pdf.cxx.
Member Function Documentation
| void mfpf_point_finder::aligned_bounding_box | ( | const mfpf_pose & | pose, |
| mfpf_pose & | box_pose, | ||
| double & | wi, | ||
| double & | wj | ||
| ) | const [virtual, inherited] |
Computes the aligned bounding box for feature with given pose.
On exit box_pose.p() gives the centre, corners are given by box_pose(+/-0.5*wi, +/-0.5*wj).
Definition at line 600 of file mfpf_point_finder.cxx.
| void mfpf_profile_pdf::b_read | ( | vsl_b_istream & | bfs | ) | [virtual] |
Load class from binary file stream.
Reimplemented from mfpf_point_finder.
Definition at line 214 of file mfpf_profile_pdf.cxx.
| void mfpf_profile_pdf::b_write | ( | vsl_b_ostream & | bfs | ) | const [virtual] |
Save class to binary file stream.
Reimplemented from mfpf_point_finder.
Definition at line 201 of file mfpf_profile_pdf.cxx.
| bool mfpf_point_finder::base_equality | ( | const mfpf_point_finder & | pf | ) | const [protected, inherited] |
Return true if base class parameters are the same in pf.
Definition at line 627 of file mfpf_point_finder.cxx.
| mfpf_point_finder * mfpf_profile_pdf::clone | ( | ) | const [virtual] |
Create a copy on the heap and return base class pointer.
Implements mfpf_point_finder.
Definition at line 176 of file mfpf_profile_pdf.cxx.
| double mfpf_profile_pdf::evaluate | ( | const vimt_image_2d_of< float > & | image, |
| const vgl_point_2d< double > & | p, | ||
| const vgl_vector_2d< double > & | u | ||
| ) | [virtual] |
Evaluate match at p, using u to define scale and orientation.
Returns -1*logp(vector) at p along direction u
Returns -1*edge strength at p along direction u
Implements mfpf_point_finder.
Definition at line 60 of file mfpf_profile_pdf.cxx.
| void mfpf_profile_pdf::evaluate_region | ( | const vimt_image_2d_of< float > & | image, |
| const vgl_point_2d< double > & | p, | ||
| const vgl_vector_2d< double > & | u, | ||
| vimt_image_2d_of< double > & | response | ||
| ) | [virtual] |
Evaluate match at in a region around p.
Returns a quality of fit at a set of positions. response image (whose size and transform is set inside the function), indicates the points at which the function was evaluated. response(i,j) is the fit at the point response.world2im().inverse()(i,j). The world2im() transformation may be affine.
Implements mfpf_point_finder.
Definition at line 81 of file mfpf_profile_pdf.cxx.
| void mfpf_point_finder::get_image_of_model | ( | vimt_image_2d_of< vxl_byte > & | image | ) | const [virtual, inherited] |
Create an image summarising the average model (where possible).
For instance, creates an image of the mean template used for search. image.world2im() gives mapping from reference frame into raw image co-ords (including the step size). Default implementation does nothing - returns an empty image.
For instance, creates an image of the mean template used for search. Default implementation does nothing - returns an empty image.
Reimplemented in mfpf_region_finder, mfpf_grad_corr2d, mfpf_region_pdf, and mfpf_norm_corr2d.
Definition at line 566 of file mfpf_point_finder.cxx.
| void mfpf_profile_pdf::get_outline | ( | vcl_vector< vgl_point_2d< double > > & | pts | ) | const [virtual] |
Generate points in ref frame that represent boundary.
Points of a contour around the shape. Used for display purposes.
Implements mfpf_point_finder.
Definition at line 158 of file mfpf_profile_pdf.cxx.
| void mfpf_point_finder::get_sample_vector | ( | const vimt_image_2d_of< float > & | image, |
| const vgl_point_2d< double > & | p, | ||
| const vgl_vector_2d< double > & | u, | ||
| vcl_vector< double > & | v | ||
| ) | [virtual, inherited] |
Get sample of region around specified point in image.
Reimplemented in mfpf_grad_corr2d, and mfpf_norm_corr2d.
Definition at line 177 of file mfpf_point_finder.cxx.
| void mfpf_point_finder::grid_search | ( | const vimt_image_2d_of< float > & | image, |
| const vgl_point_2d< double > & | p, | ||
| const vgl_vector_2d< double > & | u, | ||
| vcl_vector< mfpf_pose > & | pts, | ||
| vcl_vector< double > & | fit | ||
| ) | [virtual, inherited] |
Search for local optima around given point/scale/angle.
For each angle and scale (defined by internal nA,dA,ns,ds) search in a grid around p (defined by search_ni and search_nj). Find local minima on this grid and return them in poses. Responses lie on grid in (x,y,ds,dA)
Note that an object in an image may lead to multiple responses, one at each scale and angle near to the optima. Thus the poses defined in pts should be further refined to eliminate such multiple responses.
For each angle and scale (defined by internal nA,dA,ns,ds) search in a grid around p (defined by search_ni and search_nj). Find local minima on this grid and return them in pts.
Note that an object in an image may lead to multiple responses, one at each scale and angle near to the optima. Thus the poses defined in pts should be further refined to eliminate such multiple responses.
Definition at line 452 of file mfpf_point_finder.cxx.
| void mfpf_point_finder::grid_search_one_pose | ( | const vimt_image_2d_of< float > & | image, |
| const vgl_point_2d< double > & | p, | ||
| const vgl_vector_2d< double > & | u, | ||
| vcl_vector< mfpf_pose > & | pts, | ||
| vcl_vector< double > & | fit | ||
| ) | [virtual, inherited] |
Search for local optima around given point/scale/angle.
Search in a grid around p (defined by search_ni and search_nj). Find local minima on this grid and return append each to pts. Note: pts is not resized, so empty beforehand if necessary.
Search in a grid around p (defined by search_ni and search_nj). Find local minima on this grid and return them in pts.
Definition at line 337 of file mfpf_point_finder.cxx.
| int mfpf_profile_pdf::ihi | ( | ) | const [inline] |
Kernel mask is [ilo_,ihi_].
Definition at line 46 of file mfpf_profile_pdf.h.
| int mfpf_profile_pdf::ilo | ( | ) | const [inline] |
Kernel mask is [ilo_,ihi_].
Definition at line 43 of file mfpf_profile_pdf.h.
| unsigned mfpf_point_finder::image_level | ( | const mfpf_pose & | pose, |
| const vimt_image_pyramid & | im_pyr | ||
| ) | const [inherited] |
Select best level for searching around pose.
Select best level for searching around pose with finder.
Selects pyramid level with pixel sizes best matching the model pixel size at given pose.
Definition at line 575 of file mfpf_point_finder.cxx.
| vcl_string mfpf_profile_pdf::is_a | ( | ) | const [virtual] |
Name of the class.
Reimplemented from mfpf_point_finder.
Definition at line 170 of file mfpf_profile_pdf.cxx.
| unsigned mfpf_point_finder::model_dim | ( | ) | [virtual, inherited] |
Number of dimensions in the model.
Number of dimensions in the model (return 0 by default).
Reimplemented in mfpf_grad_corr2d, mfpf_norm_corr2d, and mfpf_norm_corr1d.
Definition at line 171 of file mfpf_point_finder.cxx.
| void mfpf_point_finder::multi_search | ( | const vimt_image_2d_of< float > & | image, |
| const vgl_point_2d< double > & | p, | ||
| const vgl_vector_2d< double > & | u, | ||
| vcl_vector< mfpf_pose > & | poses, | ||
| vcl_vector< double > & | fits | ||
| ) | [virtual, inherited] |
Search for local optima around given point/scale/angle.
For each angle and scale (defined by internal nA,dA,ns,ds) search in a grid around p (defined by search_ni and search_nj). Find local minima on this grid. Sub-grid estimation using parabolic fitting included. poses[i] defines result i, with corresponding fit fits[i]
Note that an object in an image may lead to multiple responses, one at each scale and angle near to the optima. Thus the poses defined in pts should be further refined to eliminate such multiple responses.
Definition at line 493 of file mfpf_point_finder.cxx.
| void mfpf_point_finder::multi_search_one_pose | ( | const vimt_image_2d_of< float > & | image, |
| const vgl_point_2d< double > & | p0, | ||
| const vgl_vector_2d< double > & | u, | ||
| vcl_vector< mfpf_pose > & | pts, | ||
| vcl_vector< double > & | fit | ||
| ) | [virtual, inherited] |
Search for local optima around given point/scale/angle.
Search in a grid around p (defined by search_ni and search_nj). Find local minima on this grid. Perform single sub-grid optimisation by fitting a parabola in x and y and testing resulting point. Append each to pts. Note: pts is not resized, so empty beforehand if necessary.
Definition at line 367 of file mfpf_point_finder.cxx.
| bool mfpf_profile_pdf::operator== | ( | const mfpf_profile_pdf & | nc | ) | const |
Test equality.
Definition at line 236 of file mfpf_profile_pdf.cxx.
| bool mfpf_point_finder::overlap | ( | const mfpf_pose & | pose1, |
| const mfpf_pose & | pose2 | ||
| ) | const [virtual, inherited] |
Return true if modelled regions at pose1 and pose2 overlap.
Reimplemented in mfpf_region_finder, mfpf_grad_corr2d, mfpf_hog_box_finder, mfpf_region_pdf, and mfpf_norm_corr2d.
Definition at line 591 of file mfpf_point_finder.cxx.
| const vpdfl_pdf_base& mfpf_profile_pdf::pdf | ( | ) | const [inline] |
PDf for profile vector.
Definition at line 49 of file mfpf_profile_pdf.h.
| void mfpf_profile_pdf::print_summary | ( | vcl_ostream & | os | ) | const [virtual] |
Print class to os.
Reimplemented from mfpf_point_finder.
Definition at line 185 of file mfpf_profile_pdf.cxx.
| double mfpf_profile_pdf::radius | ( | ) | const [virtual] |
Radius of circle containing modelled region.
Implements mfpf_point_finder.
Definition at line 53 of file mfpf_profile_pdf.cxx.
| void mfpf_point_finder::refine_match | ( | const vimt_image_2d_of< float > & | image, |
| vgl_point_2d< double > & | p, | ||
| vgl_vector_2d< double > & | u, | ||
| double & | fit | ||
| ) | [virtual, inherited] |
Perform local optimisation to refine position,scale and angle.
On input fit is match at p,u. On exit p,u and fit are updated. Baseclass implementation uses simplex optimisation.
Definition at line 526 of file mfpf_point_finder.cxx.
| double mfpf_point_finder::search | ( | const vimt_image_2d_of< float > & | image, |
| const vgl_point_2d< double > & | p, | ||
| const vgl_vector_2d< double > & | u, | ||
| vgl_point_2d< double > & | new_p, | ||
| vgl_vector_2d< double > & | new_u | ||
| ) | [virtual, inherited] |
Search given image around p, using u to define scale and orientation.
On exit, new_p and new_u define position, scale and orientation of the best nearby match. Returns a quality of fit measure at that point (the smaller the better).
Default implementation calls search_one_pose(...) at multiple angles and scales. Result will be at a grid position and one of the given angle/scales. True optima can then be found by further optimisation of the point.
On exit, new_p and new_u define position, scale and orientation of the best nearby match. Returns a quality of fit measure at that point (the smaller the better).
Definition at line 241 of file mfpf_point_finder.cxx.
| int mfpf_point_finder::search_ni | ( | ) | const [inline, inherited] |
Number of points either side of centre to search along i.
Definition at line 76 of file mfpf_point_finder.h.
| int mfpf_point_finder::search_nj | ( | ) | const [inline, inherited] |
Number of points either side of centre to search along j.
Definition at line 79 of file mfpf_point_finder.h.
| double mfpf_profile_pdf::search_one_pose | ( | const vimt_image_2d_of< float > & | image, |
| const vgl_point_2d< double > & | p, | ||
| const vgl_vector_2d< double > & | u, | ||
| vgl_point_2d< double > & | new_p | ||
| ) | [virtual] |
Search given image around p, using u to define scale and angle.
Search given image around p, using u to define scale and orientation.
On exit, new_p defines position of the best nearby match. Returns a quality of fit measure at that point (the smaller the better).
Implements mfpf_point_finder.
Definition at line 122 of file mfpf_profile_pdf.cxx.
| double mfpf_point_finder::search_one_pose_with_opt | ( | const vimt_image_2d_of< float > & | image, |
| const vgl_point_2d< double > & | p0, | ||
| const vgl_vector_2d< double > & | u, | ||
| vgl_point_2d< double > & | new_p | ||
| ) | [virtual, inherited] |
Search given image around p, using u to define scale and angle.
Evaluates responses on a grid, finds the best point on the grid, then optimises its position by fitting a parabola.
On exit, new_p defines position of the best nearby match. Returns a quality of fit measure at that point (the smaller the better).
Definition at line 193 of file mfpf_point_finder.cxx.
| double mfpf_point_finder::search_with_opt | ( | const vimt_image_2d_of< float > & | image, |
| const vgl_point_2d< double > & | p, | ||
| const vgl_vector_2d< double > & | u, | ||
| vgl_point_2d< double > & | new_p, | ||
| vgl_vector_2d< double > & | new_u | ||
| ) | [virtual, inherited] |
Search given image around p, using u to define scale and orientation.
On exit, new_p and new_u define position, scale and orientation of the best nearby match. Returns a quality of fit measure at that point (the smaller the better). Parabolic fit used to estimate optimal position.
Default implementation calls search_one_pose(...) at multiple angles and scales. Result will be at a grid position and one of the given angle/scales. True optima can then be found by further optimisation of the point.
On exit, new_p and new_u define position, scale and orientation of the best nearby match. Returns a quality of fit measure at that point (the smaller the better).
Definition at line 283 of file mfpf_point_finder.cxx.
| void mfpf_profile_pdf::set | ( | int | ilo, |
| int | ihi, | ||
| const vpdfl_pdf_base & | |||
| ) |
Define size and PDF (clone taken).
Define filter kernel to search with.
Definition at line 45 of file mfpf_profile_pdf.cxx.
| void mfpf_point_finder::set_angle_range | ( | unsigned | nA, |
| double | dA | ||
| ) | [inherited] |
Define angle search parameters.
Definition at line 151 of file mfpf_point_finder.cxx.
| void mfpf_profile_pdf::set_defaults | ( | ) | [private] |
Define default values.
Definition at line 29 of file mfpf_profile_pdf.cxx.
| bool mfpf_point_finder::set_model | ( | const vcl_vector< double > & | v | ) | [virtual, inherited] |
Set model to a new value when provided with a vector.
Define model parameters (return false by default).
Reimplemented in mfpf_grad_corr2d, and mfpf_norm_corr2d.
Definition at line 165 of file mfpf_point_finder.cxx.
| void mfpf_point_finder::set_scale_range | ( | unsigned | ns, |
| double | ds | ||
| ) | [inherited] |
Define scale search parameters.
Definition at line 158 of file mfpf_point_finder.cxx.
| void mfpf_point_finder::set_search_area | ( | unsigned | ni, |
| unsigned | nj | ||
| ) | [virtual, inherited] |
Define search region size.
During search, samples at points on grid [-ni,ni]x[-nj,nj], with axes defined by u.
Definition at line 144 of file mfpf_point_finder.cxx.
| void mfpf_point_finder::set_step_size | ( | double | s | ) | [virtual, inherited] |
Size of step between sample points.
Definition at line 136 of file mfpf_point_finder.cxx.
| double mfpf_point_finder::step_size | ( | ) | const [inline, inherited] |
Size of step between sample points.
Definition at line 62 of file mfpf_point_finder.h.
| short mfpf_profile_pdf::version_no | ( | ) | const |
Version number for I/O.
Reimplemented from mfpf_point_finder.
Definition at line 196 of file mfpf_profile_pdf.cxx.
Member Data Documentation
double mfpf_point_finder::dA_ [protected, inherited] |
Angle step size (ie try at A+idA, i in [-nA,+nA]).
Definition at line 40 of file mfpf_point_finder.h.
double mfpf_point_finder::ds_ [protected, inherited] |
Scaling factor (ie try at ((ds)^i), i in [-ns,+ns].
Definition at line 46 of file mfpf_point_finder.h.
int mfpf_profile_pdf::ihi_ [private] |
Kernel mask is [ilo_,ihi_].
Definition at line 21 of file mfpf_profile_pdf.h.
int mfpf_profile_pdf::ilo_ [private] |
Kernel mask is [ilo_,ihi_].
Definition at line 19 of file mfpf_profile_pdf.h.
unsigned mfpf_point_finder::nA_ [protected, inherited] |
Define N. angles (ie try at A+idA, i in [-nA,+nA]).
Definition at line 37 of file mfpf_point_finder.h.
unsigned mfpf_point_finder::ns_ [protected, inherited] |
Number of scales to try at.
Definition at line 43 of file mfpf_point_finder.h.
PDf for profile vector.
Definition at line 24 of file mfpf_profile_pdf.h.
int mfpf_point_finder::search_ni_ [protected, inherited] |
Number of points either side of centre to search.
Definition at line 31 of file mfpf_point_finder.h.
int mfpf_point_finder::search_nj_ [protected, inherited] |
Number of points either side of centre to search.
Definition at line 34 of file mfpf_point_finder.h.
double mfpf_point_finder::step_size_ [protected, inherited] |
Size of step between sample points.
Definition at line 28 of file mfpf_point_finder.h.
The documentation for this class was generated from the following files:
- contrib/mul/mfpf/mfpf_profile_pdf.h
- contrib/mul/mfpf/mfpf_profile_pdf.cxx
