Represents a rigid transformation. More...

#include <rgrl_trans_rigid.h>

Inheritance diagram for rgrl_trans_rigid:

Public Member Functions
	rgrl_trans_rigid (unsigned int dimension=0)
	Initialize to the identity transformation.
	rgrl_trans_rigid (vnl_matrix< double > const &rot, vnl_vector< double > const &trans, vnl_matrix< double > const &covar)
	Constructor based on an initial transformation and covar estimate.
	rgrl_trans_rigid (vnl_matrix< double > const &rot, vnl_vector< double > const &trans)
	Constructor based on an initial transformation and unknown covar.
void	set_translation (double tx, double ty, double tz)
	Sets the translation component of this transformation.
void	set_translation (double tx, double ty)
	Sets the translation component of this transformation.
void	set_rotation (double theta, double alpha, double phi)
	Sets the rotation part of this transformation.
void	set_rotation (double theta)
	Sets the rotation part of this transformation.
void	determine_angles (double &phi, double &alpha, double &theta) const
	Given a rotation matrix which is the product of three independent rotations, extract the angles.
void	determine_angles (double &theta) const
	Extract the angles.
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 &	R () const
	The rotation component of this transform.
vnl_vector< double >	t () const
	The translation component of the transform.
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.
void	inv_map (const vnl_vector< double > &to, vnl_vector< double > &from) const
	Inverse map based on the transformation.
virtual bool	is_invertible () const
	is this an invertible transformation?.
virtual rgrl_transformation_sptr	inverse_transform () const
	Return an inverse transformation.
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.
	rgrl_type_macro (rgrl_trans_rigid, rgrl_transformation) void write(vcl_ostream &os) const
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?.
vnl_matrix< double >	jacobian (vnl_vector< double > const &from_loc) const
	Return the jacobian of the transform.
virtual void	write (vcl_ostream &os) const
	output transformation.
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< double >	R_
vnl_vector< double >	trans_

Detailed Description

Represents a rigid transformation.

A rigid transform is q = R p + t where R is an n-dimensional rotation matrix, and t is an n-dimensional translation vector. This is just like a similarity transformation with scale=1. Note that R has {9,4} parameters, but only {3,1} degrees of freedom in {3D,2D}. t has {3,2} degrees of freedom in {3D,2D}. This can be most easily seen from the fact that rotation matrices are orthonormal. The rigid transform has {6,3} total degrees of freedom (rotation + translation) in {3D,2D}. The relationship between dimensionality(d) and dof(degrees of freedom) is: dof = 3(d-1)

Definition at line 21 of file rgrl_trans_rigid.h.

Constructor & Destructor Documentation

rgrl_trans_rigid::rgrl_trans_rigid ( unsigned int dimension = 0 )

Initialize to the identity transformation.

Definition at line 13 of file rgrl_trans_rigid.cxx.

rgrl_trans_rigid::rgrl_trans_rigid	(	vnl_matrix< double > const &	rot,
		vnl_vector< double > const &	trans,
		vnl_matrix< double > const &	covar
	)

Constructor based on an initial transformation and covar estimate.

Definition at line 32 of file rgrl_trans_rigid.cxx.

rgrl_trans_rigid::rgrl_trans_rigid	(	vnl_matrix< double > const &	rot,
		vnl_vector< double > const &	trans
	)

Constructor based on an initial transformation and unknown covar.

The covariance matrix is a zero matrix.

Definition at line 22 of file rgrl_trans_rigid.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_rigid::clone ( ) const [virtual]

make a clone copy.

Implements rgrl_transformation.

Definition at line 306 of file rgrl_trans_rigid.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.

void rgrl_trans_rigid::determine_angles	(	double &	phi,
		double &	alpha,
		double &	theta
	)		const

Given a rotation matrix which is the product of three independent rotations, extract the angles.

Note:: This method is valid for only the 3d version

Definition at line 83 of file rgrl_trans_rigid.cxx.

void rgrl_trans_rigid::determine_angles ( double & theta ) const

Extract the angles.

Note:: This method is valid for only the 2d version

Definition at line 108 of file rgrl_trans_rigid.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_trans_rigid::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 191 of file rgrl_trans_rigid.cxx.

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

Inverse map based on the transformation.

The inverse mapping for R(p)+ t = q is p = A^-1(q-t)

Reimplemented from rgrl_transformation.

Definition at line 222 of file rgrl_trans_rigid.cxx.

rgrl_transformation_sptr rgrl_trans_rigid::inverse_transform ( ) const [virtual]

Return an inverse transformation.

This function only exist for certain transformations.

Reimplemented from rgrl_transformation.

Definition at line 231 of file rgrl_trans_rigid.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_trans_rigid::is_invertible ( ) const [inline, virtual]

is this an invertible transformation?.

Reimplemented from rgrl_transformation.

Definition at line 87 of file rgrl_trans_rigid.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_rigid::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 215 of file rgrl_trans_rigid.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_rigid::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 125 of file rgrl_trans_rigid.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_rigid::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 116 of file rgrl_trans_rigid.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_rigid::R ( ) const

The rotation component of this transform.

Definition at line 177 of file rgrl_trans_rigid.cxx.

bool rgrl_trans_rigid::read ( vcl_istream & is ) [virtual]

input transformation.

Reimplemented from rgrl_transformation.

Definition at line 274 of file rgrl_trans_rigid.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_rigid::rgrl_type_macro	(	rgrl_trans_rigid	,
		rgrl_transformation
	)		const

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

rgrl_transformation_sptr rgrl_trans_rigid::scale_by ( double scale ) const [virtual]

transform the transformation for images of different resolution.

Implements rgrl_transformation.

Definition at line 249 of file rgrl_trans_rigid.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_rigid::set_rotation	(	double	theta,
		double	alpha,
		double	phi
	)

Sets the rotation part of this transformation.

Note:: This method is valid for only the 3d version

Definition at line 63 of file rgrl_trans_rigid.cxx.

void rgrl_trans_rigid::set_rotation ( double theta )

Sets the rotation part of this transformation.

Note:: This method is valid for only the 2d version

Definition at line 75 of file rgrl_trans_rigid.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_trans_rigid::set_translation	(	double	tx,
		double	ty,
		double	tz
	)

Sets the translation component of this transformation.

Note:: This method is valid for only the 3d version

Definition at line 48 of file rgrl_trans_rigid.cxx.

void rgrl_trans_rigid::set_translation	(	double	tx,
		double	ty
	)

Sets the translation component of this transformation.

Note:: This method is valid for only the 2d version

Definition at line 56 of file rgrl_trans_rigid.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_rigid::t ( ) const

The translation component of the transform.

Definition at line 184 of file rgrl_trans_rigid.cxx.

vnl_matrix< double > rgrl_trans_rigid::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 137 of file rgrl_trans_rigid.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_transformation::write ( vcl_ostream & os ) const [virtual, inherited]

output transformation.

Reimplemented in rgrl_trans_affine, rgrl_trans_quadratic, rgrl_trans_rad_dis_homo2d, rgrl_trans_similarity, rgrl_trans_reduced_quad, rgrl_trans_couple, rgrl_trans_homography2d, rgrl_trans_homo2d_proj_rad, rgrl_trans_translation, and rgrl_trans_spline.

Definition at line 378 of file rgrl_transformation.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.

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_rigid::R_ [private]

Definition at line 120 of file rgrl_trans_rigid.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_rigid::trans_ [private]

Definition at line 121 of file rgrl_trans_rigid.h.

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

contrib/rpl/rgrl/rgrl_trans_rigid.h
contrib/rpl/rgrl/rgrl_trans_rigid.cxx

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation