Represent a point in space. More...
#include <rgrl_feature_point.h>
Public Member Functions | |
| rgrl_feature_point (vnl_vector< double > const &loc) | |
| ctor. | |
| rgrl_feature_point (vnl_vector< double > const &loc, double scale) | |
| ctor. | |
| virtual bool | read (vcl_istream &is, bool skip_tag=false) |
| read in feature. | |
| virtual void | write (vcl_ostream &os) const |
| write out feature. | |
| vnl_matrix< double > const & | error_projector () const |
| Projects the error to the normal space of the underlying surface. | |
| 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 rgrl_feature_sptr | transform (rgrl_transformation const &xform) const |
| Result is a rgrl_feature_point. | |
| unsigned int | num_constraints () const |
| Number of constraints provided when another feature matches to it. | |
| virtual double | absolute_signature_weight (rgrl_feature_sptr other) const |
| Compute the signature weight between two features. | |
| rgrl_type_macro (rgrl_feature_point, rgrl_feature) | |
| virtual rgrl_feature_sptr | clone () const |
| make a clone copy. | |
| 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 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. | |
| rgrl_type_macro (rgrl_feature, 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 Member Functions | |
| rgrl_feature_point (unsigned dim=0) | |
| Create an uninitialized feature with enough space to store a dim dimensional feature. | |
| virtual double | transform_scale (rgrl_transformation const &xform) const |
| Apply transformation to the scale property. | |
Protected Attributes | |
| vnl_matrix< double > | err_proj_ |
| vnl_matrix< double > | err_proj_sqrt_ |
| vnl_vector< double > | location_ |
| double | scale_ |
Friends | |
| class | rgrl_feature_reader |
| rgrl_feature_sptr | rgrl_feature_reader (vcl_istream &is) |
| Read a feature from input stream. | |
Detailed Description
Represent a point in space.
This type of feature can be used to represent simple point-to-point correspondences.
Definition at line 20 of file rgrl_feature_point.h.
Constructor & Destructor Documentation
| rgrl_feature_point::rgrl_feature_point | ( | vnl_vector< double > const & | loc | ) |
ctor.
Definition at line 31 of file rgrl_feature_point.cxx.
| rgrl_feature_point::rgrl_feature_point | ( | vnl_vector< double > const & | loc, |
| double | scale | ||
| ) |
ctor.
Definition at line 37 of file rgrl_feature_point.cxx.
| rgrl_feature_point::rgrl_feature_point | ( | unsigned | dim = 0 | ) | [protected] |
Create an uninitialized feature with enough space to store a dim dimensional feature.
Definition at line 43 of file rgrl_feature_point.cxx.
Member Function Documentation
| double rgrl_feature_point::absolute_signature_weight | ( | rgrl_feature_sptr | other | ) | const [virtual] |
Compute the signature weight between two features.
Reimplemented from rgrl_feature.
Definition at line 172 of file rgrl_feature_point.cxx.
| 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, inherited] |
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.
| rgrl_feature_sptr rgrl_feature_point::clone | ( | ) | const [virtual] |
make a clone copy.
Implements rgrl_feature.
Reimplemented in rgrl_feature_point_region.
Definition at line 253 of file rgrl_feature_point.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.
| unsigned rgrl_feature::dim | ( | ) | const [inline, inherited] |
Definition at line 59 of file rgrl_feature.h.
| vnl_matrix< double > const & rgrl_feature_point::error_projector | ( | ) | const [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.
Implements rgrl_feature.
Definition at line 59 of file rgrl_feature_point.cxx.
| vnl_matrix< double > const & rgrl_feature_point::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 from rgrl_feature.
Definition at line 77 of file rgrl_feature_point.cxx.
| double rgrl_feature::geometric_error | ( | rgrl_feature const & | mapped_other | ) | const [virtual, inherited] |
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, inherited] |
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, inherited] |
Provide the geometric location.
Definition at line 52 of file rgrl_feature.h.
| unsigned int rgrl_feature_point::num_constraints | ( | ) | const [virtual] |
Number of constraints provided when another feature matches to it.
Implements rgrl_feature.
Definition at line 52 of file rgrl_feature_point.cxx.
| bool rgrl_feature_point::read | ( | vcl_istream & | is, |
| bool | skip_tag = false |
||
| ) | [virtual] |
| 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_point::rgrl_type_macro | ( | rgrl_feature_point | , |
| rgrl_feature | |||
| ) |
| rgrl_feature::rgrl_type_macro | ( | rgrl_feature | , |
| rgrl_object | |||
| ) | [inherited] |
| double rgrl_feature::scale | ( | ) | const [inline, inherited] |
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, inherited] |
set location.
Definition at line 56 of file rgrl_feature.h.
| void rgrl_feature::set_scale | ( | double | scale | ) | [inline, inherited] |
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, inherited] |
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, inherited] |
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.
| rgrl_feature_sptr rgrl_feature_point::transform | ( | rgrl_transformation const & | xform | ) | const [virtual] |
Result is a rgrl_feature_point.
Implements rgrl_feature.
Reimplemented in rgrl_feature_point_region.
Definition at line 95 of file rgrl_feature_point.cxx.
| double rgrl_feature_point::transform_scale | ( | rgrl_transformation const & | xform | ) | const [protected, virtual] |
Apply transformation to the scale property.
Definition at line 113 of file rgrl_feature_point.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.
| void rgrl_feature_point::write | ( | vcl_ostream & | os | ) | const [virtual] |
Friends And Related Function Documentation
friend class rgrl_feature_reader [friend] |
Reimplemented from rgrl_feature.
Definition at line 63 of file rgrl_feature_point.h.
| rgrl_feature_sptr rgrl_feature_reader | ( | vcl_istream & | is | ) | [friend] |
Read a feature from input stream.
The type of feature depends on the content of the input stream. NULL smart ptr is returned if reading fails. Please check the validity of the return smart ptr
Read a feature from input stream.
NULL smart ptr is returned if the reading operation fails. Please check the validity of the returned smart ptr.
Definition at line 90 of file rgrl_feature_reader.cxx.
Member Data Documentation
vnl_matrix<double> rgrl_feature_point::err_proj_ [mutable, protected] |
Definition at line 79 of file rgrl_feature_point.h.
vnl_matrix<double> rgrl_feature_point::err_proj_sqrt_ [mutable, protected] |
Definition at line 79 of file rgrl_feature_point.h.
vnl_vector<double> rgrl_feature::location_ [protected, inherited] |
Definition at line 167 of file rgrl_feature.h.
double rgrl_feature::scale_ [protected, inherited] |
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_point.h
- contrib/rpl/rgrl/rgrl_feature_point.cxx
