rgrl_trans_homo2d_proj_rad Class Reference

Represents a 2D homography plus radial distortion transformation. More...

#include <rgrl_trans_homo2d_proj_rad.h>

Inheritance diagram for rgrl_trans_homo2d_proj_rad:

List of all members.

Public Types
typedef rgrl_est_proj_func < Tdim, Fdim >	base_type
enum	UseGradient
Public Member Functions
	rgrl_trans_homo2d_proj_rad ()
	Initialize to the identity matrix.
	rgrl_trans_homo2d_proj_rad (vnl_matrix_fixed< double, 3, 3 > const &H, vcl_vector< double > const &k, vnl_vector_fixed< double, 2 > const &image_centre)
	Constructor based on an initial transformation and covar estimate.
	rgrl_trans_homo2d_proj_rad (vnl_matrix< double > const &H)
	Constructor based on an initial transformation and unknown covar.
	rgrl_trans_homo2d_proj_rad (vnl_matrix_fixed< double, 3, 3 > const &H, vcl_vector< double > const &k, vnl_vector_fixed< double, 2 > const &image_centre, vnl_matrix< double > const &covar, vnl_vector< double > const &from_centre, vnl_vector< double > const &to_centre)
	Construct a centered transform.
	rgrl_trans_homo2d_proj_rad (vcl_vector< double > const &norm_k, vnl_matrix_fixed< double, 3, 3 > const &H, vnl_vector_fixed< double, 2 > const &image_centre)
	Constructor based on an initial transformation and covar estimate.
	rgrl_trans_homo2d_proj_rad (vcl_vector< double > const &norm_k, vnl_matrix_fixed< double, 3, 3 > const &H, vnl_vector_fixed< double, 2 > const &image_centre, vnl_matrix< double > const &covar, vnl_vector< double > const &from_centre, vnl_vector< double > const &to_centre)
	Construct a centered transform.
vnl_matrix< double >	transfer_error_covar (vnl_vector< double > const &p) const
	Compute covariance of the transfer error based on transformation covariance.
virtual void	jacobian_wrt_loc (vnl_matrix< double > &jac, vnl_vector< double > const &from_loc) const
	Compute jacobian w.r.t. location.
rgrl_transformation_sptr	scale_by (double scale) const
	transform the transformation for images of different resolution.
virtual double	log_det_covar () const
	log of determinant of the covariance.
	rgrl_type_macro (rgrl_trans_homo2d_proj_rad, rgrl_transformation)
	Defines type-related functions.
void	write (vcl_ostream &os) const
	for output UNCENTERED transformation, with the origin as the center.
bool	read (vcl_istream &is)
	for input.
rgrl_transformation_sptr	clone () const
	make a clone copy.
vnl_matrix_fixed< double, 3, 3 >	H () const
	The scaling and rotation component of the transform.
vcl_vector< double >	radial_params () const
	return unnormalized radial parameters.
vcl_vector< double > const &	normalized_radial_params () const
	return the normalized radial parameters.
void	map_location (vnl_vector< double > const &from, vnl_vector< double > &to) const
	Apply the transformation to create a new (mapped) location.
vnl_vector< double >	map_location (vnl_vector< double > const &p) const
	Apply the transformation to create a new (mapped) location.
virtual void	map_tangent (vnl_vector< double > const &from_loc, vnl_vector< double > const &from_dir, vnl_vector< double > &to_dir) const
	Map a tangent direction.
virtual void	map_normal (vnl_vector< double > const &from_loc, vnl_vector< double > const &from_dir, vnl_vector< double > &to_dir) const
	Map a normal direction.
virtual void	map_normal (vnl_vector< double > const &from_loc, vnl_vector< double > const &from_dir, vnl_matrix< double > const &tangent_subspace, vnl_vector< double > &to_dir) const
	Map a normal direction, given the tangent subspace.
void	map_direction (vnl_vector< double > const &from_loc, vnl_vector< double > const &from_dir, vnl_vector< double > &to_dir) const
	Map an arbitrary direction which is neither a tangent nor a normal.
virtual double	map_intensity (vnl_vector< double > const &from, double intensity) const
	Apply to an intensity, with a default of the identity.
virtual void	inv_map (const vnl_vector< double > &to, bool initialize_next, const vnl_vector< double > &to_delta, vnl_vector< double > &from, vnl_vector< double > &from_next_est) const
	Inverse map with an initial guess.
virtual void	inv_map (const vnl_vector< double > &to, vnl_vector< double > &from) const
	Inverse map based on the transformation.
vnl_matrix< double >	covar () const
	Parameter covariance matrix.
void	set_covar (const vnl_matrix< double > &covar)
	set parameter covariance matrix.
bool	is_covar_set () const
	is covariance set?.
virtual bool	is_invertible () const
	is this an invertible transformation?.
virtual rgrl_transformation_sptr	inverse_transform () const
	Return an inverse transformation.
vnl_matrix< double >	jacobian (vnl_vector< double > const &from_loc) const
	Return the jacobian of the transform.
void	set_scaling_factors (vnl_vector< double > const &scaling)
	set scaling factors.
const vnl_vector< double > &	scaling_factors () const
	return scaling factor.
	rgrl_type_macro (rgrl_transformation, 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
bool	projective_estimate (vnl_matrix_fixed< double, Tdim+1, Fdim+1 > &proj, vcl_vector< double > &rad_dist, vnl_matrix< double > &full_covar, vnl_vector_fixed< double, Fdim > &from_centre, vnl_vector_fixed< double, Tdim > &to_centre, vnl_vector_fixed< double, Tdim > const &camera_centre)
	estimate the projective transformation and the associated covariance.
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.
void	set_image_centre (vnl_vector_fixed< double, Tdim > const &image_centre)
	set image centre.
void	set_centres (vnl_vector_fixed< double, Fdim > const &from_centre, vnl_vector_fixed< double, Tdim > const &to_centre, vnl_vector_fixed< double, Tdim > const &image_centre)
	set from, to, and image centres.
void	set_centres (vnl_vector_fixed< double, Fdim > const &fc, vnl_vector_fixed< double, Tdim > const &tc)
double	centre_mag_norm_const () const
	get centred coordinate normalization constant.
void	map_loc (vnl_vector_fixed< double, Tdim > &mapped, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj, vcl_vector< double > const &rad_k, vnl_vector_fixed< double, Fdim > const &from) const
	map a location.
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	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.
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	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)
Static Public Member Functions
static const vcl_type_info &	type_id ()
Public Attributes
	no_gradient
	use_gradient
bool	failure
Protected Member Functions
void	map_loc (vnl_vector< double > const &from, vnl_vector< double > &to) const
	Apply the transformation to create a new (mapped) location.
void	map_dir (vnl_vector< double > const &from_loc, vnl_vector< double > const &from_dir, vnl_vector< double > &to_dir) const
	Apply the transformation to create a new direction at the (mapped) location.
void	set_up_rad_k (vcl_vector< double > const &rad_k)
double	log_det_sym_matrix (vnl_matrix< double > const &m) const
	a slightly better way of computing log of determinant.
double	log_det_covar_deficient (int rank) const
	compute the log of determinant of the covariance when the matrix is rank deficient.
void	reduced_proj_rad_jacobian (vnl_matrix< double > &base_jac, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj, vcl_vector< double > const &rad_k, vnl_vector_fixed< double, Fdim > const &from) const
	compute jacobian.
void	full_proj_rad_jacobian (vnl_matrix< double > &base_jac, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj, vcl_vector< double > const &rad_k, vnl_vector_fixed< double, Fdim > const &from) const
	compute the full jacobian.
void	proj_jac_wrt_loc (vnl_matrix_fixed< double, Tdim, Fdim > &jac_loc, vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &proj, vcl_vector< double > const &rad_k, vnl_vector_fixed< double, Fdim > const &from) const
	compute jacobian w.r.t. location.
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 > const &proj_matrix, vcl_vector< double > const &rad_dist, vnl_vector_fixed< double, Fdim > const &fc, vnl_vector_fixed< double, Tdim > const &tc, vnl_vector_fixed< double, Tdim > const &camera_centre)
	convert parameters.
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	apply_radial_distortion (vnl_vector_fixed< double, Tdim > &mapped, vnl_vector_fixed< double, Tdim > const &p, vcl_vector< double > const &rad_k) const
void	transfer_radial_params_into_temp_storage (vnl_vector< double > const &params) const
	transfer parameters into the temp vector.
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	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
vnl_matrix< double >	covar_
	covariance matrix.
bool	is_covar_set_
	flag of setting covariance.
vnl_vector< double >	scaling_factors_
	scaling factors of current transformation on each dimension.
unsigned int	camera_dof_
vnl_vector_fixed< double, Tdim >	image_centre_
double	centre_mag_norm_const_
vcl_vector< double >	temp_rad_k_
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)
Private Attributes
vnl_matrix_fixed< double, 3, 3 >	H_
vcl_vector< double >	rad_k_

---

Detailed Description

Represents a 2D homography plus radial distortion transformation.

A transformation for x'_u=Hx, and x'_d = x'_u + k*radial_dist( x'_u )

Definition at line 16 of file rgrl_trans_homo2d_proj_rad.h.

---

Member Typedef Documentation

typedef rgrl_est_proj_func<Tdim, Fdim> rgrl_est_proj_rad_func< Tdim, Fdim >::base_type [inherited]

Definition at line 21 of file rgrl_est_proj_rad_func.h.

---

Constructor & Destructor Documentation

rgrl_trans_homo2d_proj_rad::rgrl_trans_homo2d_proj_rad

(

)

Initialize to the identity matrix.

Definition at line 13 of file rgrl_trans_homo2d_proj_rad.cxx.

rgrl_trans_homo2d_proj_rad::rgrl_trans_homo2d_proj_rad	(	vnl_matrix_fixed< double, 3, 3 > const &	H,
		vcl_vector< double > const &	k,
		vnl_vector_fixed< double, 2 > const &	image_centre
	)

Constructor based on an initial transformation and covar estimate.

The radial parameters are assumed to be unnormalized.

Definition at line 24 of file rgrl_trans_homo2d_proj_rad.cxx.

rgrl_trans_homo2d_proj_rad::rgrl_trans_homo2d_proj_rad

(

vnl_matrix< double > const &

H

)

Constructor based on an initial transformation and unknown covar.

The covariance matrix is a zero matrix.

rgrl_trans_homo2d_proj_rad::rgrl_trans_homo2d_proj_rad	(	vnl_matrix_fixed< double, 3, 3 > const &	H,
		vcl_vector< double > const &	k,
		vnl_vector_fixed< double, 2 > const &	image_centre,
		vnl_matrix< double > const &	covar,
		vnl_vector< double > const &	from_centre,
		vnl_vector< double > const &	to_centre
	)

Construct a centered transform.

The radial parameters are assumed to be unnormalized.

Definition at line 37 of file rgrl_trans_homo2d_proj_rad.cxx.

rgrl_trans_homo2d_proj_rad::rgrl_trans_homo2d_proj_rad	(	vcl_vector< double > const &	norm_k,
		vnl_matrix_fixed< double, 3, 3 > const &	H,
		vnl_vector_fixed< double, 2 > const &	image_centre
	)

Constructor based on an initial transformation and covar estimate.

The radial parameters are assumed to be normalized.

Definition at line 53 of file rgrl_trans_homo2d_proj_rad.cxx.

rgrl_trans_homo2d_proj_rad::rgrl_trans_homo2d_proj_rad	(	vcl_vector< double > const &	norm_k,
		vnl_matrix_fixed< double, 3, 3 > const &	H,
		vnl_vector_fixed< double, 2 > const &	image_centre,
		vnl_matrix< double > const &	covar,
		vnl_vector< double > const &	from_centre,
		vnl_vector< double > const &	to_centre
	)

Construct a centered transform.

The radial parameters are assumed to be normalized.

Definition at line 65 of file rgrl_trans_homo2d_proj_rad.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_est_proj_rad_func< Tdim, Fdim >::apply_radial_distortion	(	vnl_vector_fixed< double, Tdim > &	mapped,
		vnl_vector_fixed< double, Tdim > const &	p,
		vcl_vector< double > const &	rad_k
	)		const [protected, inherited]

convert parameters.

double rgrl_est_proj_rad_func< Tdim, Fdim >::centre_mag_norm_const

(

)

const [inline, inherited]

get centred coordinate normalization constant.

Definition at line 74 of file rgrl_est_proj_rad_func.h.

rgrl_transformation_sptr rgrl_trans_homo2d_proj_rad::clone

(

)

const [virtual]

make a clone copy.

Implements rgrl_transformation.

Definition at line 265 of file rgrl_trans_homo2d_proj_rad.cxx.

void rgrl_est_proj_rad_func< Tdim, Fdim >::convert_parameters	(	vnl_vector< double > &	params,
		vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &	proj_matrix,
		vcl_vector< double > const &	rad_dist,
		vnl_vector_fixed< double, Fdim > const &	fc,
		vnl_vector_fixed< double, Tdim > const &	tc,
		vnl_vector_fixed< double, Tdim > const &	camera_centre
	)		[protected, inherited]

convert parameters.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::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
	)		[protected, inherited]

convert parameters.

Definition at line 62 of file rgrl_est_proj_func.txx.

vnl_matrix< double > rgrl_transformation::covar

(

)

const [inherited]

Parameter covariance matrix.

Definition at line 325 of file rgrl_transformation.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_proj_rad_func< Tdim, Fdim >::f	(	vnl_vector< double > const &	x,
		vnl_vector< double > &	fx
	)		[virtual, inherited]

obj func value.

Reimplemented from rgrl_est_proj_func< Tdim, Fdim >.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::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 [protected, inherited]

compute jacobian.

Definition at line 151 of file rgrl_est_proj_func.txx.

void rgrl_est_proj_rad_func< Tdim, Fdim >::full_proj_rad_jacobian	(	vnl_matrix< double > &	base_jac,
		vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &	proj,
		vcl_vector< double > const &	rad_k,
		vnl_vector_fixed< double, Fdim > const &	from
	)		const [protected, inherited]

compute the full jacobian.

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.

void rgrl_est_proj_rad_func< Tdim, Fdim >::gradf	(	vnl_vector< double > const &	x,
		vnl_matrix< double > &	jacobian
	)		[virtual, inherited]

Jacobian.

Reimplemented from rgrl_est_proj_func< Tdim, Fdim >.

vnl_matrix_fixed< double, 3, 3 > rgrl_trans_homo2d_proj_rad::H

(

)

const

The scaling and rotation component of the transform.

Definition at line 172 of file rgrl_trans_homo2d_proj_rad.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_transformation::inv_map	(	const vnl_vector< double > &	to,
		bool	initialize_next,
		const vnl_vector< double > &	to_delta,
		vnl_vector< double > &	from,
		vnl_vector< double > &	from_next_est
	)		const [virtual, inherited]

Inverse map with an initial guess.

Reimplemented in rgrl_trans_spline, rgrl_trans_quadratic, rgrl_trans_reduced_quad, rgrl_trans_affine, rgrl_trans_rigid, rgrl_trans_similarity, rgrl_trans_couple, rgrl_trans_translation, and rgrl_trans_homography2d.

Definition at line 517 of file rgrl_transformation.cxx.

void rgrl_transformation::inv_map	(	const vnl_vector< double > &	to,
		vnl_vector< double > &	from
	)		const [virtual, inherited]

Inverse map based on the transformation.

This function only exist for certain transformations.

Reimplemented in rgrl_trans_quadratic, rgrl_trans_reduced_quad, rgrl_trans_spline, rgrl_trans_affine, rgrl_trans_rigid, rgrl_trans_similarity, rgrl_trans_rad_dis_homo2d, rgrl_trans_couple, rgrl_trans_translation, and rgrl_trans_homography2d.

Definition at line 598 of file rgrl_transformation.cxx.

rgrl_transformation_sptr rgrl_transformation::inverse_transform

(

)

const [virtual, inherited]

Return an inverse transformation.

This function only exist for certain transformations.

Reimplemented in rgrl_trans_quadratic, rgrl_trans_reduced_quad, rgrl_trans_spline, rgrl_trans_affine, rgrl_trans_rigid, rgrl_trans_similarity, rgrl_trans_couple, rgrl_trans_rad_dis_homo2d, rgrl_trans_translation, and rgrl_trans_homography2d.

Definition at line 610 of file rgrl_transformation.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.

bool rgrl_transformation::is_covar_set

(

)

const [inline, inherited]

is covariance set?.

Definition at line 131 of file rgrl_transformation.h.

virtual bool rgrl_transformation::is_invertible

(

)

const [inline, virtual, inherited]

is this an invertible transformation?.

Reimplemented in rgrl_trans_affine, rgrl_trans_rigid, rgrl_trans_similarity, rgrl_trans_rad_dis_homo2d, rgrl_trans_couple, rgrl_trans_translation, and rgrl_trans_homography2d.

Definition at line 139 of file rgrl_transformation.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.

vnl_matrix< double > rgrl_transformation::jacobian

(

vnl_vector< double > const &

from_loc

)

const [inherited]

Return the jacobian of the transform.

use only as backward compatibility

Definition at line 333 of file rgrl_transformation.cxx.

void rgrl_trans_homo2d_proj_rad::jacobian_wrt_loc	(	vnl_matrix< double > &	jac,
		vnl_vector< double > const &	from_loc
	)		const [virtual]

Compute jacobian w.r.t. location.

Return the jacobian of the transform.

Implements rgrl_transformation.

Definition at line 190 of file rgrl_trans_homo2d_proj_rad.cxx.

virtual double rgrl_trans_homo2d_proj_rad::log_det_covar

(

)

const [inline, virtual]

log of determinant of the covariance.

Reimplemented from rgrl_transformation.

Definition at line 70 of file rgrl_trans_homo2d_proj_rad.h.

double rgrl_transformation::log_det_covar_deficient

(

int

rank

)

const [protected, inherited]

compute the log of determinant of the covariance when the matrix is rank deficient.

Definition at line 258 of file rgrl_transformation.cxx.

double rgrl_transformation::log_det_sym_matrix

(

vnl_matrix< double > const &

m

)

const [protected, inherited]

a slightly better way of computing log of determinant.

Definition at line 238 of file rgrl_transformation.cxx.

void rgrl_trans_homo2d_proj_rad::map_dir	(	vnl_vector< double > const &	from_loc,
		vnl_vector< double > const &	from_dir,
		vnl_vector< double > &	to_dir
	)		const [protected, virtual]

Apply the transformation to create a new direction at the (mapped) location.

The resulting direction to_dir is a unit vector.

Implements rgrl_transformation.

Definition at line 107 of file rgrl_trans_homo2d_proj_rad.cxx.

void rgrl_transformation::map_direction	(	vnl_vector< double > const &	from_loc,
		vnl_vector< double > const &	from_dir,
		vnl_vector< double > &	to_dir
	)		const [inherited]

Map an arbitrary direction which is neither a tangent nor a normal.

The resulting direction to_dir is a unit vector.

Definition at line 52 of file rgrl_transformation.cxx.

double rgrl_transformation::map_intensity	(	vnl_vector< double > const &	from,
		double	intensity
	)		const [virtual, inherited]

Apply to an intensity, with a default of the identity.

Definition at line 223 of file rgrl_transformation.cxx.

void rgrl_est_proj_rad_func< Tdim, Fdim >::map_loc	(	vnl_vector_fixed< double, Tdim > &	mapped,
		vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &	proj,
		vcl_vector< double > const &	rad_k,
		vnl_vector_fixed< double, Fdim > const &	from
	)		const [inline, inherited]

map a location.

Definition at line 80 of file rgrl_est_proj_rad_func.h.

void rgrl_trans_homo2d_proj_rad::map_loc	(	vnl_vector< double > const &	from,
		vnl_vector< double > &	to
	)		const [protected, virtual]

Apply the transformation to create a new (mapped) location.

Implements rgrl_transformation.

Definition at line 95 of file rgrl_trans_homo2d_proj_rad.cxx.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::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 [inline, inherited]

map a location.

Definition at line 120 of file rgrl_est_proj_func.h.

void rgrl_transformation::map_location	(	vnl_vector< double > const &	from,
		vnl_vector< double > &	to
	)		const [inherited]

Apply the transformation to create a new (mapped) location.

Definition at line 35 of file rgrl_transformation.cxx.

vnl_vector< double > rgrl_transformation::map_location

(

vnl_vector< double > const &

p

)

const [inherited]

Apply the transformation to create a new (mapped) location.

Convenience call to the two parameter version that allocates the result vector.

Definition at line 43 of file rgrl_transformation.cxx.

void rgrl_transformation::map_normal	(	vnl_vector< double > const &	from_loc,
		vnl_vector< double > const &	from_dir,
		vnl_vector< double > &	to_dir
	)		const [virtual, inherited]

Map a normal direction.

The resulting direction to_dir is a unit vector.

Reimplemented in rgrl_trans_couple.

Definition at line 76 of file rgrl_transformation.cxx.

void rgrl_transformation::map_normal	(	vnl_vector< double > const &	from_loc,
		vnl_vector< double > const &	from_dir,
		vnl_matrix< double > const &	tangent_subspace,
		vnl_vector< double > &	to_dir
	)		const [virtual, inherited]

Map a normal direction, given the tangent subspace.

The resulting direction to_dir is a unit vector.

Reimplemented in rgrl_trans_couple.

Definition at line 171 of file rgrl_transformation.cxx.

void rgrl_transformation::map_tangent	(	vnl_vector< double > const &	from_loc,
		vnl_vector< double > const &	from_dir,
		vnl_vector< double > &	to_dir
	)		const [virtual, inherited]

Map a tangent direction.

The resulting direction to_dir is a unit vector.

Reimplemented in rgrl_trans_couple.

Definition at line 61 of file rgrl_transformation.cxx.

template<unsigned int Tdim, unsigned int Fdim>

int rgrl_est_proj_func< Tdim, Fdim >::max_num_iter

(

)

const [inline, inherited]

return max number of iterations.

Definition at line 81 of file rgrl_est_proj_func.h.

vcl_vector<double> const& rgrl_trans_homo2d_proj_rad::normalized_radial_params

(

)

const [inline]

return the normalized radial parameters.

Definition at line 94 of file rgrl_trans_homo2d_proj_rad.h.

void rgrl_est_proj_rad_func< Tdim, Fdim >::proj_jac_wrt_loc	(	vnl_matrix_fixed< double, Tdim, Fdim > &	jac_loc,
		vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &	proj,
		vcl_vector< double > const &	rad_k,
		vnl_vector_fixed< double, Fdim > const &	from
	)		const [protected, inherited]

compute jacobian w.r.t. location.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::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 [protected, inherited]

compute jacobian w.r.t. location.

Definition at line 211 of file rgrl_est_proj_func.txx.

bool rgrl_est_proj_rad_func< Tdim, Fdim >::projective_estimate	(	vnl_matrix_fixed< double, Tdim+1, Fdim+1 > &	proj,
		vcl_vector< double > &	rad_dist,
		vnl_matrix< double > &	full_covar,
		vnl_vector_fixed< double, Fdim > &	from_centre,
		vnl_vector_fixed< double, Tdim > &	to_centre,
		vnl_vector_fixed< double, Tdim > const &	camera_centre
	)		[inherited]

estimate the projective transformation and the associated covariance.

template<unsigned int Tdim, unsigned int Fdim>

bool rgrl_est_proj_func< Tdim, Fdim >::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
	)		[inherited]

estimate the projective transformation and the associated covariance.

Definition at line 351 of file rgrl_est_proj_func.txx.

vcl_vector< double > rgrl_trans_homo2d_proj_rad::radial_params

(

)

const

return unnormalized radial parameters.

return radial parameters.

Definition at line 273 of file rgrl_trans_homo2d_proj_rad.cxx.

bool rgrl_trans_homo2d_proj_rad::read

(

vcl_istream &

is

)

[virtual]

for input.

Reimplemented from rgrl_transformation.

Definition at line 223 of file rgrl_trans_homo2d_proj_rad.cxx.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::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 [protected, inherited]

compute jacobian.

Definition at line 191 of file rgrl_est_proj_func.txx.

void rgrl_est_proj_rad_func< Tdim, Fdim >::reduced_proj_rad_jacobian	(	vnl_matrix< double > &	base_jac,
		vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &	proj,
		vcl_vector< double > const &	rad_k,
		vnl_vector_fixed< double, Fdim > const &	from
	)		const [protected, inherited]

compute jacobian.

template<unsigned int Tdim, unsigned int Fdim>

double rgrl_est_proj_func< Tdim, Fdim >::rel_thres

(

)

const [inline, inherited]

relative threshold.

Definition at line 89 of file rgrl_est_proj_func.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.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::restored_centered_proj	(	vnl_matrix_fixed< double, Tdim+1, Fdim+1 > &	proj_matrix,
		vnl_vector< double > const &	params
	)		const [protected, inherited]

convert parameters.

Definition at line 242 of file rgrl_est_proj_func.txx.

rgrl_trans_homo2d_proj_rad::rgrl_type_macro	(	rgrl_trans_homo2d_proj_rad	,
		rgrl_transformation
	)

Defines type-related functions.

rgrl_transformation::rgrl_type_macro	(	rgrl_transformation	,
		rgrl_object
	)		[inherited]

rgrl_transformation_sptr rgrl_trans_homo2d_proj_rad::scale_by

(

double

scale

)

const [virtual]

transform the transformation for images of different resolution.

Implements rgrl_transformation.

Definition at line 128 of file rgrl_trans_homo2d_proj_rad.cxx.

const vnl_vector<double>& rgrl_transformation::scaling_factors

(

)

const [inline, inherited]

return scaling factor.

Definition at line 170 of file rgrl_transformation.h.

void rgrl_est_proj_rad_func< Tdim, Fdim >::set_centres	(	vnl_vector_fixed< double, Fdim > const &	from_centre,
		vnl_vector_fixed< double, Tdim > const &	to_centre,
		vnl_vector_fixed< double, Tdim > const &	image_centre
	)		[inline, inherited]

set from, to, and image centres.

Definition at line 60 of file rgrl_est_proj_rad_func.h.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::set_centres	(	vnl_vector_fixed< double, Fdim > const &	fc,
		vnl_vector_fixed< double, Tdim > const &	tc
	)		[inline, inherited]

Definition at line 69 of file rgrl_est_proj_func.h.

void rgrl_transformation::set_covar

(

const vnl_matrix< double > &

covar

)

[inherited]

set parameter covariance matrix.

Reimplemented in rgrl_trans_spline.

Definition at line 344 of file rgrl_transformation.cxx.

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_est_proj_rad_func< Tdim, Fdim >::set_image_centre

(

vnl_vector_fixed< double, Tdim > const &

image_centre

)

[inline, inherited]

set image centre.

Definition at line 49 of file rgrl_est_proj_rad_func.h.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::set_max_num_iter

(

int

max

)

[inline, inherited]

set max number of iterations.

Definition at line 77 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::set_rel_thres

(

double

thres

)

[inline, inherited]

set relative threshold for parameters change.

Definition at line 85 of file rgrl_est_proj_func.h.

void rgrl_transformation::set_scaling_factors

(

vnl_vector< double > const &

scaling

)

[inherited]

set scaling factors.

Unless the transformation is not estimated using estimators in rgrl, it does not need to be set explicitly

Definition at line 357 of file rgrl_transformation.cxx.

void rgrl_trans_homo2d_proj_rad::set_up_rad_k

(

vcl_vector< double > const &

rad_k

)

[protected]

Definition at line 81 of file rgrl_trans_homo2d_proj_rad.cxx.

void rgrl_object::set_warning

(

bool

flag

)

const [inherited]

Set the flag for warning messages.

Definition at line 33 of file rgrl_object.cxx.

template<unsigned int Tdim, unsigned int Fdim>

void rgrl_est_proj_func< Tdim, Fdim >::set_zero_svd_thres

(

double

thres

)

[inline, inherited]

set zero singular value threshold for SVD.

Definition at line 93 of file rgrl_est_proj_func.h.

vnl_matrix< double > rgrl_trans_homo2d_proj_rad::transfer_error_covar

(

vnl_vector< double > const &

p

)

const [virtual]

Compute covariance of the transfer error based on transformation covariance.

This gives the additional uncertainty of the transferred point location due to the uncertainty of the transform estimate.

Implements rgrl_transformation.

Definition at line 179 of file rgrl_trans_homo2d_proj_rad.cxx.

void rgrl_est_proj_rad_func< Tdim, Fdim >::transfer_radial_params_into_temp_storage

(

vnl_vector< double > const &

params

)

const [protected, inherited]

transfer parameters into the temp vector.

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.

template<unsigned int Tdim, unsigned int Fdim>

vnl_matrix_fixed< double, Tdim+1, Fdim+1 > rgrl_est_proj_func< Tdim, Fdim >::uncentre_proj

(

vnl_matrix_fixed< double, Tdim+1, Fdim+1 > const &

proj

)

const [inherited]

uncentre projection matrix.

uncenter projection matrix.

Definition at line 123 of file rgrl_est_proj_func.txx.

bool rgrl_object::warning

(

)

const [inherited]

Get the warning flag.

Definition at line 40 of file rgrl_object.cxx.

void rgrl_trans_homo2d_proj_rad::write

(

vcl_ostream &

os

)

const [virtual]

for output UNCENTERED transformation, with the origin as the center.

Reimplemented from rgrl_transformation.

Definition at line 200 of file rgrl_trans_homo2d_proj_rad.cxx.

template<unsigned int Tdim, unsigned int Fdim>

double rgrl_est_proj_func< Tdim, Fdim >::zero_svd_thres

(

)

const [inline, inherited]

zero singular value threshold.

Definition at line 97 of file rgrl_est_proj_func.h.

---

Member Data Documentation

unsigned int rgrl_est_proj_rad_func< Tdim, Fdim >::camera_dof_ [protected, inherited]

Definition at line 137 of file rgrl_est_proj_rad_func.h.

double rgrl_est_proj_rad_func< Tdim, Fdim >::centre_mag_norm_const_ [protected, inherited]

Definition at line 139 of file rgrl_est_proj_rad_func.h.

vnl_matrix<double> rgrl_transformation::covar_ [protected, inherited]

covariance matrix.

Unlike transformation parameters, covariance is always a mtrix of double.

Definition at line 205 of file rgrl_transformation.h.

template<unsigned int Tdim, unsigned int Fdim>

vnl_vector_fixed<double, Fdim> rgrl_est_proj_func< Tdim, Fdim >::from_centre_ [protected, inherited]

Definition at line 160 of file rgrl_est_proj_func.h.

vnl_matrix_fixed<double,3,3> rgrl_trans_homo2d_proj_rad::H_ [private]

Definition at line 20 of file rgrl_trans_homo2d_proj_rad.h.

vnl_vector_fixed<double, Tdim> rgrl_est_proj_rad_func< Tdim, Fdim >::image_centre_ [protected, inherited]

Definition at line 138 of file rgrl_est_proj_rad_func.h.

template<unsigned int Tdim, unsigned int Fdim>

unsigned int rgrl_est_proj_func< Tdim, Fdim >::index_col_ [protected, inherited]

Definition at line 164 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

unsigned int rgrl_est_proj_func< Tdim, Fdim >::index_row_ [protected, inherited]

Definition at line 163 of file rgrl_est_proj_func.h.

bool rgrl_transformation::is_covar_set_ [protected, inherited]

flag of setting covariance.

Check it before using covariance matrix

Definition at line 209 of file rgrl_transformation.h.

template<unsigned int Tdim, unsigned int Fdim>

rgrl_set_of<rgrl_match_set_sptr> const* rgrl_est_proj_func< Tdim, Fdim >::matches_ptr_ [protected, inherited]

Definition at line 159 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

int rgrl_est_proj_func< Tdim, Fdim >::max_num_iterations_ [protected, inherited]

specify the maximum number of iterations for this estimator.

Definition at line 166 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

const unsigned int rgrl_est_proj_func< Tdim, Fdim >::proj_size_ = (Tdim+1)*(Fdim+1) [static, protected, inherited]

Definition at line 157 of file rgrl_est_proj_func.h.

vcl_vector<double> rgrl_trans_homo2d_proj_rad::rad_k_ [private]

Definition at line 21 of file rgrl_trans_homo2d_proj_rad.h.

template<unsigned int Tdim, unsigned int Fdim>

double rgrl_est_proj_func< Tdim, Fdim >::relative_threshold_ [protected, inherited]

The threshold for relative parameter change before termination.

Definition at line 169 of file rgrl_est_proj_func.h.

vnl_vector<double> rgrl_transformation::scaling_factors_ [protected, inherited]

scaling factors of current transformation on each dimension.

This is computed from current transformation. And it has nothing to do with how to transform points

Definition at line 214 of file rgrl_transformation.h.

vcl_vector<double> rgrl_est_proj_rad_func< Tdim, Fdim >::temp_rad_k_ [mutable, protected, inherited]

Definition at line 140 of file rgrl_est_proj_rad_func.h.

template<unsigned int Tdim, unsigned int Fdim>

vnl_vector_fixed<double, Tdim> rgrl_est_proj_func< Tdim, Fdim >::to_centre_ [protected, inherited]

Definition at line 161 of file rgrl_est_proj_func.h.

template<unsigned int Tdim, unsigned int Fdim>

double rgrl_est_proj_func< Tdim, Fdim >::zero_svd_thres_ [protected, inherited]

zero singular value threshold.

Definition at line 172 of file rgrl_est_proj_func.h.

---

The documentation for this class was generated from the following files:

• contrib/rpl/rgrl/rgrl_trans_homo2d_proj_rad.h
• contrib/rpl/rgrl/rgrl_trans_homo2d_proj_rad.cxx