#include <rgrl_feature_based_registration.h>
Inheritance diagram for rgrl_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 ¤t_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_sptr > | best_matches_ |
| rgrl_set_of< rgrl_scale_sptr > | best_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_sptr > | current_match_sets_ |
| rgrl_transformation_sptr | current_xform_estimate_ |
| 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.
| 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.
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 | 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.
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.
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.
The default is 25 at initialization
Definition at line 201 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.
If expected_max_geometric_scale_ is never set, the default has no effect on the registration.
Definition at line 209 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.
If expected_min_geometric_scale_ is never set, the default has no effect on the registration.
Definition at line 217 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.
If iterations_for_scale_est_ is never set, the default has no effect on the registration.
Definition at line 225 of file rgrl_feature_based_registration.cxx.
| void rgrl_feature_based_registration::penalize_scaling | ( | bool | ) |
penalize transformation that involves scaling of the registraion area.
Definition at line 233 of file rgrl_feature_based_registration.cxx.
| rgrl_set_of< rgrl_match_set_sptr > const & rgrl_feature_based_registration::current_match_sets | ( | ) | const |
| rgrl_transformation_sptr rgrl_feature_based_registration::current_transformation | ( | ) | const |
| unsigned rgrl_feature_based_registration::current_stage | ( | ) | const |
| unsigned rgrl_feature_based_registration::iterations_at_current_stage | ( | ) | const |
Return the current iterations_at_stage_.
Definition at line 266 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 277 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.
Definition at line 545 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 835 of file rgrl_feature_based_registration.cxx.
| static const vcl_type_info& rgrl_object::type_id | ( | ) | [inline, static, inherited] |
| virtual bool rgrl_object::is_type | ( | const vcl_type_info & | type | ) | const [inline, virtual, inherited] |
| 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] |
| void rgrl_object::set_warning | ( | bool | ) | const [inherited] |
| bool rgrl_object::warning | ( | ) | const [inherited] |
| unsigned int rgrl_object::add_observer | ( | rgrl_event_sptr | event, | |
| rgrl_command_sptr | ||||
| ) | [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] |
| void rgrl_object::invoke_event | ( | const rgrl_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 & | ) | 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] |
| 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.
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.
unsigned rgrl_feature_based_registration::num_xforms_tested_ [private] |
Definition at line 165 of file rgrl_feature_based_registration.h.
unsigned rgrl_feature_based_registration::max_icp_iter_ [private] |
Definition at line 166 of file rgrl_feature_based_registration.h.
double rgrl_feature_based_registration::expected_max_geometric_scale_ [private] |
Definition at line 167 of file rgrl_feature_based_registration.h.
double rgrl_feature_based_registration::expected_min_geometric_scale_ [private] |
Definition at line 168 of file rgrl_feature_based_registration.h.
Definition at line 169 of file rgrl_feature_based_registration.h.
bool rgrl_feature_based_registration::should_penalize_scaling_ [private] |
Definition at line 170 of file rgrl_feature_based_registration.h.
unsigned rgrl_feature_based_registration::current_stage_ [private] |
Definition at line 173 of file rgrl_feature_based_registration.h.
unsigned rgrl_feature_based_registration::iterations_at_stage_ [private] |
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.
1.5.1