NumCostMotEstBC<class MotModelT> - Implementation class for cost function used for comparing image regions.

Developer Documentation

Centre for Vision, Speech & Signal Processing

Comments:
This is the implementation class for a cost function which compares two image regions. If the points in one of regions don't fall onto an integer grid, an interpolation is performed. Because this class is meant for motion estimation the Jacobian() is calculated from the image rather than from the shape of the cost function. The NumCostInterpRegionC handle class should be used.

Parent Classes:

NumCostMotEstBaseBC

Variables:

VectorC Yd;
DoubleImageC scene;
SArray1dC mask;
Point2dC origin;
NumMagnitudeRobustC _metric;
MotModelT motmodel;
MatrixC hessian;

Methods:

float Interpolate(float coord,float pt1,float pt2) const

float BilInt(Point2dC coord,float p1,float p2,float p3,float p4,float dx,float dy) const

Point2dC GetImageGradient(float p1,float p2,float p3,float p4,float p5,float p6,float p7,float p8,float dx,float dy) const

NumCostMotEstBC()

Default constructor

NumCostMotEstBC(const NumParametersC & parameters,const DoubleImageC & scene0,const DoubleImageC & scene1,const IntImageC & neigh,int in_label,const PixelC & orig,const NumMagnitudeRobustC & metric)

Constructor

parameters	describes which parameters to use for optimisation
scene0	the reference frame
scene	the other frame in which to search for a match
mask	the patch for which the motion vector is required
in_label	the 'in' pixels in the mask
metric	a method for calculating the size of \|f(X)-scene0\|

NumCostMotEstBC(const NumParametersC & parameters,const DoubleImageC & scene0,const DoubleImageC & scene1,const ImageC<NumLabelC> & neigh,NumLabelC in_label,const PixelC & orig,const NumMagnitudeRobustC & metric)

Constructor

parameters	describes which parameters to use for optimisation
scene0	the reference frame
scene	the other frame in which to search for a match
mask	the patch for which the motion vector is required
in_label	the 'in' pixels in the mask
metric	a method for calculating the size of \|f(X)-scene0\|

NumCostMotEstBC(istream & in)

Contructs from stream

NumCostMotEstBC(const NumCostMotEstBC & oth)

Copy Constructor

BodyRefCounterVC & Copy() const

Makes a deep copy and is virtual

RealT CompX(const VectorC & P,const PixelC & loc) const

RealT InverseCompX(const DoubleImageC & scene0,const VectorC & P,const PixelC & loc) const

Tuple2C<RealT,VectorC> CompdX(const VectorC & P,const PixelC & loc) const

RealT Cost(const VectorC & X) const

Evaluate cost function at X

DoubleImageC GetMCError(const VectorC & X) const

Returns the motion compensated error; the output image will be of the same size as the bounding box of the mask used for motion estimation

DoubleImageC GetAbsDiffImage(const VectorC & X) const

Returns the motion compensated absolute difference; the output image will be of the same size as the bounding box of the mask used for motion estimation

DoubleImageC GetMCError(const DoubleImageC & scene0,const VectorC & X) const

Returns the motion compensated error; the output image will be of the same size as the bounding box of the mask used for motion estimation

DoubleImageC GetMCImage(const DoubleImageC & scene0,const VectorC & X) const

Returns motion compensated image

IntImageC GetMCMask(const VectorC & X,int in_label,int out_label) const

Returns the motion compensated mask

MatrixC Jacobian(const VectorC & X) const

Evaluates Jacobian df(X)/dX

MatrixC BuildHessian(const DoubleImageC & scene0,const IntImageC & m,int in_label) const

Evaluates the Hessian according to equation 3.25 (Diehl).

MatrixC BuildHessian(const DoubleImageC & scene0,const ImageC<NumLabelC> & m,NumLabelC in_label) const

Evaluates the Hessian according to equation 3.25 (Diehl).

MatrixC Hessian() const

Evaluates the Hessian according to equation 3.25 (Diehl).

VectorC GradientVector(const VectorC & X) const

Evaluates the gradient vector according to equation 3.17 & 3.26 (Diehl).

VectorC ComposeVectors(const VectorC & A,const VectorC & B) const

A * B = Out

const StringC GetInfo() const

Prints derived class information

BooleanT Save(ostream & out) const

Writes object to stream, can be loaded using constructor

#include "amma/Motion/NumCostMotEstBase.hh"

BodyRefCounterVC & Copy() const: Makes a deep copy and is virtual
As the copy constructor but is virtual so can be called from a base class reference.
MatrixC Hessian() const: Evaluates the Hessian according to equation 3.25 (Diehl).
VectorC ComposeVectors(const VectorC & A,const VectorC & B) const: A * B = Out;
VectorC GradientVector(const VectorC & X) const: Evaluates the gradient vector according to equation 3.17 & 3.26 (Diehl).
RealT Cost(const VectorC & X) const: Evaluate cost function at X

#include "amma/Num/NumCostB.hh"

const MatrixC TransP2X() const: Convert variable parameters to X vector
const MatrixC TransX2P() const: Convert X vector to variable parameters
const VectorC ConstP() const: Constant componant of X vector
VectorC Evaluate(const VectorC & X) const: Evaluate Y=f(X) where Yc=1
RealT Cost(const VectorC & X) const: Determines cost of X
void SetMask(const IntSArray1dC & mask): Used to specify which elements are fixed
void SetConstP(const VectorC & constP): Used to specify the vector of fixed constant parameters
const VectorC MinX() const: Lower bound on variable parameters
const VectorC MaxX() const: Upper bound on variable parameters
const VectorC StartX() const: Returns the initial point for X as non-const part of constP
VectorC ConvertX2P(const VectorC & X) const: Expands X to P using TransX2P * X + Const P
const IntSArray1dC Steps() const: Number of steps for each parameter
const NumParametersC & GetParameters() const: Access to the parameter storage structure
const StringC GetInfo() const: Prints derived class information
BooleanT Save(ostream & out) const: Writes object to stream, can be loaded using constructor

#include "amma/Num/NumFuncB.hh"

BodyRefCounterVC & Copy() const: Makes a deep copy and is virtual
As the copy constructor but is virtual so can be called from a base class reference.
void SetSizeX(UIntT X): Sets size of input vector
void SetSizeY(UIntT Y): Sets size of output vector
VectorC Apply(const VectorC & X): Evaluate Y=f(X) as a process
VectorC Evaluate(const VectorC & X) const: Evaluate Y=f(X)
This is the main function that does all the work and must be overloaded in derived classes.
DListC<VectorC> Evaluate(const DListC<VectorC> & listX) const: Evaluate Y=f(X) for a list of X
This is achieved by iterating through the list of X and using the Evaluate member function that takes a single X. For sophisticated applications where speed is important, this function can be overloaded to do batch processing.
VectorC operator()(const VectorC & X) const: Evaluate Y=f(X)
MatrixC Jacobian(const VectorC & X) const: Calculate Jacobian matrix at X
Performs numerical estimation of the Jacobian using differences. This function has and should be overloaded for all cases where the Jacobian can be calculated analytically.
const StringC GetInfo() const: Derived class information
const StringC & GetName() const: Derived class type
UIntT SizeX() const: Size of input vectors
UIntT SizeY() const: Size of output vectors
BooleanT Save(ostream & out) const: Writes object to stream, can be loaded using constructor

#include "amma/DP/Process.hh"

VectorC Apply(const VectorC &): Apply operation.
IntT ApplyArray(const SArray1dC<VectorC> & in,SArray1dC<VectorC> & out): Apply operation to an array of elements.
returns the number of elements processed.
BooleanT Save(ostream & out) const: Save to ostream.
const type_info & InputType() const: Get input type.
const type_info & OutputType() const: Get input type.
BooleanT Save(ostream & out) const: Save to ostream.
const type_info & InputType() const: Get input type.
const type_info & OutputType() const: Get input type.
ProcTypeT OpType() const: Operation type lossy/lossless.
BooleanT IsStateless() const: Is operation stateless ?

#include "amma/DP/Entity.hh"

BooleanT Save(ostream & out) const: Save to ostream.
BodyRefCounterVC & Copy() const: Creat a copy of this object.

#include "amma/BRefCntV.hh"

BodyRefCounterVC & Copy() const: Creat a copy of this object.
BooleanT operator==(const BodyRefCounterVC & oth) const: Compair identitys.
BooleanT operator!=(const BodyRefCounterVC & oth) const: Compair identitys.
BooleanT Save(ostream & out) const: Save to ostream.

#include "amma/BRefCnt.hh"

void AddReference(): Another reference to the object has been created.
void RemoveReference(): One reference to the object was deleted.
Locking scheme -------------- The object is possible to lock (to make constant). The scheme assumes that the object is created, it can be locked, after that it can only be destroyed. The locked object cannot be unlocked. This locking scheme is very useful during debugging, using assert() function, when it is necassary to check that object is treated as constant and the constancy is not violated by any casting or passing through the copy constructor of shared objects.
void SetConst(void) const: This locks the object.
Often objects you wish to lock are already const.
void SetConst(void): This locks the object.
BooleanT IsConst(void) const: Returns TRUE if the object is locked, ie. it is assumed to be constant.
BooleanT IsNotConst(void) const: Returns TRUE if the object is unlocked.
ie. there is no special information if the object is constant or not. Counter state information -------------------------
BooleanT ToBeDeleted() const: Returns TRUE if there is only one reference to the object and the whole object or its reference counting part can be deleted.
BooleanT ToBeDeletedRemoveIgnoreNoRemove(): Decrement refrence by 1 return true if this leaves no refrences to the object.
BooleanT ToBeDeletedRemove(): Decrement refrence by 1 return true if this leaves no refrences to the object. This also checks the NoRemove flag.
BooleanT BodyMightBeDeleted() const: Returns TRUE if the reference counted part of the object can be deleted, ie. flag NOREMOVE is false .
BooleanT IsCountZero() const: Are there any refrences left ?
BooleanT BRCPtrCanDeleteObject() const: Used by BRRCPtrC to establish if an object has ZERO refrences and can be deleted.
IntT Count() const: Returns the current state of the counter, ie. how many references to this object exist.
const BodyRefCounterC & operator=(const BodyRefCounterC & b): It has not meaning to assign object 'b' to this object because it would destroy a history of the object which is counted. So this is a dummy function.
BooleanT IsValidObject() const: Test if object is valid.
When amma check is disabled this always returns true.
BooleanT UserBitTest(IntT x) const: Test user flag.
void UserBitSet(IntT x,BooleanT setit = TRUE): Test user flag.
void UserBitZero(IntT x): Set bit to zero.
void ReportBRCError(char * Msg): Report error, used in BRCPtrC.
UIntT Hash() const: Hash on address of object.
void SetUndeletable(): Make object undeletable.
Usefull to prevent recursive deleting in graph structures. Only hackers need this function.
void ReportInvalidObject(char * Msg = 0) const: Tell user about validation failure.

#include "amma/RefCBase.hh"

LabelT Label() const: Returns the label of this reference counter.
The member function is useful mainly to recognize objects during debugging. The value of the label is uniquely defined pointer.

Programmer:Ratna Rambaruth, Documentation by CxxDoc: Tue Mar 20 10:49:27 2001

NumCostMotEstBC<class MotModelT>

Implementation class for cost function used for comparing image regions.

include	"amma/Motion/NumCostMotEstB.hh"
User Level:	Default
Library:	GDMotion
Example:	exLMSRegion.cc
Section:	Image.Motion.Estimation.Model-based
In Scope:	std