lti::fMatrixEstimatorBase Class Reference

A base class for estimating the fundamental matrix with a least squares approach. More...

#include <ltiFMatrixEstimatorBase.h>

Inheritance diagram for lti::fMatrixEstimatorBase:

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Collaboration diagram for lti::fMatrixEstimatorBase:

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List of all members.

Classes
class	parameters
	The parameters for the class fMatrixEstimatorBase. More...
Public Member Functions
	fMatrixEstimatorBase ()
	fMatrixEstimatorBase (const parameters &par)
	fMatrixEstimatorBase (const fMatrixEstimatorBase &other)
virtual	~fMatrixEstimatorBase ()
virtual const char *	getTypeName () const
virtual bool	apply (const matrix< ipoint > &src, fvector &dest) const =0
virtual bool	apply (const matrix< ipoint > &src, fvector &dest, fvector &error) const =0
virtual bool	apply (const matrix< ipoint > &src, fvector &dest, const ivector &indices, int numCorrespondences) const =0
virtual bool	apply (const matrix< ipoint > &src, fvector &dest, fvector &error, const ivector &indices, int numCorrespondences) const =0
virtual bool	apply (const matrix< fpoint > &src, fvector &dest) const =0
virtual bool	apply (const matrix< fpoint > &src, fvector &dest, fvector &error) const =0
virtual bool	apply (const matrix< fpoint > &src, fvector &dest, const ivector &indices, int numCorrespondences) const =0
virtual bool	apply (const matrix< fpoint > &src, fvector &dest, fvector &error, const ivector &indices, int numCorrespondences) const =0
virtual bool	apply (const matrix< dpoint > &src, dvector &dest) const =0
virtual bool	apply (const matrix< dpoint > &src, dvector &dest, dvector &error) const =0
virtual bool	apply (const matrix< dpoint > &src, dvector &dest, const ivector &indices, int numCorrespondences) const =0
virtual bool	apply (const matrix< dpoint > &src, dvector &dest, dvector &error, const ivector &indices, int numCorrespondences) const =0
virtual bool	computeResidual (const matrix< fpoint > &src, const fvector &transform, fvector &dest) const =0
virtual bool	computeResidual (const matrix< dpoint > &src, const dvector &transform, dvector &dest) const =0
virtual int	minNumberCorrespondences () const =0
virtual int	minCorrespondenceDimension () const =0
virtual int	maxCorrespondenceDimension () const =0
virtual bool	denormalize (fvector &srcdest, const vector< fpoint > &scale, const vector< fpoint > &shift) const =0
virtual bool	denormalize (dvector &srcdest, const vector< dpoint > &scale, const vector< dpoint > &shift) const =0
fMatrixEstimatorBase &	copy (const fMatrixEstimatorBase &other)
fMatrixEstimatorBase &	operator= (const fMatrixEstimatorBase &other)
virtual functor *	clone () const =0
const parameters &	getParameters () const

---

Detailed Description

A base class for estimating the fundamental matrix with a least squares approach.

This class is here because a simultanous estimator for the fundamental matrix and a radial distortion is planned.

A note for developers of derived fmatrix classes: The header of this class contains an hidden template base class for template helpers. This template base helper must not be used by any classes other than least squares fundamental matrix estimators, though. Therefore it is not included in the doxygen documentation.

---

Constructor & Destructor Documentation

lti::fMatrixEstimatorBase::fMatrixEstimatorBase

(

)

Default constructor.

lti::fMatrixEstimatorBase::fMatrixEstimatorBase

(

const parameters &

par

)

Construct a functor using the given parameters.

lti::fMatrixEstimatorBase::fMatrixEstimatorBase

(

const fMatrixEstimatorBase &

other

)

Copy constructor.

Parameters:

other

the object to be copied

virtual lti::fMatrixEstimatorBase::~fMatrixEstimatorBase

(

)

[virtual]

Destructor.

---

Member Function Documentation

virtual bool lti::fMatrixEstimatorBase::apply	(	const matrix< dpoint > &	src,
		dvector &	dest,
		dvector &	error,
		const ivector &	indices,
		int	numCorrespondences
	)			const [pure virtual]

Estimates a transform from the supplied point sets, whereby only the points specified in the index vector are considered.

Usually this method calls the apply without the residual first, and then computes the residual.

All points of one point set give a matrix row, whereas all elements of a specifec correspondence stand in a matrix column.

Parameters:

	src	matrix<dpoint> with the point sets. All points of the same image stand in a row. The correspondences in another image stand in the according columns.
	dest	dvector the estimated transform.
	error	dvector containing the deviation of each point from the estimated transform. Usually this is the residual or elementwise squared residual.
	indices	ivector with the indices of the relevant points.
	numCorrespondences	the first numCorrespondences indices are considered.

Returns:

true if the transform could be estimated and false otherwise.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

virtual bool lti::fMatrixEstimatorBase::apply	(	const matrix< dpoint > &	src,
		dvector &	dest,
		const ivector &	indices,
		int	numCorrespondences
	)			const [pure virtual]

Estimates a transform from the supplied point sets, whereby only the points specified in the index vector are considered.

This method is used by robost estimators using a monte carlo approach.

All points of one point set give a matrix row, whereas all elements of a specifec correspondence stand in a matrix column.

Parameters:

	src	matrix<dpoint> with the point sets. All points of the same image stand in a row. The correspondences in another image stand in the according columns.
	dest	dvector the estimated transform.
	indices	which rows of the src matrix have to be considered.
	numCorrespondences	the first numCorrespondences indices are considered.

Returns:

true if the transform could be estimated and false otherwise.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

virtual bool lti::fMatrixEstimatorBase::apply	(	const matrix< dpoint > &	src,
		dvector &	dest,
		dvector &	error
	)			const [pure virtual]

Estimates a transform from the supplied point sets, where all points are considered.

Usually this method calls the apply without the residual first, and then computes the residual.

All points of one point set give a matrix row, whereas all elements of a specifec correspondence stand in a matrix column.

Parameters:

	src	matrix<dpoint> with the point sets. All points of the same image stand in a row. The correspondences in another image stand in the according columns.
	dest	dvector the estimated transform.
	error	dvector containing the deviation of each point from the estimated transform. Usually this is the residual or elementwise squared residual.

Returns:

true if the transform could be estimated and false otherwise.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

virtual bool lti::fMatrixEstimatorBase::apply	(	const matrix< dpoint > &	src,
		dvector &	dest
	)			const [pure virtual]

Estimates a transform from the supplied point sets, where all points are considered.

Please implement efficient code using iterators here. Not all robust estimators use a random sampling approach. Some estimators consider all input points and weight them according to their deviation from the transform computed at the prior iteration.

All points of one point set give a matrix row, whereas all elements of a specifec correspondence stand in a matrix column.

Parameters:

	src	matrix<dpoint> with the point sets. All points of the same image stand in a row. The correspondences in another image stand in the according columns.
	dest	dvector the estimated transform.

Returns:

true if the transform could be estimated and false otherwise.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

virtual bool lti::fMatrixEstimatorBase::apply	(	const matrix< fpoint > &	src,
		fvector &	dest,
		fvector &	error,
		const ivector &	indices,
		int	numCorrespondences
	)			const [pure virtual]

Estimates a transform from the supplied point sets, whereby only the points specified in the index vector are considered.

Usually this method calls the apply without the residual first, and then computes the residual.

All points of one point set give a matrix row, whereas all elements of a specifec correspondence stand in a matrix column.

Parameters:

	src	matrix<fpoint> with the point sets. All points of the same image stand in a row. The correspondences in another image stand in the according columns.
	dest	fvector the estimated transform.
	error	fvector containing the deviation of each point from the estimated transform. Usually this is the residual or elementwise squared residual. All correspondences are considered, discarding the valid indices.
	indices	ivector with the indices of the relevant points.
	numCorrespondences	the first numCorrespondences indices are considered.

Returns:

true if the transform could be estimated and false otherwise.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

virtual bool lti::fMatrixEstimatorBase::apply	(	const matrix< fpoint > &	src,
		fvector &	dest,
		const ivector &	indices,
		int	numCorrespondences
	)			const [pure virtual]

Estimates a transform from the supplied point sets, whereby only the points specified in the index vector are considered.

This method is used by robost estimators using a monte carlo approach.

All points of one point set give a matrix row, whereas all elements of a specifec correspondence stand in a matrix column.

Parameters:

	src	matrix<dpoint> with the point sets. All points of the same image stand in a row. The correspondences in another image stand in the according columns.
	dest	fvector the estimated transform.
	indices	ivector with the indices of the relevant points.
	numCorrespondences	the first numCorrespondences indices are considered.

Returns:

true if the transform could be estimated and false otherwise.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

virtual bool lti::fMatrixEstimatorBase::apply	(	const matrix< fpoint > &	src,
		fvector &	dest,
		fvector &	error
	)			const [pure virtual]

Estimates a transform from the supplied point sets, where all points are considered.

Usually this method calls the apply without the residual first, and then computes the residual.

Parameters:

	src	matrix<fpoint> with the point sets. All points of the same image stand in a row. The correspondences in another image stand in the according columns. All points of one point set give a matrix row, whereas all elements of a specific correspondence stand in a matrix column.
	dest	fvector the estimated transform.
	error	fvector containing the deviation of each point from the estimated transform. Usually this is the residual or elementwise squared residual.

Returns:

true if the transform could be estimated and false otherwise.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

virtual bool lti::fMatrixEstimatorBase::apply	(	const matrix< fpoint > &	src,
		fvector &	dest
	)			const [pure virtual]

Estimates a transform from the supplied point sets, where all points are considered.

Please implement efficient code using iterators here. Not all robust estimators use a random sampling approach. Some estimators consider all input points and weight them according to their deviation from the transform computed at the prior iteration.

All points of one point set give a matrix row, whereas all elements of a specifec correspondence stand in a matrix column.

Parameters:

	src	matrix<fpoint> with the point sets. All points of the same image stand in a row. The correspondences in another image stand in the according columns.
	dest	fvector the estimated transform.

Returns:

true if the transform could be estimated and false otherwise.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

virtual bool lti::fMatrixEstimatorBase::apply	(	const matrix< ipoint > &	src,
		fvector &	dest,
		fvector &	error,
		const ivector &	indices,
		int	numCorrespondences
	)			const [pure virtual]

Estimates a transform from the supplied point sets, whereby only the points specified in the index vector are considered.

Usually this method calls the apply without the residual first, and then computes the residual.

All points of one point set give a matrix row, whereas all elements of a specifec correspondence stand in a matrix column.

Parameters:

	src	matrix<ipoint> with the point sets. All points of the same image stand in a row. The correspondences in another image stand in the according columns.
	dest	fvector the estimated transform.
	error	fvector containing the deviation of each point from the estimated transform. Usually this is the residual or elementwise squared residual. All correspondences are considered, discarding the valid indices.
	indices	ivector with the indices of the relevant points.
	numCorrespondences	the first numCorrespondences indices are considered.

Returns:

true if the transform could be estimated and false otherwise.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

virtual bool lti::fMatrixEstimatorBase::apply	(	const matrix< ipoint > &	src,
		fvector &	dest,
		const ivector &	indices,
		int	numCorrespondences
	)			const [pure virtual]

Estimates a transform from the supplied point sets, whereby only the points specified in the index vector are considered.

This method is used by robost estimators using a monte carlo approach.

All points of one point set give a matrix row, whereas all elements of a specifec correspondence stand in a matrix column.

Parameters:

	src	matrix<ipoint> with the point sets. All points of the same image stand in a row. The correspondences in another image stand in the according columns.
	dest	fvector the estimated transform.
	indices	ivector with the indices of the relevant points.
	numCorrespondences	the first numCorrespondences indices are considered.

Returns:

true if the transform could be estimated and false otherwise.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

virtual bool lti::fMatrixEstimatorBase::apply	(	const matrix< ipoint > &	src,
		fvector &	dest,
		fvector &	error
	)			const [pure virtual]

Estimates a transform from the supplied point sets, where all points are considered.

Usually this method calls the apply without the residual first, and then computes the residual.

Parameters:

	src	matrix<ipoint> with the point sets. All points of the same image stand in a row. The correspondences in another image stand in the according columns. All points of one point set give a matrix row, whereas all elements of a specific correspondence stand in a matrix column.
	dest	fvector the estimated transform.
	error	fvector containing the deviation of each point from the estimated transform. Usually this is the residual or elementwise squared residual.

Returns:

true if the transform could be estimated and false otherwise.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

virtual bool lti::fMatrixEstimatorBase::apply	(	const matrix< ipoint > &	src,
		fvector &	dest
	)			const [pure virtual]

Estimates a transform from the supplied point sets, where all points are considered.

Please implement efficient code using iterators here. Not all robust estimators use a random sampling approach. Some estimators consider all input points and weight them according to their deviation from the transform computed at the prior iteration.

All points of one point set give a matrix row, whereas all elements of a specifec correspondence stand in a matrix column.

Parameters:

	src	matrix<ipoint> with the point sets. All points of the same image stand in a row. The correspondences in another image stand in the according columns.
	dest	fvector the estimated transform.

Returns:

true if the transform could be estimated and false otherwise.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

virtual functor* lti::fMatrixEstimatorBase::clone

(

)

const [pure virtual]

Returns a pointer to a clone of this functor.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

virtual bool lti::fMatrixEstimatorBase::computeResidual	(	const matrix< dpoint > &	src,
		const dvector &	transform,
		dvector &	dest
	)			const [pure virtual]

Compute the residual for the given correspondences and transformation vector.

Parameters:

	src	matrix<dpoint> with the point sets. All points of the same image stand in a row. The correspondences in another image stand in the according columns.
	transform	dvector with the transformation
	dest	dvector with the residual

Returns:

true on success and false otherwise.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

virtual bool lti::fMatrixEstimatorBase::computeResidual	(	const matrix< fpoint > &	src,
		const fvector &	transform,
		fvector &	dest
	)			const [pure virtual]

Compute the residual for the given correspondences and transformation vector.

Parameters:

	src	matrix<fpoint> with the point sets. All points of the same image stand in a row. The correspondences in another image stand in the according columns.
	transform	fvector with the transformation
	dest	fvector with the residual

Returns:

true on success and false otherwise.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

fMatrixEstimatorBase& lti::fMatrixEstimatorBase::copy

(

const fMatrixEstimatorBase &

other

)

Copy data of "other" functor.

Parameters:

other

the functor to be copied

Returns:

a reference to this functor object

Reimplemented from lti::transformEstimator.

Reimplemented in lti::fMatrixEstimator.

virtual bool lti::fMatrixEstimatorBase::denormalize	(	dvector &	srcdest,
		const vector< dpoint > &	scale,
		const vector< dpoint > &	shift
	)			const [pure virtual]

A transform estimated on normalized data usually differs from the transform of the original data.

Considering the normalization performed this methods computes the transform which applies to the original data.

Parameters:

	srcdest	the normalized transform. The result will be left here too.
	scale	a vector containing the scale applied to each point set.
	shift	a vector containing the shift of each scaled point set.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

virtual bool lti::fMatrixEstimatorBase::denormalize	(	fvector &	srcdest,
		const vector< fpoint > &	scale,
		const vector< fpoint > &	shift
	)			const [pure virtual]

A transform estimated on normalized data usually differs from the transform of the original data.

Considering the normalization performed this methods computes the transform which applies to the original data.

Parameters:

	srcdest	the normalized transform. The result will be left here too.
	scale	a vector containing the scale applied to each point set.
	shift	a vector containing the shift of each scaled point set.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

const parameters& lti::fMatrixEstimatorBase::getParameters

(

)

const

Returns used parameters.

Reimplemented from lti::transformEstimator.

Reimplemented in lti::fMatrixEstimator.

virtual const char* lti::fMatrixEstimatorBase::getTypeName

(

)

const [virtual]

Returns the name of this type ("fMatrixEstimatorBase").

Reimplemented from lti::transformEstimator.

Reimplemented in lti::fMatrixEstimator.

virtual int lti::fMatrixEstimatorBase::maxCorrespondenceDimension

(

)

const [pure virtual]

Returns the maximum dimension of a correspondence, e.g.

the maximum dimension of a correspondence pair is 2, whereas transformEstimator running on n-tuples may allow an infinite number. Each derived transform estimator only works on correspondences of priori defined dimensions.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

virtual int lti::fMatrixEstimatorBase::minCorrespondenceDimension

(

)

const [pure virtual]

Returns the mininum dimension of a correspondence, e.g.

the minimum dimension of a correspondence pair is 2. Each derived transform estimator only works on correspondences of priori defined dimensions.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

virtual int lti::fMatrixEstimatorBase::minNumberCorrespondences

(

)

const [pure virtual]

Returns the minimum number of correspondences required to estimate the transform.

Implements lti::transformEstimator.

Implemented in lti::fMatrixEstimator.

fMatrixEstimatorBase& lti::fMatrixEstimatorBase::operator=

(

const fMatrixEstimatorBase &

other

)

Alias for copy member.

Parameters:

other

the functor to be copied

Returns:

a reference to this functor object

Reimplemented from lti::transformEstimator.

Reimplemented in lti::fMatrixEstimator.

---

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

• ltiFMatrixEstimatorBase.h