analytic properties of affine image warp More...

#include <Image/TextureTransformAffine.hh>

Inheritance diagram for BIAS::TextureTransformAffine:

Collaboration diagram for BIAS::TextureTransformAffine:

Public Member Functions
virtual TextureTransformAffine *	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...

Vector< double >	ExtractParameters (const Matrix3x3< double > &A) const

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...

void	InterpretParameters (const Vector< double > &p, double &A00, double &A01, double &A10, double &A11, double &tx, double &ty)
	set up A and t from parameters 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 &sink)
	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 > &origin)
	origin relative to which rotation and scale is performed More...

void	SetParameters (const Vector< double > &p)
	a11-1, a12, a21, a22-1, dx, dy 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...

	TextureTransformAffine ()

virtual	~TextureTransformAffine ()

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

Matrix2x2< double >	Ainv_

Vector2< double >	origin_
	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 affine image warp

See BIAS::TextureTransform for explanation of methods.

Author: koeser 01/2008

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

Definition at line 40 of file TextureTransformAffine.hh.

Constructor & Destructor Documentation

BIAS::TextureTransformAffine::TextureTransformAffine ( )

inline

Definition at line 42 of file TextureTransformAffine.hh.

virtual BIAS::TextureTransformAffine::~TextureTransformAffine ( )

inlinevirtual

Definition at line 47 of file TextureTransformAffine.hh.

Member Function Documentation

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

inlinevirtual

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

Implements BIAS::TextureTransform.

Definition at line 109 of file TextureTransformAffine.hh.

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

virtual

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 202 of file TextureTransformAffine.cpp.

References BIAS::SVD::Invert(), and BIAS::MatrixZero.

Vector<double> BIAS::TextureTransformAffine::ExtractParameters ( const Matrix3x3< double > & A ) const

inline

Examples:: EvaluateAlignment.cpp.

Definition at line 128 of file TextureTransformAffine.hh.

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

inlinevirtual

returns parameter vector which undoes the current warp

Reimplemented from BIAS::TextureTransform.

Definition at line 86 of file TextureTransformAffine.hh.

References BIAS::MatrixZero.

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

inline

origin relative to which rotation and scale is performed

Definition at line 105 of file TextureTransformAffine.hh.

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().

void BIAS::TextureTransformAffine::InterpretParameters	(	const Vector< double > &	p,
		double &	A00,
		double &	A01,
		double &	A10,
		double &	A11,
		double &	tx,
		double &	ty
	)

inline

set up A and t from parameters

Definition at line 114 of file TextureTransformAffine.hh.

References BIAS::Vector< T >::Size().

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

virtual

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

Implements BIAS::TextureTransform.

Definition at line 115 of file TextureTransformAffine.cpp.

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

virtual

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

Implements BIAS::TextureTransform.

Definition at line 106 of file TextureTransformAffine.cpp.

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

virtual

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 37 of file TextureTransformAffine.cpp.

References BIAS::Matrix< T >::GetData(), and TNT::Matrix< T >::newsize().