a generic class to estimate a homogeneous projection matrix using L-M. More...

#include <rgrl_est_proj_func.h>

Inheritance diagram for rgrl_est_proj_func< Tdim, Fdim >:

Public Types
enum	UseGradient
Public Member Functions
	rgrl_est_proj_func (rgrl_set_of< rgrl_match_set_sptr > const &matches, bool with_grad=true)
	ctor.
	rgrl_est_proj_func (bool with_grad=true)
	ctor without matches.
void	set_centres (vnl_vector_fixed< double, Fdim > const &fc, vnl_vector_fixed< double, Tdim > const &tc)
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.
void	set_zero_svd_thres (double thres)
	set zero singular value threshold for SVD.
double	zero_svd_thres () const
	zero singular value threshold.
bool	projective_estimate (vnl_matrix_fixed< double, Tdim+1, Fdim+1 > &proj, vnl_matrix< double > &full_covar, vnl_vector_fixed< double, Fdim > &from_centre, vnl_vector_fixed< double, Tdim > &to_centre)
	estimate the projective transformation and the associated covariance.
void	f (vnl_vector< double > const &x, vnl_vector< double > &fx)
	obj func value.
void	gradf (vnl_vector< double > const &x, vnl_matrix< double > &jacobian)
	Jacobian.
vnl_matrix_fixed< double, Tdim+1, Fdim+1 >	uncentre_proj (vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj) const
	uncentre projection matrix.
void	map_loc (vnl_vector_fixed< double, Tdim > &mapped, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj, vnl_vector_fixed< double, Fdim > const &from) const
	map a location.
void	throw_failure ()
void	clear_failure ()
void	fdgradf (vnl_vector< double > const &x, vnl_matrix< double > &jacobian, double stepsize)
void	ffdgradf (vnl_vector< double > const &x, vnl_matrix< double > &jacobian, double stepsize)
virtual void	trace (int iteration, vnl_vector< double > const &x, vnl_vector< double > const &fx)
double	rms (vnl_vector< double > const &x)
unsigned int	get_number_of_unknowns () const
unsigned int	get_number_of_residuals () const
bool	has_gradient () const
bool	vnl_discrete_diff_fwd (vnl_least_squares_function *lsf, double h, vnl_vector< double > const &x, vnl_matrix< double > &J)
bool	vnl_discrete_diff_fwd (vnl_least_squares_function *lsf, vnl_vector< double > const &h, vnl_vector< double > const &x, vnl_matrix< double > &J)
bool	vnl_discrete_diff_fwd (vnl_least_squares_function *lsf, vnl_vector< double > const &h, vnl_vector< double > const &x, vnl_vector< double > const &y, vnl_matrix< double > &J)
bool	vnl_discrete_diff_sym (vnl_least_squares_function *lsf, double h, vnl_vector< double > const &x, vnl_matrix< double > &J)
bool	vnl_discrete_diff_sym (vnl_least_squares_function *lsf, vnl_vector< double > const &h, vnl_vector< double > const &x, vnl_matrix< double > &J)
Public Attributes
	no_gradient
	use_gradient
bool	failure
Protected Member Functions
void	reduced_proj_jacobian (vnl_matrix_fixed< double, Tdim,(Fdim+1)*(Tdim+1)-1 > &base_jac, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj, vnl_vector_fixed< double, Fdim > const &from) const
	compute jacobian.
void	full_proj_jacobian (vnl_matrix_fixed< double, Tdim,(Fdim+1)*(Tdim+1)> &base_jac, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj, vnl_vector_fixed< double, Fdim > const &from) const
	compute jacobian.
void	proj_jac_wrt_loc (vnl_matrix_fixed< double, Tdim, Fdim > &jac_loc, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj, vnl_vector_fixed< double, Fdim > const &from) const
	compute jacobian w.r.t. location.
void	convert_parameters (vnl_vector< double > &params, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > proj_matrix, vnl_vector_fixed< double, Fdim > const &fc, vnl_vector_fixed< double, Tdim > const &tc)
	convert parameters.
void	restored_centered_proj (vnl_matrix_fixed< double, Tdim+1, Fdim+1 > &proj_matrix, vnl_vector< double > const &params) const
	convert parameters.
void	init (unsigned int number_of_unknowns, unsigned int number_of_residuals)
Protected Attributes
rgrl_set_of < rgrl_match_set_sptr > const *	matches_ptr_
vnl_vector_fixed< double, Fdim >	from_centre_
vnl_vector_fixed< double, Tdim >	to_centre_
unsigned int	index_row_
unsigned int	index_col_
int	max_num_iterations_
	specify the maximum number of iterations for this estimator.
double	relative_threshold_
	The threshold for relative parameter change before termination.
double	zero_svd_thres_
	zero singular value threshold.
unsigned int	p_
unsigned int	n_
bool	use_gradient_
Static Protected Attributes
static const unsigned int	proj_size_ = (Tdim+1)*(Fdim+1)

Detailed Description