#include <rgrl_trans_quadratic.h>
Public Member Functions | |
| rgrl_trans_quadratic (unsigned int dimension=0) | |
| Initialize to the identity transformation. | |
| rgrl_trans_quadratic (vnl_matrix< double > const &Q, vnl_matrix< double > const &A, vnl_vector< double > const &trans, vnl_matrix< double > const &covar) | |
| Construct quadratic standard transform. | |
| rgrl_trans_quadratic (vnl_matrix< double > const &Q, vnl_matrix< double > const &A, vnl_vector< double > const &trans) | |
| Construct quadratic standard transform. | |
| void | set_from_center (vnl_vector< double > const &from_center) |
| rgrl_trans_quadratic (vnl_matrix< double > const &Q, vnl_matrix< double > const &A, vnl_vector< double > const &trans, vnl_matrix< double > const &covar, vnl_vector< double > const &from_centre, vnl_vector< double > const &to_centre) | |
| Construct a centered quadratic transform. | |
| vnl_matrix< double > | transfer_error_covar (vnl_vector< double > const &p) const |
| Compute covariance of the transfer error based on transformation covariance. | |
| vnl_matrix< double > const & | Q () const |
| Provide the covariance matrix of the estimate (scale is factored in). | |
| vnl_matrix< double > const & | A () const |
| The 1st-order component of the quadratic transform. | |
| vnl_vector< double > const & | t () const |
| The translation component of the quadratic transform. | |
| 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 | jacobian_wrt_loc (vnl_matrix< double > &jac, vnl_vector< double > const &from_loc) const |
| Compute jacobian w.r.t. location. | |
| virtual rgrl_transformation_sptr | scale_by (double scale) const |
| transform the transformation for images of different resolution. | |
| rgrl_type_macro (rgrl_trans_quadratic, rgrl_transformation) | |
| void | write (vcl_ostream &os) const |
| Output UNCENTERED transformation, with the origin as the center. | |
| bool | read (vcl_istream &is) |
| input transformation. | |
| rgrl_transformation_sptr | clone () const |
| make a clone copy. | |
| 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. | |
| vnl_matrix< double > | covar () const |
| Parameter covariance matrix. | |
| virtual double | log_det_covar () const |
| log of determinant of the covariance. | |
| 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?. | |
| 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 |
Static Public Member Functions | |
| static const vcl_type_info & | type_id () |
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. | |
| 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. | |
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. | |
Private Member Functions | |
| vnl_vector< double > | higher_order_terms (vnl_vector< double > p) const |
| Return the vector of 2nd order terms of p = [x y]^t. | |
| virtual void | inv_map (vnl_vector< double > const &, vnl_vector< double > &) const |
| Inverse map based on the transformation. | |
| virtual rgrl_transformation_sptr | inverse_transform () const |
| Return an inverse transformation. | |
Private Attributes | |
| vnl_matrix< double > | Q_ |
| vnl_matrix< double > | A_ |
| vnl_vector< double > | trans_ |
| vnl_vector< double > | from_centre_ |
Detailed Description
Definition at line 12 of file rgrl_trans_quadratic.h.
Constructor & Destructor Documentation
| rgrl_trans_quadratic::rgrl_trans_quadratic | ( | unsigned int | dimension = 0 | ) |
Initialize to the identity transformation.
Definition at line 13 of file rgrl_trans_quadratic.cxx.
| rgrl_trans_quadratic::rgrl_trans_quadratic | ( | vnl_matrix< double > const & | Q, |
| vnl_matrix< double > const & | A, | ||
| vnl_vector< double > const & | trans, | ||
| vnl_matrix< double > const & | covar | ||
| ) |
Construct quadratic standard transform.
The transform is q = Q * hot(p) + A * p + trans, where hot(p)= [px^2 py^2 pxpy]^t in 2D, and hot(p)= [px^2 py^2 pz^2 pxpy pypz pxpz]^t in 3D. See covar() for the ordering of the covariance matrix.
Definition at line 22 of file rgrl_trans_quadratic.cxx.
| rgrl_trans_quadratic::rgrl_trans_quadratic | ( | vnl_matrix< double > const & | Q, |
| vnl_matrix< double > const & | A, | ||
| vnl_vector< double > const & | trans | ||
| ) |
Construct quadratic standard transform.
The transform is q = Q * hot(p) + A * p + trans, where hot(p)= [px^2 py^2 pxpy]^t in 2D, and hot(p)= [px^2 py^2 pz^2 pxpy pypz pxpz]^t in 3D. See covar() for the ordering of the covariance matrix.
The covariance matrix is a zero matrix.
Definition at line 42 of file rgrl_trans_quadratic.cxx.
| rgrl_trans_quadratic::rgrl_trans_quadratic | ( | vnl_matrix< double > const & | Q, |
| vnl_matrix< double > const & | A, | ||
| vnl_vector< double > const & | trans, | ||
| vnl_matrix< double > const & | covar, | ||
| vnl_vector< double > const & | from_centre, | ||
| vnl_vector< double > const & | to_centre | ||
| ) |
Construct a centered quadratic transform.
The transform is q = Q * hot( p - from_center) + A * ( p - from_centre ) + trans + to_centre.
See covar() for the ordering of the covariance matrix.
Definition at line 57 of file rgrl_trans_quadratic.cxx.
Member Function Documentation
| vnl_matrix< double > const & rgrl_trans_quadratic::A | ( | ) | const |
The 1st-order component of the quadratic transform.
Definition at line 186 of file rgrl_trans_quadratic.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.
| rgrl_transformation_sptr rgrl_trans_quadratic::clone | ( | ) | const [virtual] |
make a clone copy.
Implements rgrl_transformation.
Definition at line 390 of file rgrl_trans_quadratic.cxx.
| 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.
| 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.
| vnl_vector< double > rgrl_trans_quadratic::higher_order_terms | ( | vnl_vector< double > | p | ) | const [private] |
Return the vector of 2nd order terms of p = [x y]^t.
Definition at line 303 of file rgrl_trans_quadratic.cxx.
| void rgrl_trans_quadratic::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] |
Inverse map with an initial guess.
Reimplemented from rgrl_transformation.
Definition at line 201 of file rgrl_trans_quadratic.cxx.
| void rgrl_trans_quadratic::inv_map | ( | vnl_vector< double > const & | to, |
| vnl_vector< double > & | from | ||
| ) | const [private, virtual] |
Inverse map based on the transformation.
This function only exist for certain transformations.
Reimplemented from rgrl_transformation.
Definition at line 373 of file rgrl_trans_quadratic.cxx.
| rgrl_transformation_sptr rgrl_trans_quadratic::inverse_transform | ( | ) | const [private, virtual] |
Return an inverse transformation.
This function only exist for certain transformations.
Reimplemented from rgrl_transformation.
Definition at line 381 of file rgrl_trans_quadratic.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_quadratic::jacobian_wrt_loc | ( | vnl_matrix< double > & | jac, |
| vnl_vector< double > const & | from_loc | ||
| ) | const [virtual] |
Compute jacobian w.r.t. location.
Implements rgrl_transformation.
Definition at line 266 of file rgrl_trans_quadratic.cxx.
| double rgrl_transformation::log_det_covar | ( | ) | const [virtual, inherited] |
log of determinant of the covariance.
Reimplemented in rgrl_trans_rad_dis_homo2d, rgrl_trans_homography2d, and rgrl_trans_homo2d_proj_rad.
Definition at line 231 of file rgrl_transformation.cxx.
| 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_quadratic::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 133 of file rgrl_trans_quadratic.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_trans_quadratic::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 122 of file rgrl_trans_quadratic.cxx.
| 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.
| vnl_matrix< double > const & rgrl_trans_quadratic::Q | ( | ) | const |
Provide the covariance matrix of the estimate (scale is factored in).
The rows of the [ Q_ A_] matrix are of the form a_i^T containing the coefficients of [x^2 y^2 z^2 xy yz xz x y z]. The assumed form of the covar matrix is for a vector ( a_1^T, trans[0], ... , a_n^T, trans[n] )^T
defined in base class vnl_matrix<double> covar() const; The 2nd-order component of the quadratic transform.
Definition at line 179 of file rgrl_trans_quadratic.cxx.
| bool rgrl_trans_quadratic::read | ( | vcl_istream & | is | ) | [virtual] |
input transformation.
Reimplemented from rgrl_transformation.
Definition at line 342 of file rgrl_trans_quadratic.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_trans_quadratic::rgrl_type_macro | ( | rgrl_trans_quadratic | , |
| rgrl_transformation | |||
| ) |
| rgrl_transformation::rgrl_type_macro | ( | rgrl_transformation | , |
| rgrl_object | |||
| ) | [inherited] |
| rgrl_transformation_sptr rgrl_trans_quadratic::scale_by | ( | double | scale | ) | const [virtual] |
transform the transformation for images of different resolution.
Implements rgrl_transformation.
Definition at line 290 of file rgrl_trans_quadratic.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_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_trans_quadratic::set_from_center | ( | vnl_vector< double > const & | from_center | ) |
Definition at line 115 of file rgrl_trans_quadratic.cxx.
| 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_object::set_warning | ( | bool | flag | ) | const [inherited] |
Set the flag for warning messages.
Definition at line 33 of file rgrl_object.cxx.
| vnl_vector< double > const & rgrl_trans_quadratic::t | ( | ) | const |
The translation component of the quadratic transform.
Definition at line 194 of file rgrl_trans_quadratic.cxx.
| vnl_matrix< double > rgrl_trans_quadratic::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 150 of file rgrl_trans_quadratic.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_trans_quadratic::write | ( | vcl_ostream & | os | ) | const [virtual] |
Output UNCENTERED transformation, with the origin as the center.
Reimplemented from rgrl_transformation.
Definition at line 327 of file rgrl_trans_quadratic.cxx.
Member Data Documentation
vnl_matrix<double> rgrl_trans_quadratic::A_ [private] |
Definition at line 125 of file rgrl_trans_quadratic.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.
vnl_vector<double> rgrl_trans_quadratic::from_centre_ [private] |
Definition at line 127 of file rgrl_trans_quadratic.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.
vnl_matrix<double> rgrl_trans_quadratic::Q_ [private] |
Definition at line 124 of file rgrl_trans_quadratic.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.
vnl_vector<double> rgrl_trans_quadratic::trans_ [private] |
Definition at line 126 of file rgrl_trans_quadratic.h.
The documentation for this class was generated from the following files:
- contrib/rpl/rgrl/rgrl_trans_quadratic.h
- contrib/rpl/rgrl/rgrl_trans_quadratic.cxx
