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From: Peter Vanroose <Peter.Vanroose@es...>  20011125 17:29:45

Date: Sun, 25 Nov 2001 23:0:40 +0800 From: pear <zhangpear@...> To: "vxl@..." <vxl@...> Subject: where are the errors of my program? Hello, all, I want to compute the Fmatrix using Robust Method, but I can't get the correct result. here are my program and data in attached file. Warning Monte Carlo sampling will not work. Not enough points to choose from: need 7, have 0. #include <vcl_iostream.h> #include <stdlib.h> #include <vcl_cmath.h> #include <mvl/FMatrixComputeLinear.h> #include <fstream.h> #include <iomanip.h> #include <mvl/FMatrixComputeRANSAC.h> #include <mvl/SimilarityMetric.h> #include <mvl/PairMatchSetCorner.h> #include <mvl/HomgInterestPointSet.h> void main() { vcl_vector<HomgPoint2D> points1(128); vcl_vector<HomgPoint2D> points2(128); SimilarityMetric metric=SimilarityMetric(512,512); // Read points ifstream datain("D://projects//temp//vxlTest//test.in";); if(datain.fail()) { return; } int i; double ptx1,pty1,ptx2,pty2; // vnl_double_2 t1,t2; for(i=0;i<128;i++) { datain>>ptx1>>pty1>>ptx2>>pty2; points1[i]=metric.image_to_homg(ptx1,pty1); points2[i]=metric.image_to_homg(ptx2,pty2); } datain.close(); HomgInterestPointSet *corners[2]; corners[0]=new HomgInterestPointSet(points1,&metric); corners[1]=new HomgInterestPointSet(points2,&metric); PairMatchSetCorner match; match.set(corners[0],corners[1]); FMatrixComputeRANSAC comput(true,0.75); FMatrix f1; f1=comput.compute(match); vcl_cout <<f1 << vcl_endl; } 
From: Amitha Perera <perera@cs...>  20011120 13:52:25

Hi all I've set up a Dart based dashboard for vxl at http://www.cs.rpi.edu/research/vision/vxl. I'd like to call for volunteers to submit nightly builds from different platform and compiler combinations. If you'd like to volunteer, let me know and I will send you more detailed instructions. Thanks, Amitha. 
From: Amitha Perera <perera@cs...>  20011111 15:37:22

[vnl] angle(a,b) now returns acos( a.b / ab ), but is not instantiated for complexvalued vectors, since we lack an implementation for acos(complex). Amitha. On Mon, Oct 29, 2001 at 03:03:29PM 0500, Amitha Perera wrote: > > Apparently this is meant to give "symmetric" output, i.e., > > angle(a,b) == angle(b,a). > > By definition of the cos_angle, it is already symmetric: > cos_angle(a,b) = cos_angle(b,a) = a.b/(ab). The current > implementation gives > > ^ > / > / > A / B > </..... > > B as the "angle", which is the smallest angle provided the "vectors" > are undirected. Is this what is intended? I think it should simply be > acos( a.b / ab ) > since that is what most people refer to as the angle between two > vectors. > > Amitha. 
From: Peter Vanroose <Peter.Vanroose@es...>  20011109 17:44:49

> > No, it is just acos( a.b / ab ), which is in general a complex > > number. > > How is acos( complex ) defined? Such a function does not exist in vcl, > so the template instantiations for vnl_vector<complex> fail. Since cos(complex) is well defined ( cos(a+ib) = cos(a)*cosh(b)  i sin(a)*sinh(b) if I did not make a mistake) also acos(complex) is well defined, e.g. by using the (Taylor) series expansion. I don't have an implementation at hand. And it's indeed a rather unusual function. We could of course decide to ensure it is defined in vcl, but that would probably not really be ANSI conformant. > > acos( a.b / ab ) cannot be correct since then the angle between > > (1,0) and (1,1) would be 45 degrees instead of 135 degrees. > > Certainly, for realvalued vectors. However, for complexvalued > vectors, perhaps it is "good enough"? No: it should be defined consistently for real and complex arguments. Doing it like this would not be consistent. Peter. 
From: Amitha Perera <perera@cs...>  20011109 15:52:19

> No, it is just acos( a.b / ab ), which is in general a complex > number. How is acos( complex ) defined? Such a function does not exist in vcl, so the template instantiations for vnl_vector<complex> fail. > acos( a.b / ab ) cannot be correct since then the angle between > (1,0) and (1,1) would be 45 degrees instead of 135 degrees. Certainly, for realvalued vectors. However, for complexvalued vectors, perhaps it is "good enough"? Either way, it doesn't really solve the problem of implementation. Amitha. 
From: <Peter.Vanroose@es...>  20011109 12:16:57

> how is the angle between two complex vectors defined? > Is it acos( a.b / ab ) ? No, it is just acos( a.b / ab ), which is in general a complex number. This does not really make sense, i.e., there is no natural interpretation of this kind of angles, but it is the only sensible extension of "real" angles. acos( a.b / ab ) cannot be correct since then the angle between (1,0) and (1,1) would be 45 degrees instead of 135 degrees. Peter. 
From: Amitha Perera <perera@cs...>  20011108 18:44:01

Forgive my ignorance: how is the angle between two complex vectors defined? Is it acos( a.b / ab ) ? If so, is there a clean way to compute the norm for complex types, and not compute the norm for real types? And does this lead to an inconsistency in the semantics of the function call? On Mon, Oct 29, 2001 at 08:13:33PM 0000, Andrew Fitzgibbon wrote: > > Amitha: > > I think it should simply be > > acos( a.b / ab ) > > since that is what most people refer to as the angle between two > > vectors. > > Agreed. 
From: Amitha Perera <perera@cs...>  20011102 19:51:24

Dear all, The RPI team has added two libraries to the vxl tree: rpl/rrel (robust estimation) and rpl/rsdl (spatial data structures). The robust estimation library implements various robust estimation techniques that are used in computer vision and statistics. The basic design is outlined in rpl/rrel/introduction_doxy.txt, which should make it to Manchester's documentation page on the next update. Any comments and suggestions on the design will be welcome. The spatial data structures library currently implements a KDtree and a 2D binning structure, both of which provides for efficient retrieval of points. The KD tree elements can be normal cartesian coordinates or angular coordinates. We hope to have book chapters written soon, describing the libraries in more detail. Chuck Stewart Amitha Perera 