A base class that represents a transformation. More...
#include <rgrl_transformation.h>
Public Member Functions | |
| virtual | ~rgrl_transformation () |
| rgrl_transformation () | |
| default constructor. | |
| rgrl_transformation (const vnl_matrix< double > &cov) | |
| initialize with covariance matrix. | |
| 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 vnl_matrix< double > | transfer_error_covar (vnl_vector< double > const &p) const =0 |
| Compute covariance of the transfer error based on transformation covariance. | |
| 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. | |
| 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 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. | |
| vnl_matrix< double > | jacobian (vnl_vector< double > const &from_loc) const |
| Return the jacobian of the transform. | |
| virtual void | jacobian_wrt_loc (vnl_matrix< double > &jac, vnl_vector< double > const &from_loc) const =0 |
| Compute jacobian w.r.t. location. | |
| virtual rgrl_transformation_sptr | scale_by (double scale) const =0 |
| transform the transformation for images of different resolution. | |
| virtual void | write (vcl_ostream &os) const |
| output transformation. | |
| virtual bool | read (vcl_istream &is) |
| input transformation. | |
| virtual rgrl_transformation_sptr | clone () const =0 |
| make a clone copy. | |
| 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 | |
| virtual void | map_loc (vnl_vector< double > const &from, vnl_vector< double > &to) const =0 |
| Apply the transformation to create a new (mapped) location. | |
| virtual void | map_dir (vnl_vector< double > const &from_loc, vnl_vector< double > const &from_dir, vnl_vector< double > &to_dir) const =0 |
| 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. | |
Detailed Description
A base class that represents a transformation.
Derived classes must implement
- map_loc() to map a location
- map_dir() to map a direction
- covar() to provide the parameter covariance matrix
We use different names for the functions that derived classes implement because otherwise the "name hiding rule" of the C++ standard is invoked, which means the some of the functionality in the base class interface--in particular, the overloaded convenience functions--are unavailable in the derived class interface.
Definition at line 33 of file rgrl_transformation.h.
Constructor & Destructor Documentation
| rgrl_transformation::~rgrl_transformation | ( | ) | [virtual] |
Definition at line 29 of file rgrl_transformation.cxx.
| rgrl_transformation::rgrl_transformation | ( | ) | [inline] |
default constructor.
Definition at line 40 of file rgrl_transformation.h.
| rgrl_transformation::rgrl_transformation | ( | const vnl_matrix< double > & | cov | ) |
initialize with covariance matrix.
Definition at line 22 of file rgrl_transformation.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.
| virtual rgrl_transformation_sptr rgrl_transformation::clone | ( | ) | const [pure virtual] |
make a clone copy.
Implemented in rgrl_trans_affine, rgrl_trans_quadratic, rgrl_trans_rad_dis_homo2d, rgrl_trans_rigid, rgrl_trans_similarity, rgrl_trans_reduced_quad, rgrl_trans_couple, rgrl_trans_homography2d, rgrl_trans_homo2d_proj_rad, rgrl_trans_translation, rgrl_trans_spline, and rgrl_trans_mixed_spline.
| vnl_matrix< double > rgrl_transformation::covar | ( | ) | const |
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.
| 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] |
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] |
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] |
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] |
is covariance set?.
Definition at line 131 of file rgrl_transformation.h.
| virtual bool rgrl_transformation::is_invertible | ( | ) | const [inline, virtual] |
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 |
Return the jacobian of the transform.
use only as backward compatibility
Definition at line 333 of file rgrl_transformation.cxx.
| virtual void rgrl_transformation::jacobian_wrt_loc | ( | vnl_matrix< double > & | jac, |
| vnl_vector< double > const & | from_loc | ||
| ) | const [pure virtual] |
Compute jacobian w.r.t. location.
Implemented in rgrl_trans_affine, rgrl_trans_quadratic, rgrl_trans_rigid, rgrl_trans_reduced_quad, rgrl_trans_similarity, rgrl_trans_couple, rgrl_trans_rad_dis_homo2d, rgrl_trans_translation, rgrl_trans_homo2d_proj_rad, rgrl_trans_homography2d, rgrl_trans_spline, and rgrl_trans_mixed_spline.
| double rgrl_transformation::log_det_covar | ( | ) | const [virtual] |
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] |
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] |
a slightly better way of computing log of determinant.
Definition at line 238 of file rgrl_transformation.cxx.
| virtual void rgrl_transformation::map_dir | ( | vnl_vector< double > const & | from_loc, |
| vnl_vector< double > const & | from_dir, | ||
| vnl_vector< double > & | to_dir | ||
| ) | const [protected, pure virtual] |
Apply the transformation to create a new direction at the (mapped) location.
The resulting direction to_dir is a unit vector.
Implemented in rgrl_trans_affine, rgrl_trans_quadratic, rgrl_trans_rad_dis_homo2d, rgrl_trans_rigid, rgrl_trans_similarity, rgrl_trans_couple, rgrl_trans_reduced_quad, rgrl_trans_homo2d_proj_rad, rgrl_trans_homography2d, rgrl_trans_translation, rgrl_trans_spline, and rgrl_trans_mixed_spline.
| void rgrl_transformation::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.
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] |
Apply to an intensity, with a default of the identity.
Definition at line 223 of file rgrl_transformation.cxx.
| virtual void rgrl_transformation::map_loc | ( | vnl_vector< double > const & | from, |
| vnl_vector< double > & | to | ||
| ) | const [protected, pure virtual] |
Apply the transformation to create a new (mapped) location.
Implemented in rgrl_trans_affine, rgrl_trans_quadratic, rgrl_trans_rad_dis_homo2d, rgrl_trans_rigid, rgrl_trans_similarity, rgrl_trans_reduced_quad, rgrl_trans_couple, rgrl_trans_homo2d_proj_rad, rgrl_trans_homography2d, rgrl_trans_translation, rgrl_trans_spline, and rgrl_trans_mixed_spline.
| void rgrl_transformation::map_location | ( | vnl_vector< double > const & | from, |
| vnl_vector< double > & | to | ||
| ) | const |
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 |
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] |
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] |
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] |
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_transformation::read | ( | vcl_istream & | is | ) | [virtual] |
input transformation.
Reimplemented in rgrl_trans_affine, rgrl_trans_quadratic, rgrl_trans_rad_dis_homo2d, rgrl_trans_rigid, 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 400 of file rgrl_transformation.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_transformation::rgrl_type_macro | ( | rgrl_transformation | , |
| rgrl_object | |||
| ) |
| virtual rgrl_transformation_sptr rgrl_transformation::scale_by | ( | double | scale | ) | const [pure virtual] |
transform the transformation for images of different resolution.
Implemented in rgrl_trans_affine, rgrl_trans_quadratic, rgrl_trans_rigid, rgrl_trans_spline, rgrl_trans_reduced_quad, rgrl_trans_similarity, rgrl_trans_couple, rgrl_trans_rad_dis_homo2d, rgrl_trans_translation, rgrl_trans_homography2d, rgrl_trans_homo2d_proj_rad, and rgrl_trans_mixed_spline.
| const vnl_vector<double>& rgrl_transformation::scaling_factors | ( | ) | const [inline] |
return scaling factor.
Definition at line 170 of file rgrl_transformation.h.
| void rgrl_transformation::set_covar | ( | const vnl_matrix< double > & | covar | ) |
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 | ) |
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.
| virtual vnl_matrix<double> rgrl_transformation::transfer_error_covar | ( | vnl_vector< double > const & | p | ) | const [pure 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.
Implemented in rgrl_trans_quadratic, rgrl_trans_rigid, rgrl_trans_reduced_quad, rgrl_trans_affine, rgrl_trans_homo2d_proj_rad, rgrl_trans_couple, rgrl_trans_rad_dis_homo2d, rgrl_trans_similarity, rgrl_trans_translation, rgrl_trans_homography2d, rgrl_trans_spline, and rgrl_trans_mixed_spline.
| 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] |
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] |
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] |
flag of setting covariance.
Check it before using covariance matrix
Definition at line 209 of file rgrl_transformation.h.
vnl_vector<double> rgrl_transformation::scaling_factors_ [protected] |
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.
The documentation for this class was generated from the following files:
- contrib/rpl/rgrl/rgrl_transformation.h
- contrib/rpl/rgrl/rgrl_transformation.cxx
