BIAS::MSAC< SolutionType > Class Template Reference
[Algorithms]

this class does something, but WHAT? Is it the M-Estimator SAmple Consensus ?? More...

#include <MathAlgo/MSAC.hh>

Inheritance diagram for BIAS::MSAC< SolutionType >:

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List of all members.

Public Member Functions

void AddDebugLevel (const std::string &name)
void AddDebugLevel (const long int lv)
bool DebugLevelIsSet (const std::string &name) const
bool DebugLevelIsSet (const long int lv) const
virtual bool EvaluateSolution (const SolutionType &solution, std::vector< bool > &inlier, int &num_inliers, double &evaluate_score)
virtual bool GenerateSamples (int sample_index, std::vector< unsigned int > &which_samples)
int GetDebugLevel () const
void GetDebugStream (std::ostream &os) const
std::ostream & GetDebugStream () const
virtual int GetSampleSolution (std::vector< unsigned int > &which_samples, SolutionType &solutions)
int Init (int data_size, double terminate_score, int solution_count)
int Init (int data_size)
 MSAC ()
long int Name2DebugLevel (const std::string &name) const
 looks up a debuglevel in the internal map, returns 0 if not found
long int NewDebugLevel (const std::string &name)
 creates a new debuglevel
void PrintDebugLevel (std::ostream &os=std::cout) const
virtual bool RefineSolution (std::vector< unsigned int > &which_samples, SolutionType &solution, std::vector< bool > &new_inliers)
void RemoveDebugLevel (const std::string &name)
void RemoveDebugLevel (const long int lv)
void SetDebugLevel (const std::string &name)
void SetDebugLevel (const long int lv)
void SetDebugStream (const std::ostream &os)
void ShowDebugLevel (std::ostream &os=std::cout) const
 prints all internally known debuglevels
int SolveMaster (SolutionType &solution, std::vector< bool > &inliers)
virtual ~MSAC ()

Static Public Member Functions

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

Protected Member Functions

int _CalculateSampleCount (double expected_inlier_fraction)
double _CalculateTerminateScore (double sigma, double expected_inlier_fraction)
bool _GenerateSamplesRandom (int sample_index, std::vector< unsigned int > &which_samples)
long ConsumeNextFreeDebuglevel_ ()
 returns the next available debuglevel

Protected Attributes

double _dExpectedInlierFraction
double _dExpectedSigma
double _dTerminateScore
int _iDataSize
int _iSampleSize
int _iSolutionCount
long int _liDebugLevel
long int _liNextDebugLevel
 new concept, debuglevel are managed here in the debug class
double _MSACConfidenceThresh
bool _MSACRefineSolution
double _MSACSigmaFac
std::map< std::string, long int > _String2Debuglevel

Static Protected Attributes

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

Detailed Description

template<class SolutionType>
class BIAS::MSAC< SolutionType >

this class does something, but WHAT? Is it the M-Estimator SAmple Consensus ??

Author:
MIP

Definition at line 51 of file MSAC.hh.

Constructor & Destructor Documentation

template<class SolutionType>
BIAS::MSAC< SolutionType >::MSAC (  )  [inline]

Definition at line 113 of file MSAC.hh.

References BIAS::MSAC< SolutionType >::_dExpectedInlierFraction, BIAS::MSAC< SolutionType >::_dExpectedSigma, BIAS::MSAC< SolutionType >::_dTerminateScore, BIAS::MSAC< SolutionType >::_iDataSize, BIAS::MSAC< SolutionType >::_iSampleSize, BIAS::MSAC< SolutionType >::_iSolutionCount, BIAS::MSAC< SolutionType >::_MSACConfidenceThresh, BIAS::MSAC< SolutionType >::_MSACRefineSolution, and BIAS::MSAC< SolutionType >::_MSACSigmaFac.

template<class SolutionType>
BIAS::MSAC< SolutionType >::~MSAC (  )  [inline, virtual]

Definition at line 128 of file MSAC.hh.

Member Function Documentation

template<class SolutionType>
int BIAS::MSAC< SolutionType >::_CalculateSampleCount ( double  expected_inlier_fraction  )  [inline, protected]

Definition at line 381 of file MSAC.hh.

References BIAS::MSAC< SolutionType >::_iSampleSize, and BIAS::MSAC< SolutionType >::_MSACConfidenceThresh.

Referenced by BIAS::MSAC< SolutionType >::Init().

template<class SolutionType>
double BIAS::MSAC< SolutionType >::_CalculateTerminateScore ( double  sigma,
double  expected_inlier_fraction 
) [inline, protected]

Definition at line 367 of file MSAC.hh.

References BIAS::MSAC< SolutionType >::_iDataSize, and BIAS::MSAC< SolutionType >::_MSACSigmaFac.

Referenced by BIAS::MSAC< SolutionType >::Init().

template<class SolutionType>
bool BIAS::MSAC< SolutionType >::_GenerateSamplesRandom ( int  sample_index,
std::vector< unsigned int > &  which_samples 
) [inline, protected]

Definition at line 316 of file MSAC.hh.

References BIAS::MSAC< SolutionType >::_iDataSize, BIAS::MSAC< SolutionType >::_iSampleSize, BIAS::Debug::GetDebugLevel(), BIAS::Debug::GetDebugStream(), and BIAS::Random::GetUniformDistributedInt().

Referenced by BIAS::MSAC< SolutionType >::GenerateSamples().

void BIAS::Debug::AddDebugLevel ( const std::string &  name  )  [inline, inherited]

Definition at line 363 of file Debug.hh.

void BIAS::Debug::AddDebugLevel ( const long int  lv  )  [inline, inherited]

Reimplemented in BIAS::GLProjectionParametersBase.

Examples:
EvaluateAlignment.cpp, ExampleAlignment.cpp, ExampleDebug.cpp, ExampleRANSAC.cpp, ExampleRANSACPlane.cpp, ExampleTriangulateOptimal.cpp, and TestGuiEnhanced.cpp.

Definition at line 356 of file Debug.hh.

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

long BIAS::Debug::ConsumeNextFreeDebuglevel_ (  )  [inline, protected, inherited]

returns the next available debuglevel

Author:
woelk 09/2006

Definition at line 522 of file Debug.hh.

bool BIAS::Debug::DebugLevelIsSet ( const std::string &  name  )  const [inline, inherited]

Definition at line 351 of file Debug.hh.

bool BIAS::Debug::DebugLevelIsSet ( const long int  lv  )  const [inline, inherited]

Examples:
ExampleTriangulateOptimal.cpp.

Definition at line 342 of file Debug.hh.

Referenced by BIAS::GenSynthMatches::_AddUniformDistributedOutliers(), BIAS::Rescale< InputStorageType, OutputStorageType >::_ApplyMeanFilter(), BIAS::CornerDetectorGradient< StorageType, CalculationType >::_CalcCornerness(), BIAS::GaussThreshold< InputStorageType, OutputStorageType >::_CalculateKernels(), BIAS::Gauss< InputStorageType, OutputStorageType >::_CalculateKernels(), BIAS::LinearRegionDetector< StorageType, CalculationType >::_ComputeCornerness(), BIAS::CornerDetectorKLT< StorageType, CalculationType >::_ComputeCornerness(), BIAS::GenSynthMatches::_CreateCamMovement(), BIAS::GenSynthMatches::_CreateStatic2DPoints(), BIAS::Rescale< InputStorageType, OutputStorageType >::_FillInterpolated(), BIAS::Rescale< InputStorageType, OutputStorageType >::_FillInterpolatedColor(), BIAS::Rescale< InputStorageType, OutputStorageType >::_FillInterpolatedGrey(), BIAS::ImageBlender::BlendImages(), BIAS::StructureTensor< InputStorageType, OutputStorageType >::CalcStructureTensor(), BIAS::StructureTensor< InputStorageType, OutputStorageType >::CalcStructureTensor3x3(), BIAS::StructureTensor< InputStorageType, OutputStorageType >::CalcStructureTensor5x5(), BIAS::StructureTensor< InputStorageType, OutputStorageType >::CalcStructureTensor7x7(), BIAS::StructureTensor< InputStorageType, OutputStorageType >::CalcStructureTensorValid(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::CornerDetectorGradient< StorageType, CalculationType >::Detect(), BIAS::Rescale< InputStorageType, OutputStorageType >::DownsampleBy2Color(), BIAS::Binomial< InputStorageType, OutputStorageType >::Filter3x3ValidGreyFloat(), BIAS::Binomial< InputStorageType, OutputStorageType >::Filter5x5ValidGreyFloat(), BIAS::Convolution< InputStorageType, OutputStorageType >::FilterFloat(), BIAS::Convolution< InputStorageType, OutputStorageType >::FilterInt(), BIAS::RANSAC< SolutionType >::GenerateSamplesRandom(), BIAS::GenSynthMatches::GetGTNormalizedF(), BIAS::Tracker< StorageType, CalculationType >::PreparePyramide(), and BIAS::MonteCarloTransform::Transform().

template<class SolutionType>
bool BIAS::MSAC< SolutionType >::EvaluateSolution ( const SolutionType &  solution,
std::vector< bool > &  inlier,
int &  num_inliers,
double &  evaluate_score 
) [inline, virtual]

Definition at line 283 of file MSAC.hh.

Referenced by BIAS::MSAC< SolutionType >::SolveMaster().

template<class SolutionType>
bool BIAS::MSAC< SolutionType >::GenerateSamples ( int  sample_index,
std::vector< unsigned int > &  which_samples 
) [inline, virtual]

Definition at line 306 of file MSAC.hh.

References BIAS::MSAC< SolutionType >::_GenerateSamplesRandom().

Referenced by BIAS::MSAC< SolutionType >::SolveMaster().

int BIAS::Debug::GetDebugLevel (  )  const [inline, inherited]

Examples:
DebugMyMain.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, and ExampleParabola.cpp.

Definition at line 333 of file Debug.hh.

Referenced by BIAS::MSAC< SolutionType >::_GenerateSamplesRandom(), BIAS::ImageAlignment::Align(), BIAS::ExampleDebug::func(), BIAS::FMatrix::GetEpipoles(), BIAS::GuiGTK::MouseMotionCallback_(), BIAS::Image< StorageType >::operator=(), BIAS::ImageBase::operator=(), BIAS::ExampleDebug::ResetDebugLevelFromGlobal(), BIAS::TrackerBaseAffine2< StorageType >::TrackAffine_(), and BIAS::TrackerBaseAffine< StorageType >::TrackAffine_().

void BIAS::Debug::GetDebugStream ( std::ostream &  os  )  const [inline, inherited]

Definition at line 415 of file Debug.hh.

std::ostream& BIAS::Debug::GetDebugStream (  )  const [inline, inherited]

Definition at line 406 of file Debug.hh.

Referenced by BIAS::MSAC< SolutionType >::_GenerateSamplesRandom(), BIAS::RANSAC< SolutionType >::GenerateSamplesRandom(), and BIAS::GuiGTK::MouseMotionCallback_().

static long int BIAS::Debug::GetGlobalDebugLevel (  )  [inline, static, inherited]

Definition at line 432 of file Debug.hh.

Referenced by BIAS::ExampleDebug::func(), and BIAS::ExampleDebug::ResetDebugLevelFromGlobal().

template<class SolutionType>
int BIAS::MSAC< SolutionType >::GetSampleSolution ( std::vector< unsigned int > &  which_samples,
SolutionType &  solutions 
) [inline, virtual]

Definition at line 272 of file MSAC.hh.

Referenced by BIAS::MSAC< SolutionType >::SolveMaster().

template<class SolutionType>
int BIAS::MSAC< SolutionType >::Init ( int  data_size,
double  terminate_score,
int  solution_count 
) [inline]

Definition at line 145 of file MSAC.hh.

References BIAS::MSAC< SolutionType >::_dExpectedInlierFraction, BIAS::MSAC< SolutionType >::_dExpectedSigma, BIAS::MSAC< SolutionType >::_dTerminateScore, BIAS::MSAC< SolutionType >::_iDataSize, BIAS::MSAC< SolutionType >::_iSampleSize, BIAS::MSAC< SolutionType >::_iSolutionCount, and BIAS::MSAC< SolutionType >::_MSACConfidenceThresh.

template<class SolutionType>
int BIAS::MSAC< SolutionType >::Init ( int  data_size  )  [inline]

Definition at line 133 of file MSAC.hh.

References BIAS::MSAC< SolutionType >::_CalculateSampleCount(), BIAS::MSAC< SolutionType >::_CalculateTerminateScore(), BIAS::MSAC< SolutionType >::_dExpectedInlierFraction, BIAS::MSAC< SolutionType >::_dExpectedSigma, BIAS::MSAC< SolutionType >::_dTerminateScore, BIAS::MSAC< SolutionType >::_iDataSize, and BIAS::MSAC< SolutionType >::_iSolutionCount.

long int BIAS::Debug::Name2DebugLevel ( const std::string &  name  )  const [inline, inherited]

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

Author:
woelk 09/2006

Definition at line 455 of file Debug.hh.

long int BIAS::Debug::NewDebugLevel ( const std::string &  name  )  [inline, inherited]

creates a new debuglevel

Author:
woelk 09/2006
Examples:
ExampleDebug.cpp.

Definition at line 475 of file Debug.hh.

Referenced by BIAS::Condensation::Condensation(), BIAS::COSAC< SolutionType >::COSAC(), BIAS::Histogram::Histogram(), BIAS::MonteCarloTransform::MonteCarloTransform(), myclass::myclass(), BIAS::PMatrixEstimation::PMatrixEstimation(), BIAS::PMatrixLinear::PMatrixLinear(), BIAS::PreemptiveRANSAC< SolutionType >::PreemptiveRANSAC(), BIAS::RANSAC< SolutionType >::RANSAC(), BIAS::RANSACPreKnowledge< SolutionType >::RANSACPreKnowledge(), BIAS::ROI::ROI(), BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph(), BIAS::ThreeDOutOpenSceneGraph::ThreeDOutOpenSceneGraph(), BIAS::Triangulation::Triangulation(), and BIAS::UnscentedTransform::UnscentedTransform().

void BIAS::Debug::PrintDebugLevel ( std::ostream &  os = std::cout  )  const [inline, inherited]

Examples:
ExampleDebug.cpp.

Definition at line 384 of file Debug.hh.

template<class SolutionType>
bool BIAS::MSAC< SolutionType >::RefineSolution ( std::vector< unsigned int > &  which_samples,
SolutionType &  solution,
std::vector< bool > &  new_inliers 
) [inline, virtual]

Definition at line 295 of file MSAC.hh.

Referenced by BIAS::MSAC< SolutionType >::SolveMaster().

void BIAS::Debug::RemoveDebugLevel ( const std::string &  name  )  [inline, inherited]

Definition at line 377 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const long int  lv  )  [inline, inherited]

Definition at line 370 of file Debug.hh.

void BIAS::Debug::SetDebugLevel ( const std::string &  name  )  [inline, inherited]

Definition at line 326 of file Debug.hh.

void BIAS::Debug::SetDebugLevel ( const long int  lv  )  [inline, inherited]

Reimplemented in BIAS::GLProjectionParametersBase.

Examples:
DebugMyMain.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, ExampleDebug.cpp, ExampleHarrisColor.cpp, ExampleKLTEdge.cpp, ExampleLineMatcher.cpp, ExampleParabola.cpp, and ExamplePMatrix.cpp.

Definition at line 319 of file Debug.hh.

Referenced by BIAS::Interpolator::Interpolator(), BIAS::ExampleDebug::ResetDebugLevelFromGlobal(), BIAS::MDcam::ScanBus(), BIAS::GLProjectionParametersBase::SetDebugLevel(), BIAS::MDcam::SetDebugLevelDcam(), 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::SetDebugStream ( const std::ostream &  os  )  [inline, inherited]

Examples:
DebugMyMain.cpp.

Definition at line 399 of file Debug.hh.

static void BIAS::Debug::SetGlobalDebugLevel ( long int  lev  )  [inline, static, inherited]

Examples:
DebugMyMain.cpp.

Definition at line 425 of file Debug.hh.

void BIAS::Debug::ShowDebugLevel ( std::ostream &  os = std::cout  )  const [inline, inherited]

prints all internally known debuglevels

Author:
woelk 09/2006
Examples:
ExampleDebug.cpp.

Definition at line 497 of file Debug.hh.

template<class SolutionType>
int BIAS::MSAC< SolutionType >::SolveMaster ( SolutionType &  solution,
std::vector< bool > &  inliers 
) [inline]

Definition at line 168 of file MSAC.hh.

References BIAS::MSAC< SolutionType >::_dTerminateScore, BIAS::MSAC< SolutionType >::_iDataSize, BIAS::MSAC< SolutionType >::_iSampleSize, BIAS::MSAC< SolutionType >::_iSolutionCount, BIAS::MSAC< SolutionType >::_MSACRefineSolution, BIAS::MSAC< SolutionType >::EvaluateSolution(), BIAS::MSAC< SolutionType >::GenerateSamples(), BIAS::MSAC< SolutionType >::GetSampleSolution(), and BIAS::MSAC< SolutionType >::RefineSolution().

Member Data Documentation

template<class SolutionType>
double BIAS::MSAC< SolutionType >::_dExpectedInlierFraction [protected]

Definition at line 88 of file MSAC.hh.

Referenced by BIAS::MSAC< SolutionType >::Init(), and BIAS::MSAC< SolutionType >::MSAC().

template<class SolutionType>
double BIAS::MSAC< SolutionType >::_dExpectedSigma [protected]

Definition at line 87 of file MSAC.hh.

Referenced by BIAS::MSAC< SolutionType >::Init(), and BIAS::MSAC< SolutionType >::MSAC().

template<class SolutionType>
double BIAS::MSAC< SolutionType >::_dTerminateScore [protected]

Definition at line 92 of file MSAC.hh.

Referenced by BIAS::MSAC< SolutionType >::Init(), BIAS::MSAC< SolutionType >::MSAC(), and BIAS::MSAC< SolutionType >::SolveMaster().

template<class SolutionType>
int BIAS::MSAC< SolutionType >::_iDataSize [protected]

Definition at line 89 of file MSAC.hh.

Referenced by BIAS::MSAC< SolutionType >::_CalculateTerminateScore(), BIAS::MSAC< SolutionType >::_GenerateSamplesRandom(), BIAS::MSAC< SolutionType >::Init(), BIAS::MSAC< SolutionType >::MSAC(), and BIAS::MSAC< SolutionType >::SolveMaster().

template<class SolutionType>
int BIAS::MSAC< SolutionType >::_iSampleSize [protected]

Definition at line 91 of file MSAC.hh.

Referenced by BIAS::MSAC< SolutionType >::_CalculateSampleCount(), BIAS::MSAC< SolutionType >::_GenerateSamplesRandom(), BIAS::MSAC< SolutionType >::Init(), BIAS::MSAC< SolutionType >::MSAC(), and BIAS::MSAC< SolutionType >::SolveMaster().

template<class SolutionType>
int BIAS::MSAC< SolutionType >::_iSolutionCount [protected]

Definition at line 90 of file MSAC.hh.

Referenced by BIAS::MSAC< SolutionType >::Init(), BIAS::MSAC< SolutionType >::MSAC(), and BIAS::MSAC< SolutionType >::SolveMaster().

long int BIAS::Debug::_liDebugLevel [protected, inherited]

Definition at line 511 of file Debug.hh.

Referenced by BIAS::GuiGTK::DeleteEvent_(), BIAS::GuiGTK::Destroy_(), BIAS::GuiGTK::DrawingAreaExposeCallback_(), BIAS::GuiGTK::GtkMain(), BIAS::GuiGTK::KeyPressEventCallback_(), BIAS::GuiGTK::LabelExposeCallback_(), BIAS::GuiGTK::MouseButtonPressCallback_(), BIAS::GuiGTK::MouseButtonReleaseCallback_(), BIAS::GuiGTK::MouseMotionCallback_(), BIAS::Image< StorageType >::operator=(), BIAS::ImageBase::operator=(), and BIAS::Debug::operator=().

long int BIAS::Debug::_liNextDebugLevel [protected, inherited]

new concept, debuglevel are managed here in the debug class

Definition at line 517 of file Debug.hh.

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

template<class SolutionType>
double BIAS::MSAC< SolutionType >::_MSACConfidenceThresh [protected]

Definition at line 85 of file MSAC.hh.

Referenced by BIAS::MSAC< SolutionType >::_CalculateSampleCount(), BIAS::MSAC< SolutionType >::Init(), and BIAS::MSAC< SolutionType >::MSAC().

template<class SolutionType>
bool BIAS::MSAC< SolutionType >::_MSACRefineSolution [protected]

Definition at line 84 of file MSAC.hh.

Referenced by BIAS::MSAC< SolutionType >::MSAC(), and BIAS::MSAC< SolutionType >::SolveMaster().

template<class SolutionType>
double BIAS::MSAC< SolutionType >::_MSACSigmaFac [protected]

Definition at line 86 of file MSAC.hh.

Referenced by BIAS::MSAC< SolutionType >::_CalculateTerminateScore(), and BIAS::MSAC< SolutionType >::MSAC().

std::map<std::string, long int> BIAS::Debug::_String2Debuglevel [protected, inherited]

Definition at line 518 of file Debug.hh.

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

std::ostream BIAS::Debug::_zDebugStream [static, protected, inherited]

Definition at line 512 of file Debug.hh.

Referenced by BIAS::GuiGTK::DeleteEvent_(), BIAS::GuiGTK::Destroy_(), BIAS::GuiGTK::DrawingAreaExposeCallback_(), BIAS::GuiGTK::GtkMain(), BIAS::GuiGTK::KeyPressEventCallback_(), BIAS::GuiGTK::LabelExposeCallback_(), BIAS::GuiGTK::MouseButtonPressCallback_(), BIAS::GuiGTK::MouseButtonReleaseCallback_(), BIAS::GuiGTK::MouseMotionCallback_(), and BIAS::Debug::operator=().

long int BIAS::Debug::GlobalDebugLevel = 0 [static, protected, inherited]

Definition at line 514 of file Debug.hh.

The documentation for this class was generated from the following file:
Generated on Thu Mar 18 01:12:39 2010 for Basic Image AlgorithmS Library by  doxygen 1.5.6