Represents a 2D homography transformation with radial lens distortion. More...
#include <rgrl_trans_rad_dis_homo2d.h>
Public Member Functions | |
| rgrl_trans_rad_dis_homo2d () | |
| Initialize to the identity matrix. | |
| rgrl_trans_rad_dis_homo2d (vnl_matrix< double > const &H, double k1_from, double k1_to, vnl_vector< double > const &from_centre, vnl_vector< double > const &to_centre) | |
| Constructor based on an initial transformation and covar estimate. | |
| rgrl_trans_rad_dis_homo2d (vnl_matrix< double > const &H, double k1_from, double k1_to, 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. | |
| double | k1_from () const |
| radial distortion term on From image. | |
| double | k1_to () const |
| radial distortion term on To image. | |
| vnl_vector< double > | from_centre () const |
| From center. | |
| vnl_vector< double > | to_centre () const |
| To center. | |
| void | inv_map (const vnl_vector< double > &to, vnl_vector< double > &from) const |
| Inverse map using pseudo-inverse of H_. | |
| bool | is_invertible () const |
| is this an invertible transformation?. | |
| rgrl_transformation_sptr | inverse_transform () const |
| Return an inverse transformation of the uncentered transform. | |
| 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. | |
| vnl_matrix_fixed< double, 3, 3 > const & | H () const |
| The H matrix of the transform. | |
| vnl_matrix_fixed< double, 3, 3 > | uncenter_H_matrix () const |
| virtual double | log_det_covar () const |
| log of determinant of the covariance. | |
| rgrl_type_macro (rgrl_trans_rad_dis_homo2d, rgrl_transformation) | |
| void | write (vcl_ostream &os) const |
| output transformation. | |
| 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. | |
| 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. | |
| 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?. | |
| 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 Attributes | |
| vnl_matrix_fixed< double, 3, 3 > | H_ |
| vnl_vector_fixed< double, 2 > | from_centre_ |
| vnl_vector_fixed< double, 2 > | to_centre_ |
| double | k1_from_ |
| double | k1_to_ |
Detailed Description
Represents a 2D homography transformation with radial lens distortion.
From image Distortion: Xu = (1+k1*R^2) Xd To image Distortion Yd = (1+k1*R^2) Yu Homography transformation Y=H(X)
NOTE: everything is in 2D non-homogeneous coordinates, therefore it is not linear
Definition at line 25 of file rgrl_trans_rad_dis_homo2d.h.
Constructor & Destructor Documentation
| rgrl_trans_rad_dis_homo2d::rgrl_trans_rad_dis_homo2d | ( | ) |
Initialize to the identity matrix.
Definition at line 132 of file rgrl_trans_rad_dis_homo2d.cxx.
| rgrl_trans_rad_dis_homo2d::rgrl_trans_rad_dis_homo2d | ( | vnl_matrix< double > const & | H, |
| double | k1_from, | ||
| double | k1_to, | ||
| vnl_vector< double > const & | from_centre, | ||
| vnl_vector< double > const & | to_centre | ||
| ) |
Constructor based on an initial transformation and covar estimate.
rgrl_trans_rad_dis_homo2d( vnl_matrix<double> const& H, double k1_from, double k1_to, vnl_matrix<double> const& covar ); Constructor based on an initial transformation and unknown covar.
The covariance matrix is a zero matrix.
Definition at line 141 of file rgrl_trans_rad_dis_homo2d.cxx.
| rgrl_trans_rad_dis_homo2d::rgrl_trans_rad_dis_homo2d | ( | vnl_matrix< double > const & | H, |
| double | k1_from, | ||
| double | k1_to, | ||
| vnl_matrix< double > const & | covar, | ||
| vnl_vector< double > const & | from_centre, | ||
| vnl_vector< double > const & | to_centre | ||
| ) |
Construct a centered transform.
Definition at line 154 of file rgrl_trans_rad_dis_homo2d.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.
| rgrl_transformation_sptr rgrl_trans_rad_dis_homo2d::clone | ( | ) | const [virtual] |
make a clone copy.
Implements rgrl_transformation.
Definition at line 440 of file rgrl_trans_rad_dis_homo2d.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.
| vnl_vector<double> rgrl_trans_rad_dis_homo2d::from_centre | ( | ) | const [inline] |
From center.
Definition at line 66 of file rgrl_trans_rad_dis_homo2d.h.
| 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.
| vnl_matrix_fixed<double, 3, 3> const& rgrl_trans_rad_dis_homo2d::H | ( | ) | const [inline] |
The H matrix of the transform.
Definition at line 88 of file rgrl_trans_rad_dis_homo2d.h.
| 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_trans_rad_dis_homo2d::inv_map | ( | const vnl_vector< double > & | to, |
| vnl_vector< double > & | from | ||
| ) | const [virtual] |
Inverse map using pseudo-inverse of H_.
Reimplemented from rgrl_transformation.
Definition at line 239 of file rgrl_trans_rad_dis_homo2d.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.
| rgrl_transformation_sptr rgrl_trans_rad_dis_homo2d::inverse_transform | ( | ) | const [virtual] |
Return an inverse transformation of the uncentered transform.
Reimplemented from rgrl_transformation.
Definition at line 381 of file rgrl_trans_rad_dis_homo2d.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.
| bool rgrl_trans_rad_dis_homo2d::is_invertible | ( | ) | const [inline, virtual] |
is this an invertible transformation?.
Reimplemented from rgrl_transformation.
Definition at line 76 of file rgrl_trans_rad_dis_homo2d.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_rad_dis_homo2d::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 248 of file rgrl_trans_rad_dis_homo2d.cxx.
| double rgrl_trans_rad_dis_homo2d::k1_from | ( | ) | const [inline] |
radial distortion term on From image.
Definition at line 60 of file rgrl_trans_rad_dis_homo2d.h.
| double rgrl_trans_rad_dis_homo2d::k1_to | ( | ) | const [inline] |
radial distortion term on To image.
Definition at line 63 of file rgrl_trans_rad_dis_homo2d.h.
| virtual double rgrl_trans_rad_dis_homo2d::log_det_covar | ( | ) | const [inline, virtual] |
log of determinant of the covariance.
Reimplemented from rgrl_transformation.
Definition at line 96 of file rgrl_trans_rad_dis_homo2d.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_rad_dis_homo2d::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 306 of file rgrl_trans_rad_dis_homo2d.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_rad_dis_homo2d::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 281 of file rgrl_trans_rad_dis_homo2d.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.
| bool rgrl_trans_rad_dis_homo2d::read | ( | vcl_istream & | is | ) | [virtual] |
input transformation.
Reimplemented from rgrl_transformation.
Definition at line 410 of file rgrl_trans_rad_dis_homo2d.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_rad_dis_homo2d::rgrl_type_macro | ( | rgrl_trans_rad_dis_homo2d | , |
| rgrl_transformation | |||
| ) |
| rgrl_transformation::rgrl_type_macro | ( | rgrl_transformation | , |
| rgrl_object | |||
| ) | [inherited] |
| rgrl_transformation_sptr rgrl_trans_rad_dis_homo2d::scale_by | ( | double | scale | ) | const [virtual] |
transform the transformation for images of different resolution.
Implements rgrl_transformation.
Definition at line 322 of file rgrl_trans_rad_dis_homo2d.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_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> rgrl_trans_rad_dis_homo2d::to_centre | ( | ) | const [inline] |
To center.
Definition at line 69 of file rgrl_trans_rad_dis_homo2d.h.
| vnl_matrix< double > rgrl_trans_rad_dis_homo2d::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 185 of file rgrl_trans_rad_dis_homo2d.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.
| vnl_matrix_fixed< double, 3, 3 > rgrl_trans_rad_dis_homo2d::uncenter_H_matrix | ( | ) | const |
Definition at line 358 of file rgrl_trans_rad_dis_homo2d.cxx.
| bool rgrl_object::warning | ( | ) | const [inherited] |
Get the warning flag.
Definition at line 40 of file rgrl_object.cxx.
| void rgrl_trans_rad_dis_homo2d::write | ( | vcl_ostream & | os | ) | const [virtual] |
output transformation.
Reimplemented from rgrl_transformation.
Definition at line 390 of file rgrl_trans_rad_dis_homo2d.cxx.
Member Data Documentation
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_fixed<double, 2> rgrl_trans_rad_dis_homo2d::from_centre_ [private] |
Definition at line 121 of file rgrl_trans_rad_dis_homo2d.h.
vnl_matrix_fixed<double, 3, 3> rgrl_trans_rad_dis_homo2d::H_ [private] |
Definition at line 120 of file rgrl_trans_rad_dis_homo2d.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.
double rgrl_trans_rad_dis_homo2d::k1_from_ [private] |
Definition at line 124 of file rgrl_trans_rad_dis_homo2d.h.
double rgrl_trans_rad_dis_homo2d::k1_to_ [private] |
Definition at line 125 of file rgrl_trans_rad_dis_homo2d.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_fixed<double, 2> rgrl_trans_rad_dis_homo2d::to_centre_ [private] |
Definition at line 122 of file rgrl_trans_rad_dis_homo2d.h.
The documentation for this class was generated from the following files:
- contrib/rpl/rgrl/rgrl_trans_rad_dis_homo2d.h
- contrib/rpl/rgrl/rgrl_trans_rad_dis_homo2d.cxx
