rgrl_feature_based_registration Class Reference

#include <rgrl_feature_based_registration.h>

Inheritance diagram for rgrl_feature_based_registration:

Inheritance graph
[legend]

List of all members.


Detailed Description

Feature-based registration.

The registration engine takes a data storage of single- or multiple-stage/resolution. Each stage may contain multiple feature types. Different transformation estimators may be assigned to different stages. The limitations of feature-based registration are fixed registration region and estimator at each stage.

Definition at line 30 of file rgrl_feature_based_registration.h.


Public Member Functions

 rgrl_feature_based_registration (rgrl_data_manager_sptr data, rgrl_convergence_tester_sptr conv_tester)
 Initialize with the data storage and the convergence tester.
 rgrl_feature_based_registration (rgrl_data_manager_sptr data)
 Initialize with the data storage.
 ~rgrl_feature_based_registration ()
 rgrl_type_macro (rgrl_feature_based_registration, rgrl_object)
void clear_results ()
 Clear record of results from previous runs.
void run (rgrl_initializer_sptr initializer)
 Running from multiple initial estimates, produced by the initializer during registration.
void run (rgrl_mask_box from_image_region, rgrl_mask_box to_image_region, rgrl_estimator_sptr estimator, rgrl_transformation_sptr initial_xform, rgrl_scale_sptr prior_scale=0, unsigned init_resolution=0)
 Running from a given initial estimate.
rgrl_transformation_sptr final_transformation () const
 Return the final, best estimate.
rgrl_set_of< rgrl_scale_sptr >
const & 
final_scales () const
 Return the scales of the best transformation estimate.
rgrl_scale_sptr final_scale () const
rgrl_converge_status_sptr final_status () const
 Return the status of the best transformation estimate.
rgrl_set_of
< rgrl_match_set_sptr > const & 
final_match_sets () const
 The multiple match sets used for the best transformation estimate.
rgrl_match_set_sptr final_match_set () const
 The single match set used for the best transformation estimate.
unsigned num_initial_xforms_tested () const
 Return the number of initial transformations tested.
bool has_final_transformation () const
 Return true if has a best xform_estimate.
void set_max_icp_iter (unsigned iter)
 Set the max number of icp iteration per stage.
void set_expected_max_geometric_scale (double scale)
 Set the expected maximum geometric scale.
void set_expected_min_geometric_scale (double scale)
 Set the expected minimum geometric scale.
void set_iterations_for_scale_est (int iter)
 Set the number of iterations during which the scale is to be estimated.
void penalize_scaling (bool)
 penalize transformation that involves scaling of the registraion area.
rgrl_set_of
< rgrl_match_set_sptr > const & 
current_match_sets () const
 Return the current match sets.
rgrl_transformation_sptr current_transformation () const
 Return the current estimate.
unsigned current_stage () const
 Return the current stage.
unsigned iterations_at_current_stage () const
 Return the current iterations_at_stage_.
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 Member Functions

void register_single_feature (rgrl_mask_box from_image_region, rgrl_mask_box to_image_region, rgrl_estimator_sptr initial_xform_estimator, rgrl_transformation_sptr xform_estimate, rgrl_scale_sptr prior_scale, unsigned init_resolution)
 registration of single feature type at each stage/resolution.
void register_multi_feature (rgrl_mask_box from_image_region, rgrl_mask_box to_image_region, rgrl_estimator_sptr initial_xform_estimator, rgrl_transformation_sptr xform_estimate, rgrl_scale_sptr prior_scale, unsigned init_resolution)
 registration of multiple feature types at each stage/resolution.
void initialize_for_next_resolution (rgrl_mask_box &from_image_region, rgrl_mask_box &to_image_region, rgrl_transformation_sptr &xform_estimate, unsigned &current_resol) const
 Scale/shrink the registration region and the xform_est according to the dim_increase_for_next_stage at current_resol.

Private Attributes

rgrl_data_manager_sptr data_
rgrl_convergence_tester_sptr conv_tester_
rgrl_converge_status_sptr best_status_
rgrl_transformation_sptr best_xform_estimate_
rgrl_set_of< rgrl_match_set_sptrbest_matches_
rgrl_set_of< rgrl_scale_sptrbest_scales_
unsigned num_xforms_tested_
unsigned max_icp_iter_
double expected_max_geometric_scale_
double expected_min_geometric_scale_
int iterations_for_scale_est_
bool should_penalize_scaling_
unsigned current_stage_
unsigned iterations_at_stage_
rgrl_set_of< rgrl_match_set_sptrcurrent_match_sets_
rgrl_transformation_sptr current_xform_estimate_

Constructor & Destructor Documentation

rgrl_feature_based_registration::rgrl_feature_based_registration ( rgrl_data_manager_sptr  data,
rgrl_convergence_tester_sptr  conv_tester 
)

Initialize with the data storage and the convergence tester.

Definition at line 22 of file rgrl_feature_based_registration.cxx.

rgrl_feature_based_registration::rgrl_feature_based_registration ( rgrl_data_manager_sptr  data  ) 

Initialize with the data storage.

The default convergence tester is set to median error

Definition at line 37 of file rgrl_feature_based_registration.cxx.

rgrl_feature_based_registration::~rgrl_feature_based_registration (  ) 

Definition at line 51 of file rgrl_feature_based_registration.cxx.


Member Function Documentation

rgrl_feature_based_registration::rgrl_type_macro ( rgrl_feature_based_registration  ,
rgrl_object   
)

void rgrl_feature_based_registration::clear_results (  ) 

Clear record of results from previous runs.

Definition at line 57 of file rgrl_feature_based_registration.cxx.

void rgrl_feature_based_registration::run ( rgrl_initializer_sptr  initializer  ) 

Running from multiple initial estimates, produced by the initializer during registration.

Loop through the set of initial estimates.

Loop through the set of initial estimates, and call the next run(.) in the loop.

Definition at line 70 of file rgrl_feature_based_registration.cxx.

void rgrl_feature_based_registration::run ( rgrl_mask_box  from_image_region,
rgrl_mask_box  to_image_region,
rgrl_estimator_sptr  init_xform_estimator,
rgrl_transformation_sptr  initial_xform,
rgrl_scale_sptr  prior_scale = 0,
unsigned  init_resolution = 0 
)

Running from a given initial estimate.

Based on if data_->is_multi_feature(), call run_single_feature(.) or run_multi_feature(.)

Definition at line 110 of file rgrl_feature_based_registration.cxx.

rgrl_transformation_sptr rgrl_feature_based_registration::final_transformation (  )  const

Return the final, best estimate.

Definition at line 137 of file rgrl_feature_based_registration.cxx.

rgrl_set_of< rgrl_scale_sptr > const & rgrl_feature_based_registration::final_scales (  )  const

Return the scales of the best transformation estimate.

Definition at line 145 of file rgrl_feature_based_registration.cxx.

rgrl_scale_sptr rgrl_feature_based_registration::final_scale (  )  const

Definition at line 152 of file rgrl_feature_based_registration.cxx.

rgrl_converge_status_sptr rgrl_feature_based_registration::final_status (  )  const

Return the status of the best transformation estimate.

Definition at line 161 of file rgrl_feature_based_registration.cxx.

rgrl_set_of< rgrl_match_set_sptr > const & rgrl_feature_based_registration::final_match_sets (  )  const

The multiple match sets used for the best transformation estimate.

The matches used for the best transformation estimate.

Definition at line 169 of file rgrl_feature_based_registration.cxx.

rgrl_match_set_sptr rgrl_feature_based_registration::final_match_set (  )  const

The single match set used for the best transformation estimate.

Definition at line 176 of file rgrl_feature_based_registration.cxx.

unsigned rgrl_feature_based_registration::num_initial_xforms_tested (  )  const

Return the number of initial transformations tested.

The value might be greater than 1 if using initializer which provides a number of initial estimates.

Definition at line 185 of file rgrl_feature_based_registration.cxx.

bool rgrl_feature_based_registration::has_final_transformation (  )  const

Return true if has a best xform_estimate.

Return true is has a best xform_estimate.

Definition at line 193 of file rgrl_feature_based_registration.cxx.

void rgrl_feature_based_registration::set_max_icp_iter ( unsigned  iter  ) 

Set the max number of icp iteration per stage.

Set the max number of icp iteration per level.

The default is 25 at initialization

Definition at line 202 of file rgrl_feature_based_registration.cxx.

void rgrl_feature_based_registration::set_expected_max_geometric_scale ( double  scale  ) 

Set the expected maximum geometric scale.

Set the expected max scale.

If expected_max_geometric_scale_ is never set, the default has no effect on the registration.

Definition at line 210 of file rgrl_feature_based_registration.cxx.

void rgrl_feature_based_registration::set_expected_min_geometric_scale ( double  scale  ) 

Set the expected minimum geometric scale.

Set the expected min scale.

If expected_min_geometric_scale_ is never set, the default has no effect on the registration.

Definition at line 218 of file rgrl_feature_based_registration.cxx.

void rgrl_feature_based_registration::set_iterations_for_scale_est ( int  iter  ) 

Set the number of iterations during which the scale is to be estimated.

Set the number of iteration for scale estimation.

If iterations_for_scale_est_ is never set, the default has no effect on the registration.

Definition at line 226 of file rgrl_feature_based_registration.cxx.

void rgrl_feature_based_registration::penalize_scaling ( bool  penalize  ) 

penalize transformation that involves scaling of the registraion area.

Definition at line 234 of file rgrl_feature_based_registration.cxx.

rgrl_set_of< rgrl_match_set_sptr > const & rgrl_feature_based_registration::current_match_sets (  )  const

Return the current match sets.

Definition at line 243 of file rgrl_feature_based_registration.cxx.

rgrl_transformation_sptr rgrl_feature_based_registration::current_transformation (  )  const

Return the current estimate.

Definition at line 251 of file rgrl_feature_based_registration.cxx.

unsigned rgrl_feature_based_registration::current_stage (  )  const

Return the current stage.

Definition at line 259 of file rgrl_feature_based_registration.cxx.

unsigned rgrl_feature_based_registration::iterations_at_current_stage (  )  const

Return the current iterations_at_stage_.

Return the iteration at current stage.

Definition at line 267 of file rgrl_feature_based_registration.cxx.

void rgrl_feature_based_registration::register_single_feature ( rgrl_mask_box  from_image_region,
rgrl_mask_box  to_image_region,
rgrl_estimator_sptr  initial_xform_estimator,
rgrl_transformation_sptr  xform_estimate,
rgrl_scale_sptr  prior_scale,
unsigned  init_resolution 
) [private]

registration of single feature type at each stage/resolution.

Definition at line 278 of file rgrl_feature_based_registration.cxx.

void rgrl_feature_based_registration::register_multi_feature ( rgrl_mask_box  from_image_region,
rgrl_mask_box  to_image_region,
rgrl_estimator_sptr  initial_xform_estimator,
rgrl_transformation_sptr  xform_estimate,
rgrl_scale_sptr  prior_scale,
unsigned  init_resolution 
) [private]

registration of multiple feature types at each stage/resolution.

registration of multiple feature type at each stage/resolution.

Definition at line 548 of file rgrl_feature_based_registration.cxx.

void rgrl_feature_based_registration::initialize_for_next_resolution ( rgrl_mask_box from_image_region,
rgrl_mask_box to_image_region,
rgrl_transformation_sptr xform_estimate,
unsigned &  current_resol 
) const [private]

Scale/shrink the registration region and the xform_est according to the dim_increase_for_next_stage at current_resol.

Definition at line 840 of file rgrl_feature_based_registration.cxx.

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

Definition at line 157 of file rgrl_feature_based_registration.h.

Definition at line 158 of file rgrl_feature_based_registration.h.

Definition at line 160 of file rgrl_feature_based_registration.h.

Definition at line 161 of file rgrl_feature_based_registration.h.

Definition at line 162 of file rgrl_feature_based_registration.h.

Definition at line 163 of file rgrl_feature_based_registration.h.

Definition at line 165 of file rgrl_feature_based_registration.h.

Definition at line 166 of file rgrl_feature_based_registration.h.

Definition at line 167 of file rgrl_feature_based_registration.h.

Definition at line 168 of file rgrl_feature_based_registration.h.

Definition at line 169 of file rgrl_feature_based_registration.h.

Definition at line 170 of file rgrl_feature_based_registration.h.

Definition at line 173 of file rgrl_feature_based_registration.h.

Definition at line 174 of file rgrl_feature_based_registration.h.

Definition at line 175 of file rgrl_feature_based_registration.h.

Definition at line 176 of file rgrl_feature_based_registration.h.


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

Generated on Sun Nov 22 06:34:26 2009 for contrib/rpl/rgrl by  doxygen 1.5.5