lti::monteCarloEstimator Class Reference

A parent class for estimating a transform from point sets while detecting and discarding outliers. More...

#include <ltiMonteCarloEstimator.h>

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List of all members.

Classes
class	parameters
	The parameters for the class monteCarloEstimator. More...
Public Member Functions
	monteCarloEstimator ()
	monteCarloEstimator (const parameters &par)
	monteCarloEstimator (const monteCarloEstimator &other)
virtual	~monteCarloEstimator ()
virtual const char *	getTypeName () const
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< dpoint > &src, dvector &dest) const =0
virtual bool	apply (const matrix< dpoint > &src, dvector &dest, dvector &error) const =0
monteCarloEstimator &	copy (const monteCarloEstimator &other)
monteCarloEstimator &	operator= (const monteCarloEstimator &other)
virtual functor *	clone () const =0
const parameters &	getParameters () const
virtual bool	setParameters (const transformEstimator::parameters &theParams)
virtual bool	setParameters (const pointSetNormalization::parameters &theParams)
bool	setParameters (const parameters &theParams)
Protected Member Functions
parameters &	getWritableParameters ()

Detailed Description

A parent class for estimating a transform from point sets while detecting and discarding outliers.

To archive this a random set of samples is drawn from the input data to estimate their transform. Common Monte Carlo estimators are e.g. RANSAC and least median of squares algorithm.

See also:: lti::ransacEstimator, lti::transformEstimator

Constructor & Destructor Documentation

lti::monteCarloEstimator::monteCarloEstimator ( )

Default constructor.

lti::monteCarloEstimator::monteCarloEstimator ( const parameters & par )

Construct a functor using the given parameters.

lti::monteCarloEstimator::monteCarloEstimator ( const monteCarloEstimator & other )

Copy constructor.

Parameters:

other

the object to be copied

virtual lti::monteCarloEstimator::~monteCarloEstimator ( ) [virtual]

Destructor.

Member Function Documentation

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

Estimates a transform from the supplied point sets.

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.
	dest	dvector the estimated transform.
	error	fvector containing the deviation of each point from the estimated transform. Usually this is the residual, also a if a squared residual is computed inside the transform estimator.

Returns:: true if apply successful or false otherwise.

Implements lti::robustEstimator.

Implemented in lti::ransacEstimator.

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

Estimates a transform from the supplied point sets.

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.
	dest	dvector the estimated transform.

Returns:: true if apply successful or false otherwise.

Implements lti::robustEstimator.

Implemented in lti::ransacEstimator.

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

Estimates a transform from the supplied point sets.

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.
	dest	fvector the estimated transform.
	error	fvector containing the deviation of each point from the estimated transform. Usually this is the residual, also a if a squared residual is computed inside the transform estimator.