Inverse Compositional Image Alignment ("Registration") More...

#include <Matcher2D/ImageAlignment.hh>

Inheritance diagram for BIAS::ImageAlignment:

Collaboration diagram for BIAS::ImageAlignment:

Public Member Functions
void	AddDebugLevel (const long int lv)

void	AddDebugLevel (const std::string &name)

int	Align (const PyramidImage< float > &I1, const PyramidImage< float > &I2, Vector< double > &params, Matrix< double > &Cov, int PyramidLevel=-1)
	aligns image1 with image2 with respect to parameters params More...

int	AutoAlign (const PyramidImage< float > &I1, const PyramidImage< float > &I2, Vector< double > &params, Matrix< double > &Cov)
	aligns image1 with image2 with respect to parameters params, scale space tracking is used recursively until maximum resolution reached. More...

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

void	GetLastBrightnessChange (double &scale, double &shift)
	return relative affine transform between i1 and i2 if AffineBrightnessInvariance was active More...

int	GetMaxIterations ()

float	GetMaxUpdate ()

	ImageAlignment ()

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	SetAffineBrightnessInvariance (bool bi)
	enable brightness variance and offset invariant computation More...

void	SetAlignmentPixelsRectangular (const LocalAffineFrame &LAF, int numberOfPixels=-1)
	choose any rectangular tracking region and resolution More...

void	SetDampening (const double &dampening)
	adds a dampening d to hessian's diag More...

void	SetDebugLevel (const long int lv)

void	SetDebugLevel (const std::string &name)

void	SetDebugStream (const std::ostream &os)

void	SetIntensitySigma (const double &sigma)
	set expected standard deviation for grey value noise More...

void	SetLineSearch (const double &lineSearch)
	enable/disable and set step width for line search: <=0 disables, 0.1 or 0.5 may be good values. More...

void	SetMaxIterations (const int maxiter)
	number of iterations, before the system stops unsuccessfully More...

void	SetTextureTransform (const TextureTransform &T)
	pass object type which holds texture transform More...

void	SetUpdateThreshold (const double maxerr)
	if a step smaller (norm L2) than this is taken, convergence is declared and the system finishes More...

void	ShowDebugLevel (std::ostream &os=std::cout) const
	prints all internally known debuglevels More...

int	StrictPyramidAlign (const PyramidImage< float > &I1, const PyramidImage< float > &I2, Vector< double > &params, Matrix< double > &Cov)
	aligns image1 with image2 with respect to parameters params, traditional pyramid based alignment is used, mainly for comparison reasons. More...

	~ImageAlignment ()

Static Public Member Functions
static long int	GetGlobalDebugLevel ()

static void	SetGlobalDebugLevel (long int lev)

Protected Member Functions
int	CheckConvergence_ (const Vector< double > &params, const Matrix< double > &Cov, const double &pixelAccuracy=0.3)
	check for given cov and params, whether control points move more than pixelAccuracy More...

long	ConsumeNextFreeDebuglevel_ ()
	returns the next available debuglevel 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

std::vector< bool >	active_

bool	AffineBrightnessInvariance_
	compute brightness "invariant" More...

std::vector< HomgPoint2D >	ControlPositions_

double	Dampening_
	adds a dampening to hessian's diag: >=0: d, <0 d*largest eigvalue More...

double	dev1_

double	dev2_

std::vector< HomgPoint2D >	ImagePositions_

double	intensitySigma_
	how much noise is expected on intensity values More...

int	iterationDebug_
	internal counter for numbering debug images More...

double	LineSearch_
	if error is not reduced in one step, linesearch times this step is tried set to <=0 to disable line search More...

int	MaxIterations_
	iteration stops after More...

float	MaxUpdate_
	iteration stops if parameter update is less than More...

double	mean1_
	mean and std deviation of image patch More...

double	mean2_

std::vector< Vector< double > >	SteepestDescentImages_

TextureTransform *	T_
	the warp model More...

std::vector< Vector2< double > >	TemplateGradients_

std::vector< double >	TemplateGreyValues_
	gradients and grey values from image 1 More...

std::vector< HomgPoint2D >	TemplatePositions_

std::vector< double >	TemplateScales_

Static Protected Attributes
static std::ostream	_zDebugStream

static long int	GlobalDebugLevel = 0

Detailed Description

Inverse Compositional Image Alignment ("Registration")

This class implements generic inverse compositional image alignment as proposed by Baker and Matthews in "Lucas-Kanade 20 years on". The model for which you estimate the parameters must be of type TextureTransform (e.g. affine, homography, displacement, camera pose, calibration, ...).

The key idea is that the required inversion of the hessian and the incorporation of the gradients are not recomputed per iteration in this formulation as opposed to the standard KLT.

Author: koeser 01/2008

Examples:: EvaluateAlignment.cpp, and ExampleAlignment.cpp.

Definition at line 61 of file ImageAlignment.hh.

Constructor & Destructor Documentation

BIAS::ImageAlignment::ImageAlignment ( )

Definition at line 42 of file ImageAlignment.cpp.

BIAS::ImageAlignment::~ImageAlignment ( )

inline

Definition at line 65 of file ImageAlignment.hh.

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 BIAS::ImageAlignment::Align	(	const PyramidImage< float > &	I1,
		const PyramidImage< float > &	I2,
		Vector< double > &	params,
		Matrix< double > &	Cov,
		int	PyramidLevel = `-1`
	)

aligns image1 with image2 with respect to parameters params

if no pyramidlevel is supplied the best pyramid level for each pixel is chosen automatically using Cov (scale space tracking)

Definition at line 53 of file ImageAlignment.cpp.

References BIAS::TextureTransform::Clone(), BIAS::TextureTransform::ComposeWithInverseDeltaP(), BIAS::SVD::Compute(), BIAS::PyramidImage< T >::GetAnisotropicImageValue(), BIAS::Image< StorageType >::GetImageData(), BIAS::PyramidImage< T >::GetImageValue(), BIAS::TextureTransform::GetInverseParameters(), BIAS::TextureTransform::GetParameters(), BIAS::SVD::GetS(), BIAS::PyramidImage< T >::GetTrilinearImageValue(), BIAS::SVD::Invert(), BIAS::PyramidImage< T >::IsInROI(), BIAS::TextureTransform::MapBackward(), BIAS::MatrixZero, BIAS::Matrix< T >::MultLeft(), BIAS::Vector< T >::NormL2(), BIAS::Matrix< T >::NormL2(), TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), BIAS::TextureTransform::ParameterInversionJacobian(), BIAS::TextureTransform::ParameterJacobianBackward(), BIAS::ImageIO::Save(), BIAS::Matrix< T >::SetIdentity(), BIAS::TextureTransform::SetParameters(), BIAS::ImageBase::SetZero(), BIAS::PyramidImageInterface< StorageType >::size(), BIAS::Vector< T >::Size(), TNT::Vector< T >::size(), BIAS::FileHandling::toString(), BIAS::Matrix< T >::Trace(), and BIAS::Matrix< T >::Transpose().

int BIAS::ImageAlignment::AutoAlign	(	const PyramidImage< float > &	I1,
		const PyramidImage< float > &	I2,
		Vector< double > &	params,
		Matrix< double > &	Cov
	)

aligns image1 with image2 with respect to parameters params, scale space tracking is used recursively until maximum resolution reached.

Requires correct Cov as input.

Examples:: EvaluateAlignment.cpp.

Definition at line 923 of file ImageAlignment.cpp.

References TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), TNT::Vector< T >::size(), and BIAS::Matrix< T >::Trace().

int BIAS::ImageAlignment::CheckConvergence_	(	const Vector< double > &	params,
		const Matrix< double > &	Cov,
		const double &	pixelAccuracy = `0.3`
	)

protected

check for given cov and params, whether control points move more than pixelAccuracy

Definition at line 1123 of file ImageAlignment.cpp.

References BIAS::Matrix< T >::Transpose().

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(), BIAS::UnscentedTransform::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.

void BIAS::ImageAlignment::GetLastBrightnessChange	(	double &	scale,
		double &	shift
	)

inline

return relative affine transform between i1 and i2 if AffineBrightnessInvariance was active

i2 = scale * i1 + shift

Examples:: ExampleAlignment.cpp.

Definition at line 127 of file ImageAlignment.hh.

int BIAS::ImageAlignment::GetMaxIterations ( )

inline

Definition at line 109 of file ImageAlignment.hh.

float BIAS::ImageAlignment::GetMaxUpdate ( )

inline

Definition at line 111 of file ImageAlignment.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 BIAS::UnscentedTransform::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::ImageAlignment::SetAffineBrightnessInvariance ( bool bi )

inline

enable brightness variance and offset invariant computation

Examples:: ExampleAlignment.cpp.

Definition at line 105 of file ImageAlignment.hh.

void BIAS::ImageAlignment::SetAlignmentPixelsRectangular	(	const LocalAffineFrame &	LAF,
		int	numberOfPixels = `-1`
	)

choose any rectangular tracking region and resolution

The localaffineframe determines the shape, scale and orientation of the rectangular region used for tracking. The numberofpixelsis a windowsize, e.g. if you pass 9, a 9x9 grid will be used for tracking If you pass -1, each pixel is used for tracking

Examples:: EvaluateAlignment.cpp, and ExampleAlignment.cpp.

Definition at line 874 of file ImageAlignment.cpp.

References BIAS::Matrix2x2< T >::det(), BIAS::LocalAffineFrame::GetA(), BIAS::HomgPoint2D, and BIAS::LocalAffineFrame::LocalToGlobal().

void BIAS::ImageAlignment::SetDampening ( const double & dampening )

inline

adds a dampening d to hessian's diag

Parameters

dampening,: >=0: d, <0 -d*largest eigvalue

Examples:: EvaluateAlignment.cpp, and ExampleAlignment.cpp.

Definition at line 140 of file ImageAlignment.hh.

void BIAS::Debug::SetDebugLevel ( const long int lv )

inlineinherited

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::ImageAlignment::SetIntensitySigma ( const double & sigma )

inline

set expected standard deviation for grey value noise

This is important if maximum a posteriori-estimation is desired and you provide a correctly scaled prior cov for the warp parameters. Pixels which have smaller gradient than this are rejected.

Definition at line 149 of file ImageAlignment.hh.

void BIAS::ImageAlignment::SetLineSearch ( const double & lineSearch )

inline

enable/disable and set step width for line search: <=0 disables, 0.1 or 0.5 may be good values.

1.0 would mean original step

Definition at line 134 of file ImageAlignment.hh.

void BIAS::ImageAlignment::SetMaxIterations ( const int maxiter )

inline

number of iterations, before the system stops unsuccessfully

Examples:: EvaluateAlignment.cpp, and ExampleAlignment.cpp.

Definition at line 96 of file ImageAlignment.hh.

void BIAS::ImageAlignment::SetTextureTransform ( const TextureTransform & T )

inline

pass object type which holds texture transform

Examples:: EvaluateAlignment.cpp, and ExampleAlignment.cpp.

Definition at line 90 of file ImageAlignment.hh.

References BIAS::TextureTransform::Clone().

void BIAS::ImageAlignment::SetUpdateThreshold ( const double maxerr )

inline

if a step smaller (norm L2) than this is taken, convergence is declared and the system finishes

Examples:: EvaluateAlignment.cpp, and ExampleAlignment.cpp.

Definition at line 101 of file ImageAlignment.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 BIAS::ImageAlignment::StrictPyramidAlign	(	const PyramidImage< float > &	I1,
		const PyramidImage< float > &	I2,
		Vector< double > &	params,
		Matrix< double > &	Cov
	)

aligns image1 with image2 with respect to parameters params, traditional pyramid based alignment is used, mainly for comparison reasons.

Can be used also if Cov is totally unknown.

Examples:: ExampleAlignment.cpp.

Definition at line 1043 of file ImageAlignment.cpp.

References TNT::Matrix< T >::num_cols(), TNT::Matrix< T >::num_rows(), BIAS::PyramidImageInterface< StorageType >::size(), TNT::Vector< T >::size(), and BIAS::Matrix< T >::Trace().

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=().

std::vector<bool> BIAS::ImageAlignment::active_

protected

Definition at line 200 of file ImageAlignment.hh.

bool BIAS::ImageAlignment::AffineBrightnessInvariance_

protected

compute brightness "invariant"

Definition at line 175 of file ImageAlignment.hh.

std::vector<HomgPoint2D> BIAS::ImageAlignment::ControlPositions_

protected

Definition at line 196 of file ImageAlignment.hh.

double BIAS::ImageAlignment::Dampening_

protected

adds a dampening to hessian's diag: >=0: d, <0 d*largest eigvalue

Definition at line 172 of file ImageAlignment.hh.

double BIAS::ImageAlignment::dev1_

protected

Definition at line 189 of file ImageAlignment.hh.

double BIAS::ImageAlignment::dev2_

protected

Definition at line 189 of file ImageAlignment.hh.

long int BIAS::Debug::GlobalDebugLevel = 0

staticprotectedinherited

Definition at line 513 of file Debug.hh.

std::vector<HomgPoint2D> BIAS::ImageAlignment::ImagePositions_

protected

Definition at line 198 of file ImageAlignment.hh.

double BIAS::ImageAlignment::intensitySigma_

protected

how much noise is expected on intensity values

Definition at line 182 of file ImageAlignment.hh.

int BIAS::ImageAlignment::iterationDebug_

protected

internal counter for numbering debug images

Definition at line 203 of file ImageAlignment.hh.

double BIAS::ImageAlignment::LineSearch_

protected

if error is not reduced in one step, linesearch times this step is tried set to <=0 to disable line search

Definition at line 179 of file ImageAlignment.hh.

int BIAS::ImageAlignment::MaxIterations_

protected

iteration stops after

Definition at line 166 of file ImageAlignment.hh.

float BIAS::ImageAlignment::MaxUpdate_

protected

iteration stops if parameter update is less than

Definition at line 169 of file ImageAlignment.hh.

double BIAS::ImageAlignment::mean1_

protected

mean and std deviation of image patch

Definition at line 189 of file ImageAlignment.hh.

double BIAS::ImageAlignment::mean2_

protected

Definition at line 189 of file ImageAlignment.hh.

std::vector<Vector<double> > BIAS::ImageAlignment::SteepestDescentImages_

protected

Definition at line 199 of file ImageAlignment.hh.

TextureTransform* BIAS::ImageAlignment::T_

protected

the warp model

Definition at line 186 of file ImageAlignment.hh.

std::vector<Vector2<double> > BIAS::ImageAlignment::TemplateGradients_

protected

Definition at line 193 of file ImageAlignment.hh.

std::vector<double> BIAS::ImageAlignment::TemplateGreyValues_

protected

gradients and grey values from image 1

Definition at line 192 of file ImageAlignment.hh.

std::vector<HomgPoint2D> BIAS::ImageAlignment::TemplatePositions_

protected

Definition at line 195 of file ImageAlignment.hh.

std::vector<double> BIAS::ImageAlignment::TemplateScales_

protected

Definition at line 194 of file ImageAlignment.hh.

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

Matcher2D/ImageAlignment.hh
Matcher2D/ImageAlignment.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation