rgrl_estimator Class Reference

#include <rgrl_estimator.h>

Inheritance diagram for rgrl_estimator:

Inheritance graph
[legend]

List of all members.


Detailed Description

Interface for the transform estimators.

An estimator creates a transform object from a set of matches.

Definition at line 27 of file rgrl_estimator.h.


Public Member Functions

 rgrl_estimator ()
 Default constructor.
 rgrl_estimator (unsigned int param_dof)
 Constructor.
virtual ~rgrl_estimator ()
virtual bool is_iterative_method () const =0
 whether this method is iterative or non-iterative.
virtual rgrl_transformation_sptr estimate (rgrl_set_of< rgrl_match_set_sptr > const &matches, rgrl_transformation const &cur_transform) const =0
 Estimate the transform.
virtual rgrl_transformation_sptr estimate (rgrl_match_set_sptr matches, rgrl_transformation const &cur_transform) const
 Estimate the transform.
unsigned int param_dof () const
 The degrees of freedom in the parameter set.
void set_param_dof (unsigned int dof)
 Set the degrees of freedom.
virtual unsigned int residual_dof () const
 The degrees of freedom in the residual.
virtual const vcl_type_info & transformation_type () const =0
 Type of transformation estimated by this estimator.
virtual const vcl_string transformation_name () const
 Name of transformation estimated by this estimator.
 rgrl_type_macro (rgrl_estimator, 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(.
void invoke_event (const rgrl_event &) const
 Call execute(.
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 ()

Private Attributes

unsigned int dof_
 Determine the weighted centres of the From and To points.

Constructor & Destructor Documentation

rgrl_estimator::rgrl_estimator (  ) 

Default constructor.

Does nothing.

Definition at line 18 of file rgrl_estimator.cxx.

rgrl_estimator::rgrl_estimator ( unsigned int  param_dof  ) 

Constructor.

See the comments for param_dof(). The parameter is required by some algorithms such as random sampling and DBICP.

Definition at line 12 of file rgrl_estimator.cxx.

rgrl_estimator::~rgrl_estimator (  )  [virtual]

Definition at line 24 of file rgrl_estimator.cxx.


Member Function Documentation

virtual bool rgrl_estimator::is_iterative_method (  )  const [pure virtual]

whether this method is iterative or non-iterative.

Implemented in rgrl_linear_estimator, and rgrl_nonlinear_estimator.

virtual rgrl_transformation_sptr rgrl_estimator::estimate ( rgrl_set_of< rgrl_match_set_sptr > const &  matches,
rgrl_transformation const &  cur_transform 
) const [pure virtual]

Estimate the transform.

Given a collectsion of match sets in matches and the current transform estimate (from the previous iteration, for example), this function will estimate the transformation parameters and return a transform object that captures the estimated transform.

Implemented in rgrl_est_affine, rgrl_est_dis_homo2d_lm, rgrl_est_homo2d_lm, rgrl_est_homo2d_proj, rgrl_est_homo2d_proj_rad, rgrl_est_homography2d, rgrl_est_quadratic, rgrl_est_reduced_quad2d, rgrl_est_rigid, rgrl_est_similarity2d, rgrl_est_spline, and rgrl_est_translation.

rgrl_transformation_sptr rgrl_estimator::estimate ( rgrl_match_set_sptr  matches,
rgrl_transformation const &  cur_transform 
) const [virtual]

Estimate the transform.

Given a set of matches in matches and the current transform estimate (from the previous iteration, for example), this function will estimate the transformation parameters and return a transform object that captures the estimated transform.

The default implementation in the abstract base class will simply construct a size one collection of match sets and call the other estimate function.

Reimplemented in rgrl_est_affine, rgrl_est_dis_homo2d_lm, rgrl_est_homography2d, rgrl_est_quadratic, rgrl_est_reduced_quad2d, rgrl_est_rigid, rgrl_est_similarity2d, rgrl_est_spline, and rgrl_est_translation.

Definition at line 31 of file rgrl_estimator.cxx.

unsigned int rgrl_estimator::param_dof (  )  const [inline]

The degrees of freedom in the parameter set.

Definition at line 81 of file rgrl_estimator.h.

void rgrl_estimator::set_param_dof ( unsigned int  dof  )  [inline]

Set the degrees of freedom.

Definition at line 84 of file rgrl_estimator.h.

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

The degrees of freedom in the residual.

Most of the time, this would be 1 since the residual comes from a single random variable. In some problems, however, the error is the combination of more than one random variable. (For example, if the residual is a 2d Euclidean distance with possible error in both coordinates, the degrees of freedom in the error will be 2.)

Definition at line 94 of file rgrl_estimator.h.

virtual const vcl_type_info& rgrl_estimator::transformation_type (  )  const [pure virtual]

virtual const vcl_string rgrl_estimator::transformation_name (  )  const [inline, virtual]

Name of transformation estimated by this estimator.

It is more useful when a transformation/estimator pair is capable of storing/estimating several models, usually differing in dof

Reimplemented in rgrl_est_homo2d_proj_rad.

Definition at line 105 of file rgrl_estimator.h.

rgrl_estimator::rgrl_type_macro ( rgrl_estimator  ,
rgrl_object   
)

static const vcl_type_info& rgrl_object::type_id (  )  [inline, static, inherited]

Reimplemented in rgrl_scale_estimator.

Definition at line 64 of file rgrl_object.h.

virtual bool rgrl_object::is_type ( const vcl_type_info &  type  )  const [inline, virtual, inherited]

Reimplemented in rgrl_scale_estimator.

Definition at line 67 of file rgrl_object.h.

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.

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_object::set_warning ( bool  flag  )  const [inherited]

Set the flag for warning messages.

Definition at line 33 of file rgrl_object.cxx.

bool rgrl_object::warning (  )  const [inherited]

Get the warning flag.

Definition at line 40 of file rgrl_object.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_ommand 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_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.

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.

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.

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.


Member Data Documentation

unsigned int rgrl_estimator::dof_ [private]

Determine the weighted centres of the From and To points.

Definition at line 116 of file rgrl_estimator.h.


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

Generated on Sun Nov 22 06:34:25 2009 for contrib/rpl/rgrl by  doxygen 1.5.5