contrib/mul/msm/msm_translation_aligner.h

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#ifndef msm_translation_aligner_h_
#define msm_translation_aligner_h_
//:
// \file
// \author Tim Cootes
// \brief Calculate and apply 2D translations

#include <msm/msm_aligner.h>

class mbl_read_props_type;

//: Calculate and apply 2D translations
//  Translation encoded as (tx,ty).
class msm_translation_aligner : public msm_aligner
{
 public:

  virtual ~msm_translation_aligner() {}

  //: Return number of parameters defining the transformation
  virtual unsigned size() const { return 2; }

  //: Compute parameters for inverse transformation
  virtual vnl_vector<double> inverse(const vnl_vector<double>&) const;

  //: Apply the transformation to the given points
  virtual void apply_transform(const msm_points& points,
                               const vnl_vector<double>& trans,
                               msm_points& new_points) const;

  //: Return scaling applied by the transform with given parameters.
  virtual double scale(const vnl_vector<double>& trans) const;

  //: Estimate parameter which best map ref_points to points2
  //  Minimises ||points2-T(ref_points)||^2.
  //  Takes advantage of assumed properties of ref_points (eg CoG=origin,
  //  unit size etc) to perform efficiently.
  //
  //  When used with a shape model of form ref_points+Pb, where the modes P
  //  have certain orthogonality properties with respect to the ref shape,
  //  this can give the optimal transformation into a tangent plane, independent
  //  of the current parameters.  In this case a one-shot method can be used
  //  to compute the optimal shape and pose parameters, rather than an iterative
  //  method which is required where the orthogonality properties do not hold,
  //  or where weights are considered.
  virtual void calc_transform_from_ref(const msm_points& ref_points,
                                       const msm_points& points2,
                                       vnl_vector<double>& trans) const;

  //: Estimate parameter which best map points1 to points2
  //  Minimises ||points2-T(points1)||^2
  virtual void calc_transform(const msm_points& points1,
                              const msm_points& points2,
                              vnl_vector<double>& trans) const;

  //: Estimate parameters which map points1 to points2 allowing for weights
  //  Minimises sum of weighted squares error in frame of pts2,
  //  ie sum w_i * ||p2_i - T(p1_i)||
  virtual void calc_transform_wt(const msm_points& points1,
                                 const msm_points& points2,
                                 const vnl_vector<double>& wts,
                                 vnl_vector<double>& trans) const;

  //: Estimate parameters which map points allowing for anisotropic wts
  //  Errors on point i are weighted by wt_mat[i] in pts2 frame.
  //  i.e. error is sum (p2_i-T(p1_i)'*wt_mat[i]*(p2_i-T(p1_i)
  virtual void calc_transform_wt_mat(const msm_points& points1,
                                     const msm_points& points2,
                                     const vcl_vector<msm_wt_mat_2d>& wt_mat,
                                     vnl_vector<double>& trans) const;

  //: Apply transform to weight matrices (ie ignore translation component)
  virtual void transform_wt_mat(const vcl_vector<msm_wt_mat_2d>& wt_mat,
                                const vnl_vector<double>& trans,
                                vcl_vector<msm_wt_mat_2d>& new_wt_mat) const;

  //: Returns params of pose such that pose(x) = pose1(pose2(x))
  virtual vnl_vector<double> compose(const vnl_vector<double>& pose1,
                                     const vnl_vector<double>& pose2) const;

  //: Apply transform to generate points in reference frame
  //  Translate so that the centre of gravity is at the origin
  //  and scale to a unit size (points.vector().magnitude()==1)
  virtual void normalise_shape(msm_points& points) const;

  //: Find poses which align a set of points
  //  On exit ref_mean_shape is the mean shape in the reference
  //  frame, pose_to_ref[i] maps points[i] into the reference
  //  frame (ie pose is the mapping from the reference frame to
  //  the target frames).
  // \param average_pose Some estimate of the average mapping
  virtual void align_set(const vcl_vector<msm_points>& points,
                         msm_points& ref_mean_shape,
                         vcl_vector<vnl_vector<double> >& pose_to_ref,
                         vnl_vector<double>& average_pose) const;

  //: Name of the class
  virtual vcl_string is_a() const;

  //: Create a copy on the heap and return base class pointer
  virtual msm_aligner* clone() const;
};

#endif // msm_translation_aligner_h_