Feature-based registration. More...

#include <rgrl_feature_based_registration.h>

Inheritance diagram for rgrl_feature_based_registration:

Public Member Functions
	rgrl_feature_based_registration (rgrl_data_manager_sptr data, rgrl_convergence_tester_sptr conv_tester)
	Initialize with the data storage and the convergence tester.
	rgrl_feature_based_registration (rgrl_data_manager_sptr data)
	Initialize with the data storage.
	~rgrl_feature_based_registration ()
	rgrl_type_macro (rgrl_feature_based_registration, rgrl_object)
void	clear_results ()
	Clear record of results from previous runs.
void	run (rgrl_initializer_sptr initializer)
	Running from multiple initial estimates, produced by the initializer during registration.
void	run (rgrl_mask_box from_image_region, rgrl_mask_box to_image_region, rgrl_estimator_sptr estimator, rgrl_transformation_sptr initial_xform, rgrl_scale_sptr prior_scale=0, unsigned init_resolution=0)
	Running from a given initial estimate.
rgrl_transformation_sptr	final_transformation () const
	Return the final, best estimate.
rgrl_set_of< rgrl_scale_sptr > const &	final_scales () const
	Return the scales of the best transformation estimate.
rgrl_scale_sptr	final_scale () const
rgrl_converge_status_sptr	final_status () const
	Return the status of the best transformation estimate.
rgrl_set_of < rgrl_match_set_sptr > const &	final_match_sets () const
	The multiple match sets used for the best transformation estimate.
rgrl_match_set_sptr	final_match_set () const
	The single match set used for the best transformation estimate.
unsigned	num_initial_xforms_tested () const
	Return the number of initial transformations tested.
bool	has_final_transformation () const
	Return true if has a best xform_estimate.
void	set_max_icp_iter (unsigned iter)
	Set the max number of icp iteration per stage.
void	set_expected_max_geometric_scale (double scale)
	Set the expected maximum geometric scale.
void	set_expected_min_geometric_scale (double scale)
	Set the expected minimum geometric scale.
void	set_iterations_for_scale_est (int iter)
	Set the number of iterations during which the scale is to be estimated.
void	penalize_scaling (bool)
	penalize transformation that involves scaling of the registration area.
rgrl_set_of < rgrl_match_set_sptr > const &	current_match_sets () const
	Return the current match sets.
rgrl_transformation_sptr	current_transformation () const
	Return the current estimate.
unsigned	current_stage () const
	Return the current stage.
unsigned	iterations_at_current_stage () const
	Return the current iterations_at_stage_.
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 ()
Private Member Functions
void	register_single_feature (rgrl_mask_box from_image_region, rgrl_mask_box to_image_region, rgrl_estimator_sptr initial_xform_estimator, rgrl_transformation_sptr xform_estimate, rgrl_scale_sptr prior_scale, unsigned init_resolution)
	registration of single feature type at each stage/resolution.
void	register_multi_feature (rgrl_mask_box from_image_region, rgrl_mask_box to_image_region, rgrl_estimator_sptr initial_xform_estimator, rgrl_transformation_sptr xform_estimate, rgrl_scale_sptr prior_scale, unsigned init_resolution)
	registration of multiple feature types at each stage/resolution.
void	initialize_for_next_resolution (rgrl_mask_box &from_image_region, rgrl_mask_box &to_image_region, rgrl_transformation_sptr &xform_estimate, unsigned &current_resol) const
	Scale/shrink the registration region and the xform_est according to the dim_increase_for_next_stage at current_resol.
Private Attributes
rgrl_data_manager_sptr	data_
rgrl_convergence_tester_sptr	conv_tester_
rgrl_converge_status_sptr	best_status_
rgrl_transformation_sptr	best_xform_estimate_
rgrl_set_of< rgrl_match_set_sptr >	best_matches_
rgrl_set_of< rgrl_scale_sptr >	best_scales_
unsigned	num_xforms_tested_
unsigned	max_icp_iter_
double	expected_max_geometric_scale_
double	expected_min_geometric_scale_
int	iterations_for_scale_est_
bool	should_penalize_scaling_
unsigned	current_stage_
unsigned	iterations_at_stage_
rgrl_set_of< rgrl_match_set_sptr >	current_match_sets_
rgrl_transformation_sptr	current_xform_estimate_

Detailed Description

Feature-based registration.

The registration engine takes a data storage of single- or multiple-stage/resolution. Each stage may contain multiple feature types. Different transformation estimators may be assigned to different stages. The limitations of feature-based registration are fixed registration region and estimator at each stage.

Definition at line 30 of file rgrl_feature_based_registration.h.

Constructor & Destructor Documentation

rgrl_feature_based_registration::rgrl_feature_based_registration	(	rgrl_data_manager_sptr	data,
		rgrl_convergence_tester_sptr	conv_tester
	)

Initialize with the data storage and the convergence tester.

Definition at line 22 of file rgrl_feature_based_registration.cxx.

rgrl_feature_based_registration::rgrl_feature_based_registration ( rgrl_data_manager_sptr data )

Initialize with the data storage.

The default convergence tester is set to median error

Definition at line 37 of file rgrl_feature_based_registration.cxx.

rgrl_feature_based_registration::~rgrl_feature_based_registration ( )

Definition at line 51 of file rgrl_feature_based_registration.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.

void rgrl_feature_based_registration::clear_results ( )

Clear record of results from previous runs.

Definition at line 57 of file rgrl_feature_based_registration.cxx.

rgrl_set_of< rgrl_match_set_sptr > const & rgrl_feature_based_registration::current_match_sets ( ) const

Return the current match sets.

Definition at line 242 of file rgrl_feature_based_registration.cxx.

unsigned rgrl_feature_based_registration::current_stage ( ) const

Return the current stage.

Definition at line 258 of file rgrl_feature_based_registration.cxx.

rgrl_transformation_sptr rgrl_feature_based_registration::current_transformation ( ) const

Return the current estimate.

Definition at line 250 of file rgrl_feature_based_registration.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_match_set_sptr rgrl_feature_based_registration::final_match_set ( ) const

The single match set used for the best transformation estimate.

Definition at line 176 of file rgrl_feature_based_registration.cxx.

rgrl_set_of< rgrl_match_set_sptr > const & rgrl_feature_based_registration::final_match_sets ( ) const

The multiple match sets used for the best transformation estimate.

The matches used for the best transformation estimate.

Definition at line 169 of file rgrl_feature_based_registration.cxx.

rgrl_scale_sptr rgrl_feature_based_registration::final_scale ( ) const

Definition at line 152 of file rgrl_feature_based_registration.cxx.

rgrl_set_of< rgrl_scale_sptr > const & rgrl_feature_based_registration::final_scales ( ) const

Return the scales of the best transformation estimate.

Definition at line 145 of file rgrl_feature_based_registration.cxx.

rgrl_converge_status_sptr rgrl_feature_based_registration::final_status ( ) const

Return the status of the best transformation estimate.

Definition at line 161 of file rgrl_feature_based_registration.cxx.

rgrl_transformation_sptr rgrl_feature_based_registration::final_transformation ( ) const

Return the final, best estimate.

Definition at line 137 of file rgrl_feature_based_registration.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_feature_based_registration::has_final_transformation ( ) const

Return true if has a best xform_estimate.

Return true is has a best xform_estimate.

Definition at line 193 of file rgrl_feature_based_registration.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_feature_based_registration::initialize_for_next_resolution	(	rgrl_mask_box &	from_image_region,
		rgrl_mask_box &	to_image_region,
		rgrl_transformation_sptr &	xform_estimate,
		unsigned &	current_resol
	)		const `[private]`

Scale/shrink the registration region and the xform_est according to the dim_increase_for_next_stage at current_resol.

Definition at line 835 of file rgrl_feature_based_registration.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.

unsigned rgrl_feature_based_registration::iterations_at_current_stage ( ) const

Return the current iterations_at_stage_.

Return the iteration at current stage.

Definition at line 266 of file rgrl_feature_based_registration.cxx.

unsigned rgrl_feature_based_registration::num_initial_xforms_tested ( ) const

Return the number of initial transformations tested.

The value might be greater than 1 if using initializer which provides a number of initial estimates.

Definition at line 185 of file rgrl_feature_based_registration.cxx.

void rgrl_feature_based_registration::penalize_scaling ( bool penalize )

penalize transformation that involves scaling of the registration area.

Definition at line 233 of file rgrl_feature_based_registration.cxx.

void rgrl_feature_based_registration::register_multi_feature	(	rgrl_mask_box	from_image_region,
		rgrl_mask_box	to_image_region,
		rgrl_estimator_sptr	initial_xform_estimator,
		rgrl_transformation_sptr	xform_estimate,
		rgrl_scale_sptr	prior_scale,
		unsigned	init_resolution
	)		`[private]`

registration of multiple feature types at each stage/resolution.

registration of multiple feature type at each stage/resolution.

Definition at line 545 of file rgrl_feature_based_registration.cxx.

void rgrl_feature_based_registration::register_single_feature	(	rgrl_mask_box	from_image_region,
		rgrl_mask_box	to_image_region,
		rgrl_estimator_sptr	initial_xform_estimator,
		rgrl_transformation_sptr	xform_estimate,
		rgrl_scale_sptr	prior_scale,
		unsigned	init_resolution
	)		`[private]`

registration of single feature type at each stage/resolution.

Definition at line 277 of file rgrl_feature_based_registration.cxx.

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_based_registration::rgrl_type_macro	(	rgrl_feature_based_registration	,
		rgrl_object
	)

void rgrl_feature_based_registration::run ( rgrl_initializer_sptr initializer )

Running from multiple initial estimates, produced by the initializer during registration.

Loop through the set of initial estimates.

Loop through the set of initial estimates, and call the next run(.) in the loop.

Definition at line 70 of file rgrl_feature_based_registration.cxx.

void rgrl_feature_based_registration::run	(	rgrl_mask_box	from_image_region,
		rgrl_mask_box	to_image_region,
		rgrl_estimator_sptr	init_xform_estimator,
		rgrl_transformation_sptr	initial_xform,
		rgrl_scale_sptr	prior_scale = `0`,
		unsigned	init_resolution = `0`
	)