lti::robustEstimator Class Reference

A parent class for estimating a transform from sets of points in a robust manner. More...

#include <ltiRobustEstimator.h>

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List of all members.

Classes
class	parameters
	The parameters for the class robustEstimator. More...
Public Member Functions
	robustEstimator ()
	robustEstimator (const parameters &par)
	robustEstimator (const robustEstimator &other)
virtual	~robustEstimator ()
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
robustEstimator &	copy (const robustEstimator &other)
robustEstimator &	operator= (const robustEstimator &other)
virtual functor *	clone () const =0
const parameters &	getParameters () const
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 sets of points in a robust manner.

This is archived be a Monte Carlo estimator for outlier removal or iterative refinement of the transform to reduce the effects of noisy input data (comming up soon).

The Monte Carlo estimators work for any transformation estimation algorithms whereas iterative refinenment will be defined for least squares estimators only.

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

Constructor & Destructor Documentation

lti::robustEstimator::robustEstimator ( )

Default constructor.

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

Construct a functor using the given parameters.

lti::robustEstimator::robustEstimator ( const robustEstimator & other )

Copy constructor.

Parameters:

other

the object to be copied

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

Destructor.

Member Function Documentation

virtual bool lti::robustEstimator::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.

Implemented in lti::monteCarloEstimator, and lti::ransacEstimator.

virtual bool lti::robustEstimator::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.

Implemented in lti::monteCarloEstimator, and lti::ransacEstimator.

virtual bool lti::robustEstimator::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.