Basic Image AlgorithmS Library  2.8.0
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BIAS::UnscentedTransform Class Referenceabstract
Algorithms

uses the unscented transformation to map a normal distribututed random variable using a nonlinear transformation More...

#include <MathAlgo/UnscentedTransform.hh>

+ Inheritance diagram for BIAS::UnscentedTransform:
+ Collaboration diagram for BIAS::UnscentedTransform:

Public Member Functions

void AddDebugLevel (const long int lv)
 
void AddDebugLevel (const std::string &name)
 
bool DebugLevelIsSet (const long int lv) const
 
bool DebugLevelIsSet (const std::string &name) const
 
int GetDebugLevel () const
 
std::ostream & GetDebugStream () const
 
void GetDebugStream (std::ostream &os) const
 
long int Name2DebugLevel (const std::string &name) const
 looks up a debuglevel in the internal map, returns 0 if not found More...
 
long int NewDebugLevel (const std::string &name)
 creates a new debuglevel More...
 
void PrintDebugLevel (std::ostream &os=std::cout) const
 
void RemoveDebugLevel (const long int lv)
 
void RemoveDebugLevel (const std::string &name)
 
void SetAlpha (const double alpha)
 Sets the alpha parameter. More...
 
void SetBeta (const double beta)
 Sets the beta parameter. More...
 
void SetDebugLevel (const long int lv)
 
void SetDebugLevel (const std::string &name)
 
void SetDebugStream (const std::ostream &os)
 
void SetUseSVD (const bool use_svd)
 
void ShowDebugLevel (std::ostream &os=std::cout) const
 prints all internally known debuglevels More...
 
int Transform (const Vector< double > &src_mean, const Matrix< double > &src_cov, Vector< double > &dst_mean, Matrix< double > &dst_cov) const
 computes the second order approximation of the transformations of the mean and the associated covariance for the point transformation Transform_(). More...
 
 UnscentedTransform ()
 
virtual ~UnscentedTransform ()
 

Static Public Member Functions

static long int GetGlobalDebugLevel ()
 
static void SetGlobalDebugLevel (long int lev)
 

Protected Member Functions

int ComputeSigmaPoints_ (const Vector< double > &src_mean, const Matrix< double > &src_cov, std::vector< WeightedSigmaPoint > &sigma_points) const
 The covariance of a n-dimensional vector is approximated using 2n+1 so called sigma points with associated weights. More...
 
long ConsumeNextFreeDebuglevel_ ()
 returns the next available debuglevel More...
 
virtual int Transform_ (const Vector< double > &src, Vector< double > &dst) const =0
 implements a point transformation More...
 

Protected Attributes

long int _liDebugLevel
 
long int _liNextDebugLevel
 new concept, debuglevel are managed here in the debug class More...
 
std::map< std::string, long int > _String2Debuglevel
 
double Alpha_
 the alpha parameter determines the spread of the sigma points More...
 
double Beta_
 beta is used to incorporate prior knowledge of the distribution of x. More...
 
double Kappa_
 kappa is a secondary scaling parameter. More...
 
bool UseSVD_
 

Static Protected Attributes

static std::ostream _zDebugStream
 
static long int GlobalDebugLevel = 0
 

Detailed Description

uses the unscented transformation to map a normal distribututed random variable using a nonlinear transformation

See S.J.Julier and J.K.Uhlmann "A New Extension of the Kalman Filter to Nonlinear Systems" for a detailed description of the unscented transform. The unscented transform approximates the transformation of the covariance matrix up to second order of the according Taylor series.

To use this class derive from it and implement the non linear transformation function Transform_().

Author
woelk 01/2006 (tested)
Examples:
ExampleUncertaintyTransform.cpp.

Definition at line 60 of file UnscentedTransform.hh.

Constructor & Destructor Documentation

UnscentedTransform::UnscentedTransform ( )

Definition at line 36 of file UnscentedTransform.cpp.

References BIAS::Debug::NewDebugLevel().

UnscentedTransform::~UnscentedTransform ( )
virtual

Definition at line 47 of file UnscentedTransform.cpp.

Member Function Documentation

void BIAS::Debug::AddDebugLevel ( const long int  lv)
inlineinherited
Examples:
EvaluateAlignment.cpp, ExampleAlignment.cpp, ExampleMinMax.cpp, ExampleRANSAC_double.cpp, ExampleRANSACPlane.cpp, and ExampleTriangulateOptimal.cpp.

Definition at line 355 of file Debug.hh.

Referenced by BIAS::GLProjectionParametersBase::AddDebugLevel(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::FilterBase< InputStorageType, OutputStorageType >::FilterBase(), BIAS::ShowCamWxVideoSourceFactory::OpenDevice(), and BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph().

void BIAS::Debug::AddDebugLevel ( const std::string &  name)
inlineinherited

Definition at line 362 of file Debug.hh.

int UnscentedTransform::ComputeSigmaPoints_ ( const Vector< double > &  src_mean,
const Matrix< double > &  src_cov,
std::vector< WeightedSigmaPoint > &  sigma_points 
) const
protected

The covariance of a n-dimensional vector is approximated using 2n+1 so called sigma points with associated weights.

The points and weights are computed in this function

Returns
0=ok, <0 on error (bad cov, ...)

Definition at line 138 of file UnscentedTransform.cpp.

References Alpha_, Beta_, BIAS::Debug::DebugLevelIsSet(), BIAS::Matrix< T >::GetCol(), BIAS::Matrix< T >::GetCols(), Kappa_, Lapack_Cholesky_SymmetricPositiveDefinit(), BIAS::Less(), TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), BIAS::Vector< T >::Size(), BIAS::SVD::SqrtT(), and UseSVD_.

Referenced by Transform().

long BIAS::Debug::ConsumeNextFreeDebuglevel_ ( )
inlineprotectedinherited

returns the next available debuglevel

Author
woelk 09/2006

Definition at line 521 of file Debug.hh.

bool BIAS::Debug::DebugLevelIsSet ( const long int  lv) const
inlineinherited
Examples:
ExampleTriangulateOptimal.cpp.

Definition at line 341 of file Debug.hh.

Referenced by BIAS::GenSynthMatches::_AddUniformDistributedOutliers(), BIAS::GenSynthMatches::_CreateCamMovement(), BIAS::GenSynthMatches::_CreateStatic2DPoints(), ComputeSigmaPoints_(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::GenSynthMatches::GetGTNormalizedF(), BIAS::MonteCarloTransform::GetSamples_(), and BIAS::MonteCarloTransform::Transform().

bool BIAS::Debug::DebugLevelIsSet ( const std::string &  name) const
inlineinherited

Definition at line 350 of file Debug.hh.

int BIAS::Debug::GetDebugLevel ( ) const
inlineinherited
Examples:
ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, and ExampleParabola.cpp.

Definition at line 332 of file Debug.hh.

Referenced by BIAS::listenthread(), BIAS::Image< StorageType >::operator=(), and BIAS::ImageBase::operator=().

std::ostream& BIAS::Debug::GetDebugStream ( ) const
inlineinherited

Definition at line 405 of file Debug.hh.

void BIAS::Debug::GetDebugStream ( std::ostream &  os) const
inlineinherited

Definition at line 414 of file Debug.hh.

static long int BIAS::Debug::GetGlobalDebugLevel ( )
inlinestaticinherited

Definition at line 431 of file Debug.hh.

long int BIAS::Debug::Name2DebugLevel ( const std::string &  name) const
inlineinherited

looks up a debuglevel in the internal map, returns 0 if not found

Author
woelk 09/2006

Definition at line 454 of file Debug.hh.

long int BIAS::Debug::NewDebugLevel ( const std::string &  name)
inlineinherited

creates a new debuglevel

Author
woelk 09/2006

Definition at line 474 of file Debug.hh.

Referenced by BIAS::COSAC< SolutionType >::COSAC(), BIAS::ProjectionParametersPerspectiveDepth::Init(), BIAS::MonteCarloTransform::MonteCarloTransform(), BIAS::PMatrixEstimation::PMatrixEstimation(), BIAS::PreemptiveRANSAC< SolutionType >::PreemptiveRANSAC(), BIAS::RANSACPreKnowledge< SolutionType >::RANSACPreKnowledge(), BIAS::ROI::ROI(), BIAS::RotationAveraging::RotationAveraging(), BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph(), BIAS::ThreeDOutOpenSceneGraph::ThreeDOutOpenSceneGraph(), BIAS::Triangulation::Triangulation(), and UnscentedTransform().

void BIAS::Debug::PrintDebugLevel ( std::ostream &  os = std::cout) const
inlineinherited

Definition at line 383 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const long int  lv)
inlineinherited

Definition at line 369 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const std::string &  name)
inlineinherited

Definition at line 376 of file Debug.hh.

void BIAS::UnscentedTransform::SetAlpha ( const double  alpha)
inline

Sets the alpha parameter.

The alpha parameter determines the spread of the sigma points

Definition at line 80 of file UnscentedTransform.hh.

void BIAS::UnscentedTransform::SetBeta ( const double  beta)
inline

Sets the beta parameter.

beta is used to incorporate prior knowledge of the distribution of x. For Gaussian distributions beta = 2.0 is optiomal

Definition at line 86 of file UnscentedTransform.hh.

void BIAS::Debug::SetDebugLevel ( const long int  lv)
inlineinherited
Examples:
ExampleCamera.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, ExampleDcam.cpp, ExampleDcamImageConvert.cpp, ExampleDirectToDisk.cpp, ExampleGrabTrippleFromXB3.cpp, ExampleHarrisColor.cpp, ExampleLDA.cpp, ExampleLineMatcher.cpp, ExampleMDCamToShm.cpp, ExampleParabola.cpp, ExamplePMatrix.cpp, ExamplePtGreyHiresColor.cpp, ExampleVideoSource_Shm.cpp, and Scan1394Bus.cpp.

Definition at line 318 of file Debug.hh.

Referenced by BIAS::ShowCamWxVideoSourceFactory::CreateBumbleBee(), BIAS::ShowCamWxVideoSourceFactory::CreateDCAM(), BIAS::VideoSource_MDcam::ScanBus(), BIAS::GLProjectionParametersBase::SetDebugLevel(), BIAS::VideoSource_Disk::VideoSource_Disk(), BIAS::VideoSource_DV2::VideoSource_DV2(), BIAS::VideoSource_DV::VideoSource_DV_Internal_Init_(), and BIAS::VideoSource_V4L::VideoSource_V4L().

void BIAS::Debug::SetDebugLevel ( const std::string &  name)
inlineinherited

Definition at line 325 of file Debug.hh.

void BIAS::Debug::SetDebugStream ( const std::ostream &  os)
inlineinherited

Definition at line 398 of file Debug.hh.

static void BIAS::Debug::SetGlobalDebugLevel ( long int  lev)
inlinestaticinherited

Definition at line 424 of file Debug.hh.

void BIAS::UnscentedTransform::SetUseSVD ( const bool  use_svd)
inline

Definition at line 89 of file UnscentedTransform.hh.

void BIAS::Debug::ShowDebugLevel ( std::ostream &  os = std::cout) const
inlineinherited

prints all internally known debuglevels

Author
woelk 09/2006

Definition at line 496 of file Debug.hh.

int UnscentedTransform::Transform ( const Vector< double > &  src_mean,
const Matrix< double > &  src_cov,
Vector< double > &  dst_mean,
Matrix< double > &  dst_cov 
) const
virtual

computes the second order approximation of the transformations of the mean and the associated covariance for the point transformation Transform_().

Returns
0 on success -1 when transformation of mean failed +1 when transfromation of sigma point failed

Implements BIAS::UncertaintyTransformBase.

Definition at line 52 of file UnscentedTransform.cpp.

References ComputeSigmaPoints_(), TNT::Matrix< T >::newsize(), TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), BIAS::Vector< T >::OuterProduct(), BIAS::Vector< T >::SetZero(), BIAS::Matrix< T >::SetZero(), BIAS::Vector< T >::Size(), TNT::Vector< T >::size(), BIAS::Matrix< T >::Trace(), and Transform_().

Referenced by BIAS::EssentialPoint2Line::Compute(), BIAS::CovEuler2Quaternion::CTransform(), BIAS::Covariance3Dto2D::Project(), BIAS::Covariance3Dto2DHomg::Project(), and BIAS::Cov3Dto2DPoseCertain::Transform().

virtual int BIAS::UnscentedTransform::Transform_ ( const Vector< double > &  src,
Vector< double > &  dst 
) const
protectedpure virtual

implements a point transformation

Returns
0 on success

Implemented in BIAS::ProjectionParametersBase, BIAS::ProjectionParametersDynamicLoad, BIAS::CovTransformPose, BIAS::Covariance3Dto2DHomg, BIAS::Covariance3Dto2D, BIAS::EssentialPoint2Line, BIAS::Cov3Dto2DPoseCertain, BIAS::CovEuler2Quaternion, and BIAS::CovQuaternion2AxisAngle.

Referenced by Transform().

Member Data Documentation

long int BIAS::Debug::_liDebugLevel
protectedinherited

Definition at line 510 of file Debug.hh.

Referenced by BIAS::Debug::operator=(), and BIAS::ImageBase::operator=().

long int BIAS::Debug::_liNextDebugLevel
protectedinherited

new concept, debuglevel are managed here in the debug class

Definition at line 516 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::map<std::string, long int> BIAS::Debug::_String2Debuglevel
protectedinherited

Definition at line 517 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::ostream BIAS::Debug::_zDebugStream
staticprotectedinherited

Definition at line 511 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

double BIAS::UnscentedTransform::Alpha_
protected

the alpha parameter determines the spread of the sigma points

Definition at line 94 of file UnscentedTransform.hh.

Referenced by ComputeSigmaPoints_().

double BIAS::UnscentedTransform::Beta_
protected

beta is used to incorporate prior knowledge of the distribution of x.

For Gaussian distributions beta = 2.0 is optiomal

Definition at line 97 of file UnscentedTransform.hh.

Referenced by ComputeSigmaPoints_().

long int BIAS::Debug::GlobalDebugLevel = 0
staticprotectedinherited

Definition at line 513 of file Debug.hh.

double BIAS::UnscentedTransform::Kappa_
protected

kappa is a secondary scaling parameter.

In other papers from Uhlman kappa is fixed to 1.0

Definition at line 100 of file UnscentedTransform.hh.

Referenced by ComputeSigmaPoints_().

bool BIAS::UnscentedTransform::UseSVD_
protected

Definition at line 102 of file UnscentedTransform.hh.

Referenced by ComputeSigmaPoints_().

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