homography2D transform estimator using the new proj function defined in rgrl_est_proj_func. More...

#include <rgrl_est_homo2d_proj_rad.h>

Inheritance diagram for rgrl_est_homo2d_proj_rad:

Public Member Functions
	rgrl_est_homo2d_proj_rad (unsigned int rad_dof, vnl_vector_fixed< double, 2 > const &to_camera_centre, bool with_grad=true)
	Default constructor.
rgrl_transformation_sptr	estimate (rgrl_set_of< rgrl_match_set_sptr > const &matches, rgrl_transformation const &cur_transform) const
	Estimates homography transformation.
const vcl_type_info &	transformation_type () const
	Type of transformation estimated by this estimator.
const vcl_string	transformation_name () const
	Name of transformation estimated by this estimator.
	rgrl_type_macro (rgrl_est_homo2d_proj_rad, rgrl_nonlinear_estimator)
virtual bool	is_iterative_method () const
	Linear estimator is non-iterative.
void	set_max_num_iter (int max)
	set max number of iterations.
int	max_num_iter () const
	return max number of iterations.
void	set_rel_thres (double thres)
	set relative threshold for parameters change.
double	rel_thres () const
	relative threshold.
virtual rgrl_transformation_sptr	estimate (rgrl_match_set_sptr matches, rgrl_transformation const &cur_transform) const
	Estimate the transform.
unsigned int	param_dof () const
	The degrees of freedom in the parameter set.
void	set_param_dof (unsigned int dof)
	Set the degrees of freedom.
virtual unsigned int	residual_dof () const
	The degrees of freedom in the residual.
	rgrl_type_macro (rgrl_estimator, rgrl_object)
virtual bool	is_type (const vcl_type_info &type) const
void	set_debug_flag (unsigned int debugFlag) const
	Set the value of the debug flag. A non-zero value turns debugging on.
unsigned int	debug_flag () const
	Get the value of the debug flag.
void	set_warning (bool) const
	Set the flag for warning messages.
bool	warning () const
	Get the warning flag.
unsigned int	add_observer (rgrl_event_sptr event, rgrl_command_sptr)
	Allow people to add/remove/invoke observers (callbacks) to any rgrl object.
rgrl_command_sptr	get_command (unsigned int tag)
	Get the command associated with the given tag.
void	invoke_event (const rgrl_event &)
	Call execute(.) on all the rgrl_commands observing this event id.
void	invoke_event (const rgrl_event &) const
	Call execute(.) on all the rgrl_commands observing this event id.
void	remove_observer (unsigned int tag)
	Remove the observer with this tag value.
bool	has_observer (const rgrl_event &event) const
	Return true if an observer is registered for this event.
void	ref ()
void	unref ()
int	get_references () const
bool	is_referenced () const
Static Public Member Functions
static const vcl_type_info &	type_id ()
Protected Attributes
int	max_num_iterations_
	specify the maximum number of iterations for this estimator.
double	relative_threshold_
	The threshold for relative parameter change before termination.
Private Attributes
vnl_double_2	to_camera_centre_
unsigned int	camera_dof_
vcl_string	transform_name_
bool	with_grad_

Detailed Description

homography2D transform estimator using the new proj function defined in rgrl_est_proj_func.

Definition at line 12 of file rgrl_est_homo2d_proj_rad.h.

Constructor & Destructor Documentation

rgrl_est_homo2d_proj_rad::rgrl_est_homo2d_proj_rad	(	unsigned int	rad_dof,
		vnl_vector_fixed< double, 2 > const &	to_camera_centre,
		bool	with_grad = `true`
	)

Default constructor.

Definition at line 19 of file rgrl_est_homo2d_proj_rad.cxx.

Member Function Documentation

unsigned int rgrl_object::add_observer	(	rgrl_event_sptr	event,
		rgrl_command_sptr	cmd
	)		`[inherited]`

Allow people to add/remove/invoke observers (callbacks) to any rgrl object.

This is an implementation of the subject/observer design pattern. An observer is added by specifying an event to respond to and an rgrl_command to execute. It returns an unsigned long tag which can be used later to remove the event or retrieve the command.

Definition at line 47 of file rgrl_object.cxx.

unsigned int rgrl_object::debug_flag ( ) const [inherited]

Get the value of the debug flag.

Definition at line 26 of file rgrl_object.cxx.

rgrl_transformation_sptr rgrl_est_homo2d_proj_rad::estimate	(	rgrl_set_of< rgrl_match_set_sptr > const &	matches,
		rgrl_transformation const &	cur_transform
	)		const `[virtual]`

Estimates homography transformation.

See also:: rgrl_estimator::estimate

Implements rgrl_estimator.

Definition at line 38 of file rgrl_est_homo2d_proj_rad.cxx.

rgrl_transformation_sptr rgrl_estimator::estimate	(	rgrl_match_set_sptr	matches,
		rgrl_transformation const &	cur_transform
	)		const `[virtual, inherited]`

Estimate the transform.

Given a set of matches in matches and the current transform estimate (from the previous iteration, for example), this function will estimate the transformation parameters and return a transform object that captures the estimated transform.

The default implementation in the abstract base class will simply construct a size one collection of match sets and call the other estimate function.

Reimplemented in rgrl_est_reduced_quad2d, rgrl_est_spline, rgrl_est_quadratic, rgrl_est_affine, rgrl_est_similarity2d, rgrl_est_translation, rgrl_est_rigid, rgrl_est_dis_homo2d_lm, and rgrl_est_homography2d.

Definition at line 31 of file rgrl_estimator.cxx.

rgrl_command_sptr rgrl_object::get_command ( unsigned int tag ) [inherited]

Get the command associated with the given tag.

Definition at line 57 of file rgrl_object.cxx.

bool rgrl_object::has_observer ( const rgrl_event & event ) const [inherited]

Return true if an observer is registered for this event.

Definition at line 107 of file rgrl_object.cxx.

void rgrl_object::invoke_event ( const rgrl_event & event ) [inherited]

Call execute(.) on all the rgrl_commands observing this event id.

Definition at line 69 of file rgrl_object.cxx.

void rgrl_object::invoke_event ( const rgrl_event & event ) const [inherited]

Call execute(.) on all the rgrl_commands observing this event id.

The actions triggered by this call doesn't modify this object.

Definition at line 83 of file rgrl_object.cxx.

virtual bool rgrl_nonlinear_estimator::is_iterative_method ( ) const [inline, virtual, inherited]

Linear estimator is non-iterative.

Implements rgrl_estimator.

Definition at line 193 of file rgrl_estimator.h.

virtual bool rgrl_object::is_type ( const vcl_type_info & type ) const [inline, virtual, inherited]

Reimplemented in rgrl_scale_estimator.

Definition at line 66 of file rgrl_object.h.

int rgrl_nonlinear_estimator::max_num_iter ( ) const [inline, inherited]

return max number of iterations.

Definition at line 201 of file rgrl_estimator.h.

unsigned int rgrl_estimator::param_dof ( ) const [inline, inherited]

The degrees of freedom in the parameter set.

Definition at line 81 of file rgrl_estimator.h.

double rgrl_nonlinear_estimator::rel_thres ( ) const [inline, inherited]

relative threshold.

Definition at line 209 of file rgrl_estimator.h.

void rgrl_object::remove_observer ( unsigned int tag ) [inherited]

Remove the observer with this tag value.

Definition at line 97 of file rgrl_object.cxx.

virtual unsigned int rgrl_estimator::residual_dof ( ) const [inline, virtual, inherited]

The degrees of freedom in the residual.

Most of the time, this would be 1 since the residual comes from a single random variable. In some problems, however, the error is the combination of more than one random variable. (For example, if the residual is a 2d Euclidean distance with possible error in both coordinates, the degrees of freedom in the error will be 2.)

Definition at line 94 of file rgrl_estimator.h.