Rigid transform estimator. More...
#include <rgrl_est_rigid.h>
Public Member Functions | |
| rgrl_est_rigid (unsigned int dimension) | |
| rgrl_transformation_sptr | estimate (rgrl_set_of< rgrl_match_set_sptr > const &matches, rgrl_transformation const &cur_transform) const |
| Estimates a rigid transform. | |
| rgrl_transformation_sptr | estimate (rgrl_match_set_sptr matches, rgrl_transformation const &cur_transform) const |
| Estimates a rigid transform. | |
| const vcl_type_info & | transformation_type () const |
| Type of transformation estimated by this estimator. | |
| void | determine_covariance (rgrl_set_of< rgrl_match_set_sptr > const &matches, rgrl_transformation_sptr current_trans) const |
| Determine the covariance matrix of this rigid xform given the matches. | |
| vcl_vector< vcl_vector< double > > const & | get_stats () |
| Return the estimation statistics. | |
| rgrl_type_macro (rgrl_est_rigid, 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. | |
| 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. | |
| virtual const vcl_string | transformation_name () const |
| Name of transformation estimated by this estimator. | |
| 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 | |
| vcl_vector< vcl_vector< double > > | stats |
| int | max_num_iterations_ |
| specify the maximum number of iterations for this estimator. | |
| double | relative_threshold_ |
| The threshold for relative parameter change before termination. | |
Detailed Description
Rigid transform estimator.
Definition at line 15 of file rgrl_est_rigid.h.
Constructor & Destructor Documentation
| rgrl_est_rigid::rgrl_est_rigid | ( | unsigned int | dimension | ) |
Definition at line 18 of file rgrl_est_rigid.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.
| void rgrl_est_rigid::determine_covariance | ( | rgrl_set_of< rgrl_match_set_sptr > const & | matches, |
| rgrl_transformation_sptr | current_trans | ||
| ) | const |
Determine the covariance matrix of this rigid xform given the matches.
Definition at line 241 of file rgrl_est_rigid.cxx.
| rgrl_transformation_sptr rgrl_est_rigid::estimate | ( | rgrl_set_of< rgrl_match_set_sptr > const & | matches, |
| rgrl_transformation const & | cur_transform | ||
| ) | const [virtual] |
Estimates a rigid transform.
The return pointer is to a rgrl_trans_rigid object.
- See also:
- rgrl_estimator::estimate
Implements rgrl_estimator.
Definition at line 32 of file rgrl_est_rigid.cxx.
| rgrl_transformation_sptr rgrl_est_rigid::estimate | ( | rgrl_match_set_sptr | matches, |
| rgrl_transformation const & | cur_transform | ||
| ) | const [virtual] |
Estimates a rigid transform.
The return pointer is to a rgrl_trans_rigid object.
- See also:
- rgrl_estimator::estimate
Reimplemented from rgrl_estimator.
Definition at line 425 of file rgrl_est_rigid.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.
| vcl_vector<vcl_vector<double> > const& rgrl_est_rigid::get_stats | ( | ) | [inline] |
Return the estimation statistics.
for each iteration, the stats are "determinant of DeltaR before orthonormalization", "fro norm of orthonormalized DeltaR - I", "fro norm of DeltaTrans"
Definition at line 55 of file rgrl_est_rigid.h.
| 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.
| rgrl_est_rigid::rgrl_type_macro | ( | rgrl_est_rigid | , |
| rgrl_nonlinear_estimator | |||
| ) |
| rgrl_estimator::rgrl_type_macro | ( | rgrl_estimator | , |
| rgrl_object | |||
| ) | [inherited] |
| void rgrl_object::set_debug_flag | ( | unsigned int | debugFlag | ) | const [inherited] |
Set the value of the debug flag. A non-zero value turns debugging on.
Definition at line 19 of file rgrl_object.cxx.
| void rgrl_nonlinear_estimator::set_max_num_iter | ( | int | max | ) | [inline, inherited] |
set max number of iterations.
Definition at line 197 of file rgrl_estimator.h.
| void rgrl_estimator::set_param_dof | ( | unsigned int | dof | ) | [inline, inherited] |
Set the degrees of freedom.
Definition at line 84 of file rgrl_estimator.h.
| void rgrl_nonlinear_estimator::set_rel_thres | ( | double | thres | ) | [inline, inherited] |
set relative threshold for parameters change.
Definition at line 205 of file rgrl_estimator.h.
| void rgrl_object::set_warning | ( | bool | flag | ) | const [inherited] |
Set the flag for warning messages.
Definition at line 33 of file rgrl_object.cxx.
| virtual const vcl_string rgrl_estimator::transformation_name | ( | ) | const [inline, virtual, inherited] |
Name of transformation estimated by this estimator.
It is more useful when a transformation/estimator pair is capable of storing/estimating several models, usually differing in dof
Reimplemented in rgrl_est_homo2d_proj_rad.
Definition at line 105 of file rgrl_estimator.h.
| const vcl_type_info & rgrl_est_rigid::transformation_type | ( | ) | const [virtual] |
Type of transformation estimated by this estimator.
Implements rgrl_estimator.
Definition at line 434 of file rgrl_est_rigid.cxx.
| static const vcl_type_info& rgrl_object::type_id | ( | ) | [inline, static, inherited] |
Reimplemented in rgrl_scale_estimator.
Definition at line 63 of file rgrl_object.h.
| bool rgrl_object::warning | ( | ) | const [inherited] |
Get the warning flag.
Definition at line 40 of file rgrl_object.cxx.
Member Data Documentation
int rgrl_nonlinear_estimator::max_num_iterations_ [protected, inherited] |
specify the maximum number of iterations for this estimator.
Definition at line 214 of file rgrl_estimator.h.
double rgrl_nonlinear_estimator::relative_threshold_ [protected, inherited] |
The threshold for relative parameter change before termination.
Definition at line 217 of file rgrl_estimator.h.
vcl_vector<vcl_vector<double> > rgrl_est_rigid::stats [protected] |
Definition at line 61 of file rgrl_est_rigid.h.
The documentation for this class was generated from the following files:
- contrib/rpl/rgrl/rgrl_est_rigid.h
- contrib/rpl/rgrl/rgrl_est_rigid.cxx
