Represents a feature ("data point") used by the registration algorithms. More...
#include <rgrl_feature.h>
Public Member Functions | |
| rgrl_feature () | |
| ctor. | |
| rgrl_feature (vnl_vector< double > const &loc, double scale=1.0) | |
| ctor. | |
| virtual | ~rgrl_feature () |
| virtual rgrl_feature_sptr | transform (rgrl_transformation const &xform) const =0 |
| Apply a transformation to create a new feature. | |
| vnl_vector< double > const & | location () const |
| Provide the geometric location. | |
| void | set_location (vnl_vector< double >const &loc) |
| set location. | |
| unsigned | dim () const |
| double | scale () const |
| Provide the scale level at which this feature is detected. | |
| void | set_scale (double scale) |
| Set the scale level at which this feature is detected. | |
| virtual bool | read (vcl_istream &is, bool skip_tag=false)=0 |
| read in feature. | |
| virtual void | write (vcl_ostream &os) const =0 |
| write out feature. | |
| virtual vnl_matrix< double > const & | error_projector () const =0 |
| Projects the error to the normal space of the underlying surface. | |
| virtual vnl_matrix< double > const & | error_projector_sqrt () const |
| The square root of error projector is used to compute residual, which should not be squared. | |
| virtual unsigned int | num_constraints () const =0 |
| Number of constraints provided when another feature matches to it. | |
| virtual double | geometric_error (rgrl_feature const &mapped_other) const |
| Compute the geometric error distance between two features. | |
| virtual double | geometric_error (rgrl_transformation const &xform, rgrl_feature const &other) const |
| Compute the geometric error distance between two features. | |
| virtual bool | allow_fast_computation_on_error () const |
| When computing geometric error, allow only mapping of From location. | |
| virtual vnl_vector< double > | signature_error_vector (rgrl_feature const &other) const |
| Compute the signature error vector between two features. | |
| virtual unsigned | signature_error_dimension (const vcl_type_info &other_feature_type) const |
| If non-zero, the dimensions of the signature error vector. | |
| virtual double | absolute_signature_weight (rgrl_feature_sptr) const |
| Compute the signature weight between two features. | |
| rgrl_type_macro (rgrl_feature, rgrl_object) | |
| virtual rgrl_feature_sptr | clone () const =0 |
| make a clone copy. | |
| 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 | |
| vnl_vector< double > | location_ |
| double | scale_ |
Private Member Functions | |
| rgrl_feature & | operator= (rgrl_feature const &) |
Friends | |
| class | rgrl_feature_reader |
Detailed Description
Represents a feature ("data point") used by the registration algorithms.
Definition at line 26 of file rgrl_feature.h.
Constructor & Destructor Documentation
| rgrl_feature::rgrl_feature | ( | ) | [inline] |
ctor.
Definition at line 32 of file rgrl_feature.h.
| rgrl_feature::rgrl_feature | ( | vnl_vector< double > const & | loc, |
| double | scale = 1.0 |
||
| ) | [inline] |
ctor.
Definition at line 37 of file rgrl_feature.h.
| virtual rgrl_feature::~rgrl_feature | ( | ) | [inline, virtual] |
Definition at line 45 of file rgrl_feature.h.
Member Function Documentation
| virtual double rgrl_feature::absolute_signature_weight | ( | rgrl_feature_sptr | ) | const [inline, virtual] |
Compute the signature weight between two features.
The weight is determined solely based on the current and other features. In other words, it is independent of the signature/similarity weight distribution of all matches involved in the estimation of the transformation. It is often independent of the signature_error_vector. Defaults to 1.
Reimplemented in rgrl_feature_trace_pt, rgrl_feature_landmark, rgrl_feature_face_pt, and rgrl_feature_point.
Definition at line 153 of file rgrl_feature.h.
| 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.
| virtual bool rgrl_feature::allow_fast_computation_on_error | ( | ) | const [inline, virtual] |
When computing geometric error, allow only mapping of From location.
Otherwise, a mapped feature will be created, which is much more heavy
Definition at line 116 of file rgrl_feature.h.
| virtual rgrl_feature_sptr rgrl_feature::clone | ( | ) | const [pure virtual] |
make a clone copy.
Implemented in rgrl_feature_trace_pt, rgrl_feature_face_pt, rgrl_feature_landmark, rgrl_feature_point, rgrl_feature_face_region, and rgrl_feature_point_region.
| unsigned int rgrl_object::debug_flag | ( | ) | const [inherited] |
Get the value of the debug flag.
Definition at line 26 of file rgrl_object.cxx.
| unsigned rgrl_feature::dim | ( | ) | const [inline] |
Definition at line 59 of file rgrl_feature.h.
| virtual vnl_matrix<double> const& rgrl_feature::error_projector | ( | ) | const [pure virtual] |
Projects the error to the normal space of the underlying surface.
This matrix essentially describes the underlying surface from which this feature arises. For a normal point, this would be the identity matrix, implying that all dimensions of the error vector are significant. For a point on a curve, this matrix could remove this component of the error in the tangential direction, because we are only interested in the error normal to the curve.
Defaults to the identity matrix.
Implemented in rgrl_feature_trace_pt, rgrl_feature_landmark, rgrl_feature_point, and rgrl_feature_face_pt.
| vnl_matrix< double > const & rgrl_feature::error_projector_sqrt | ( | ) | const [virtual] |
The square root of error projector is used to compute residual, which should not be squared.
The error projector itself is usually used in least-squares estimation.
Reimplemented in rgrl_feature_landmark, rgrl_feature_point, and rgrl_feature_face_pt.
Definition at line 47 of file rgrl_feature.cxx.
| double rgrl_feature::geometric_error | ( | rgrl_feature const & | mapped_other | ) | const [virtual] |
Compute the geometric error distance between two features.
Definition at line 14 of file rgrl_feature.cxx.
| double rgrl_feature::geometric_error | ( | rgrl_transformation const & | xform, |
| rgrl_feature const & | other | ||
| ) | const [virtual] |
Compute the geometric error distance between two features.
Use this function for efficiency. If a mapped feature is created, use the other function
Definition at line 21 of file rgrl_feature.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_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.
| vnl_vector<double> const& rgrl_feature::location | ( | ) | const [inline] |
Provide the geometric location.
Definition at line 52 of file rgrl_feature.h.
| virtual unsigned int rgrl_feature::num_constraints | ( | ) | const [pure virtual] |
Number of constraints provided when another feature matches to it.
Implemented in rgrl_feature_trace_pt, rgrl_feature_trace_region, rgrl_feature_landmark, rgrl_feature_point, rgrl_feature_face_region, and rgrl_feature_face_pt.
| rgrl_feature& rgrl_feature::operator= | ( | rgrl_feature const & | ) | [private] |
| virtual bool rgrl_feature::read | ( | vcl_istream & | is, |
| bool | skip_tag = false |
||
| ) | [pure virtual] |
read in feature.
Implemented in rgrl_feature_trace_pt, rgrl_feature_landmark, rgrl_feature_point, and rgrl_feature_face_pt.
| 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.
| rgrl_feature::rgrl_type_macro | ( | rgrl_feature | , |
| rgrl_object | |||
| ) |
| double rgrl_feature::scale | ( | ) | const [inline] |
Provide the scale level at which this feature is detected.
If no associated scale, return 0
Definition at line 64 of file rgrl_feature.h.
| 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_feature::set_location | ( | vnl_vector< double >const & | loc | ) | [inline] |
set location.
Definition at line 56 of file rgrl_feature.h.
| void rgrl_feature::set_scale | ( | double | scale | ) | [inline] |
Set the scale level at which this feature is detected.
Definition at line 68 of file rgrl_feature.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.
| unsigned rgrl_feature::signature_error_dimension | ( | const vcl_type_info & | other_feature_type | ) | const [virtual] |
If non-zero, the dimensions of the signature error vector.
The dimension depends on the other feature type. Defaults to 0.
Reimplemented in rgrl_feature_face_pt.
Definition at line 38 of file rgrl_feature.cxx.
| vnl_vector< double > rgrl_feature::signature_error_vector | ( | rgrl_feature const & | other | ) | const [virtual] |
Compute the signature error vector between two features.
The result is invalid if signature_error_dimension() is false (0).
A signature vector stores a set of properties associated with the feature. Take the trace point on a vessel for example. The possible properties include the normal to the vessel and the vessel width at the give trace point. A feature can return different type of signature_error_vector, depending on the type of the other feature.
A signature_error_vector describes the "difference" between two features. It is important for the computation of robust signature/similarity weight. The robust weight depends on the weight distribution of all matches involved in the estimation of the transformation.
CAVEAT: We assume the signature_error_vector has zero-mean.
Reimplemented in rgrl_feature_face_pt.
Definition at line 30 of file rgrl_feature.cxx.
| virtual rgrl_feature_sptr rgrl_feature::transform | ( | rgrl_transformation const & | xform | ) | const [pure virtual] |
Apply a transformation to create a new feature.
Implemented in rgrl_feature_landmark, rgrl_feature_face_pt, rgrl_feature_trace_pt, rgrl_feature_point, rgrl_feature_face_region, rgrl_feature_trace_region, and rgrl_feature_point_region.
| 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.
| virtual void rgrl_feature::write | ( | vcl_ostream & | os | ) | const [pure virtual] |
write out feature.
Implemented in rgrl_feature_trace_pt, rgrl_feature_landmark, rgrl_feature_point, and rgrl_feature_face_pt.
Friends And Related Function Documentation
friend class rgrl_feature_reader [friend] |
Reimplemented in rgrl_feature_trace_pt, rgrl_feature_face_pt, rgrl_feature_landmark, and rgrl_feature_point.
Definition at line 165 of file rgrl_feature.h.
Member Data Documentation
vnl_vector<double> rgrl_feature::location_ [protected] |
Definition at line 167 of file rgrl_feature.h.
double rgrl_feature::scale_ [protected] |
Definition at line 168 of file rgrl_feature.h.
The documentation for this class was generated from the following files:
- contrib/rpl/rgrl/rgrl_feature.h
- contrib/rpl/rgrl/rgrl_feature.cxx
