Class to maintain data and optimization model for 2d shift estimation. More...

#include <rrel_shift2d_est.h>

Inheritance diagram for rrel_shift2d_est:

Public Types
enum	scale_t { NONE = 0, SINGLE = 1, MULTIPLE = 2 }
	Type of scale information this problem provides. More...
Public Member Functions
	rrel_shift2d_est (const vcl_vector< vgl_homg_point_2d< double > > &from_pts, const vcl_vector< vgl_homg_point_2d< double > > &to_pts)
	Constructor from vgl_homg_point_2d's.
	rrel_shift2d_est (const vcl_vector< vnl_vector< double > > &from_pts, const vcl_vector< vnl_vector< double > > &to_pts)
	Constructor from vnl_vectors.
virtual	~rrel_shift2d_est ()
	Destructor.
unsigned int	num_samples () const
	Total number of correspondences.
unsigned int	residual_dof () const
	The degrees of freedom in the residual. Each coordinate has.
bool	fit_from_minimal_set (const vcl_vector< int > &point_indices, vnl_vector< double > &params) const
	Generate a parameter estimate from a minimal sample.
void	compute_residuals (const vnl_vector< double > &params, vcl_vector< double > &residuals) const
	Compute unsigned fit residuals relative to the parameter estimate.
bool	weighted_least_squares_fit (vnl_vector< double > &params, vnl_matrix< double > &norm_covar, const vcl_vector< double > *weights=0) const
	Weighted least squares parameter estimate. The normalized covariance is not yet filled in.
unsigned int	param_dof () const
	The degrees of freedom in the parameter set.
unsigned int	num_samples_to_instantiate () const
	Minimum number of samples required to uniquely instantiate a fit.
virtual unsigned int	num_unique_samples () const
	The number of "unique" samples.
virtual void	compute_weights (const vcl_vector< double > &residuals, const rrel_wls_obj *obj, double scale, vcl_vector< double > &weights) const
	Compute the weights for the given residuals.
virtual scale_t	scale_type () const
	Type of scale information the problem provides.
virtual const vcl_vector < double > &	prior_multiple_scales () const
	The prior scale vector, if available.
virtual double	prior_scale () const
	The prior scale, if available.
virtual void	set_prior_multiple_scales (const vcl_vector< double > &scales)
	Sets the scales for heteroscedastic data.
virtual void	set_prior_scale (double scale)
	Sets the scale for homoscedastic data.
virtual void	set_no_prior_scale ()
	Removes the scale information for the problem.
void	set_similarity_weights (const vcl_vector< double > &wgts)
	Set similarity weights.
const vcl_vector< double > &	similarity_weights () const
	Get similarity weights.
Protected Member Functions
void	compute_del_pts ()
void	set_param_dof (unsigned int dof)
	Set the degrees of freedom.
void	set_num_samples_for_fit (unsigned int num_samp)
	Set the number of samples needed for a unique fit.
void	set_scale_type (scale_t t)
	Set the type of prior scale.
Protected Attributes
vcl_vector< vnl_vector< double > >	del_pts_
vcl_vector< vnl_vector< double > >	from_pts_
vcl_vector< vnl_vector< double > >	to_pts_

Detailed Description

Class to maintain data and optimization model for 2d shift estimation.

This class is an adaptation of rrel_homography2d_est to compute a 2D shift instead of a 2D homography.

Definition at line 20 of file rrel_shift2d_est.h.

Member Enumeration Documentation

enum rrel_estimation_problem::scale_t [inherited]

Type of scale information this problem provides.

NONE: problem does not provide any scale information. SINGLE: problem provides a single prior scale (homoscedastic data). MULTIPLE: problem provides a scale for each residual (heteroscedastic data).

Enumerator:

NONE
SINGLE
MULTIPLE

Definition at line 40 of file rrel_estimation_problem.h.

Constructor & Destructor Documentation

rrel_shift2d_est::rrel_shift2d_est	(	const vcl_vector< vgl_homg_point_2d< double > > &	from_pts,
		const vcl_vector< vgl_homg_point_2d< double > > &	to_pts
	)

Constructor from vgl_homg_point_2d's.

Definition at line 10 of file rrel_shift2d_est.cxx.

rrel_shift2d_est::rrel_shift2d_est	(	const vcl_vector< vnl_vector< double > > &	from_pts,
		const vcl_vector< vnl_vector< double > > &	to_pts
	)

Constructor from vnl_vectors.

Definition at line 33 of file rrel_shift2d_est.cxx.

rrel_shift2d_est::~rrel_shift2d_est ( ) [virtual]

Destructor.

Definition at line 47 of file rrel_shift2d_est.cxx.

Member Function Documentation

void rrel_shift2d_est::compute_del_pts ( ) [protected]

Definition at line 117 of file rrel_shift2d_est.cxx.

void rrel_shift2d_est::compute_residuals	(	const vnl_vector< double > &	params,
		vcl_vector< double > &	residuals
	)		const `[virtual]`

Compute unsigned fit residuals relative to the parameter estimate.

Implements rrel_estimation_problem.

Definition at line 69 of file rrel_shift2d_est.cxx.

void rrel_estimation_problem::compute_weights	(	const vcl_vector< double > &	residuals,
		const rrel_wls_obj *	obj,
		double	scale,
		vcl_vector< double > &	weights
	)		const `[virtual, inherited]`

Compute the weights for the given residuals.

The residuals are essentially those returned by compute_residuals(). The default behaviour is to apply obj->wgt() to each residual. Some problems, however, many need to augment the weights. Such problems should override this function (but may want to call this to compute the "basic" weights).

Definition at line 33 of file rrel_estimation_problem.cxx.

bool rrel_shift2d_est::fit_from_minimal_set	(	const vcl_vector< int > &	point_indices,
		vnl_vector< double > &	params
	)		const `[virtual]`

Generate a parameter estimate from a minimal sample.

Implements rrel_estimation_problem.

Definition at line 58 of file rrel_shift2d_est.cxx.

unsigned int rrel_shift2d_est::num_samples ( ) const [virtual]

Total number of correspondences.

Implements rrel_estimation_problem.

Definition at line 52 of file rrel_shift2d_est.cxx.

unsigned int rrel_estimation_problem::num_samples_to_instantiate ( ) const [inline, inherited]

Minimum number of samples required to uniquely instantiate a fit.

dof()/num_samples_to_instantiate() gives the number of constraints per sample.

Definition at line 61 of file rrel_estimation_problem.h.

virtual unsigned int rrel_estimation_problem::num_unique_samples ( ) const [inline, virtual, inherited]

The number of "unique" samples.

In most problems, this equals num_samples. With estimation problems involving non-unique correspondences, however, the total number of possible correspondences (= num_samples()) generally much greater than the number of "unique samples" (which would be the number of points from one image).

This is used by random sampling techniques to determine the number of samples required to get a given probability of success.

Definition at line 84 of file rrel_estimation_problem.h.

unsigned int rrel_estimation_problem::param_dof ( ) const [inline, inherited]

The degrees of freedom in the parameter set.

Definition at line 57 of file rrel_estimation_problem.h.

const vcl_vector< double > & rrel_estimation_problem::prior_multiple_scales ( ) const [virtual, inherited]

The prior scale vector, if available.

The call is valid only if scale_type() == MULTIPLE.

Definition at line 59 of file rrel_estimation_problem.cxx.

double rrel_estimation_problem::prior_scale ( ) const [virtual, inherited]

The prior scale, if available.

The call is valid only if scale_type() == SINGLE.

Definition at line 66 of file rrel_estimation_problem.cxx.

unsigned int rrel_shift2d_est::residual_dof ( ) const [inline, virtual]

The degrees of freedom in the residual. Each coordinate has.

Gaussian error, so the Euclidean distance residual has 2 degrees of freedom.

Reimplemented from rrel_estimation_problem.

Definition at line 40 of file rrel_shift2d_est.h.

virtual scale_t rrel_estimation_problem::scale_type ( ) const [inline, virtual, inherited]

Type of scale information the problem provides.

Definition at line 116 of file rrel_estimation_problem.h.

void rrel_estimation_problem::set_no_prior_scale ( ) [virtual, inherited]

Removes the scale information for the problem.

Side effect: set scale_type() = NONE.

Definition at line 90 of file rrel_estimation_problem.cxx.

void rrel_estimation_problem::set_num_samples_for_fit ( unsigned int num_samp ) [inline, protected, inherited]

Set the number of samples needed for a unique fit.

Definition at line 167 of file rrel_estimation_problem.h.

void rrel_estimation_problem::set_param_dof ( unsigned int dof ) [inline, protected, inherited]

Set the degrees of freedom.

Definition at line 164 of file rrel_estimation_problem.h.

void rrel_estimation_problem::set_prior_multiple_scales ( const vcl_vector< double > & scales ) [virtual, inherited]

Sets the scales for heteroscedastic data.

Side effect: set scale_type() = MULTIPLE.

Definition at line 73 of file rrel_estimation_problem.cxx.

void rrel_estimation_problem::set_prior_scale ( double scale ) [virtual, inherited]

Sets the scale for homoscedastic data.

Side effect: set scale_type() = SINGLE.

Definition at line 83 of file rrel_estimation_problem.cxx.

void rrel_estimation_problem::set_scale_type ( scale_t t ) [inline, protected, inherited]

Set the type of prior scale.

Definition at line 170 of file rrel_estimation_problem.h.

void rrel_estimation_problem::set_similarity_weights ( const vcl_vector< double > & wgts ) [inline, inherited]

Set similarity weights.

Currently it is only used in wgted random sampling search

Definition at line 140 of file rrel_estimation_problem.h.

const vcl_vector<double>& rrel_estimation_problem::similarity_weights ( ) const [inline, inherited]

Get similarity weights.

Definition at line 144 of file rrel_estimation_problem.h.

bool rrel_shift2d_est::weighted_least_squares_fit	(	vnl_vector< double > &	params,
		vnl_matrix< double > &	norm_covar,
		const vcl_vector< double > *	weights = `0`
	)		const `[virtual]`

Weighted least squares parameter estimate. The normalized covariance is not yet filled in.

Implements rrel_estimation_problem.

Definition at line 85 of file rrel_shift2d_est.cxx.

Member Data Documentation

vcl_vector< vnl_vector< double > > rrel_shift2d_est::del_pts_ [protected]

Definition at line 56 of file rrel_shift2d_est.h.

vcl_vector< vnl_vector< double > > rrel_shift2d_est::from_pts_ [protected]

Definition at line 60 of file rrel_shift2d_est.h.

vcl_vector< vnl_vector< double > > rrel_shift2d_est::to_pts_ [protected]

Definition at line 61 of file rrel_shift2d_est.h.

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

contrib/rpl/rrel/rrel_shift2d_est.h
contrib/rpl/rrel/rrel_shift2d_est.cxx

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation