analytic properties of rotational image warp (around some point) More...

#include <Image/TextureTransformRotation.hh>

Inheritance diagram for BIAS::TextureTransformRotation:

Collaboration diagram for BIAS::TextureTransformRotation:

Public Member Functions
virtual TextureTransformRotation *	Clone () const
	virtual covariant copy constructor, caller must eventually destroy the created object More...

void	ComposeWithInverseDeltaP (const Vector< double > &deltaP)
	concatenate this and an inverse transform with param deltaP and save new parameter vector to this. More...

virtual Vector< double >	GetInverseParameters () const
	returns parameter vector which undoes the current warp More...

const Vector2< double > &	GetOrigin () const
	origin relative to which rotation and scale is performed More...

void	GetParameters (Vector< double > &p) const
	get the current parameter vector More...

int	MapBackward (const HomgPoint2D &sink, HomgPoint2D &src) const
	map a point in image "source" to a point in image "sink" More...

int	MapForward (const HomgPoint2D &src, HomgPoint2D &sink) const
	map a point in image "source" to a point in image "sink" More...

int	ParameterInversionJacobian (Matrix< double > &Jac) const
	compute parameters for inverse operation and obtain the jacobian of the inverse parameters with respect to the original parameters for error propagation More...

int	ParameterJacobianBackward (Matrix< double > &Jac, const HomgPoint2D &src)
	transformed position change when parameters change More...

int	ParameterJacobianForward (Matrix< double > &Jac, const HomgPoint2D &src)
	transformed position change when parameters change More...

bool	ParameterJacobianIsConstant () const
	the jacobian depends on x More...

void	SetOrigin (const Vector2< double > &origin1)
	set origin in image1 and image2 More...

void	SetParameters (const Vector< double > &p)
	rotation(rad) with respect to origin_! x' = A*(x-origin)+origin where A==[cos -sin; sin cos] More...

int	TextureJacobianBackward (const HomgPoint2D &sink, Matrix2x2< double > &Jac) const
	shape change of the local region when mapping backward More...

int	TextureJacobianForward (const HomgPoint2D &src, Matrix2x2< double > &Jac) const
	shape change of the local region when mapping forward More...

virtual bool	TextureJacobianIsConstant () const
	local warp is the same at any image position More...

	TextureTransformRotation ()

virtual	~TextureTransformRotation ()

Protected Attributes
Matrix2x2< double >	A_
	cached local warp and inverse More...

Matrix2x2< double >	Ainv_

Vector2< double >	origin1_
	origin relative to which rotation and scale is performed More...

Vector< double >	P_
	current set of parameters, see SetParameters for meaning More...

double	tx_
	cached displacement and inverse More...

double	txinv_

double	ty_

double	tyinv_

Detailed Description

analytic properties of rotational image warp (around some point)

See BIAS::TextureTransform for explanation of methods.

Author: koeser 04/2008

Definition at line 40 of file TextureTransformRotation.hh.

Constructor & Destructor Documentation

BIAS::TextureTransformRotation::TextureTransformRotation ( )

inline

Definition at line 42 of file TextureTransformRotation.hh.

References TNT::Vector< T >::newsize(), and BIAS::TextureTransform::P_.

Referenced by Clone().

virtual BIAS::TextureTransformRotation::~TextureTransformRotation ( )

inlinevirtual

Definition at line 47 of file TextureTransformRotation.hh.

Member Function Documentation

virtual TextureTransformRotation* BIAS::TextureTransformRotation::Clone ( ) const

inlinevirtual

virtual covariant copy constructor, caller must eventually destroy the created object

Implements BIAS::TextureTransform.

Definition at line 157 of file TextureTransformRotation.hh.

References TextureTransformRotation().

void BIAS::TextureTransformRotation::ComposeWithInverseDeltaP ( const Vector< double > & deltaP )

inlinevirtual

concatenate *this and an inverse transform with param deltaP and save new parameter vector to *this.

Apart from very simple transformations like displacement THIS IS NOT A SIMPLE ADDITION but rather a multiplication-like operation!

This function is particularly important for inverse compositional image alignment (KLT)

Implements BIAS::TextureTransform.

Definition at line 144 of file TextureTransformRotation.hh.

References BIAS::TextureTransform::P_, and SetParameters().

virtual Vector<double> BIAS::TextureTransform::GetInverseParameters ( ) const

inlinevirtualinherited

returns parameter vector which undoes the current warp

Reimplemented in BIAS::TextureTransformAffine.

Examples:: ExampleAlignment.cpp.

Definition at line 130 of file TextureTransform.hh.

Referenced by BIAS::ImageAlignment::Align().

const Vector2<double>& BIAS::TextureTransformRotation::GetOrigin ( ) const

inline

origin relative to which rotation and scale is performed

Definition at line 168 of file TextureTransformRotation.hh.

References origin1_.

void BIAS::TextureTransform::GetParameters ( Vector< double > & p ) const

inlineinherited

get the current parameter vector

Definition at line 83 of file TextureTransform.hh.

Referenced by BIAS::ImageAlignment::Align().

int BIAS::TextureTransformRotation::MapBackward	(	const HomgPoint2D &	sink,
		HomgPoint2D &	source
	)		const

inlinevirtual

map a point in image "source" to a point in image "sink"

Implements BIAS::TextureTransform.

Definition at line 58 of file TextureTransformRotation.hh.

References Ainv_, BIAS::Equal(), MapForward(), txinv_, and tyinv_.

int BIAS::TextureTransformRotation::MapForward	(	const HomgPoint2D &	src,
		HomgPoint2D &	sink
	)		const

inlinevirtual

map a point in image "source" to a point in image "sink"

Implements BIAS::TextureTransform.

Definition at line 49 of file TextureTransformRotation.hh.

References A_, tx_, and ty_.

Referenced by MapBackward().

int BIAS::TextureTransformRotation::ParameterInversionJacobian ( Matrix< double > & Jac ) const

inlinevirtual

compute parameters for inverse operation and obtain the jacobian of the inverse parameters with respect to the original parameters for error propagation

Reimplemented from BIAS::TextureTransform.

Definition at line 150 of file TextureTransformRotation.hh.

References TNT::Matrix< T >::newsize().