So I have a mesh grid
x = linspace(0,1,250);
y=x;
[X,Y] = meshgrid(x,y) ;
At each point, I want a 2x2 matrix (that I will find eigenvalues for). But I cannot figure out the best way (short of looping through the whole 250x250 space).
Suppose my matrix for each X,Y was
M(1,1) = X
M(2,2) = Y
M(1,2) = sin(2*pi*X)
M(2,1) = X.*Y.^2;
What would be the best way to do this then get the eigenvalues for each X,Y?
Not sure by what you mean "best", fastest? here is a simple way to do that if I understood what you wanted (2 eigen-values per pixel):
Start with your definitions
x = linspace(0,1,250);
y=x;
[X,Y] = meshgrid(x,y) ;
S=sin(2*pi*X);
XY2=X.*Y.^2;
Then, we can use linear indexing:
for n=1:numel(X)
M(:,n)=eig([X(n), S(n); XY2(n) , Y(n)]);
end
That's it, all the information is in M...
This took ~3 seconds on my laptop. If you want faster implementation of the eig function for the case of 2x2 matrices you can use this. If you want to go back from linear indexing to the 2D (i,j) index, you can use this to get for pixel i,j the eigenvalues:
M(:, sub2ind(size(X),i,j))
Related
This is maybe a bit of a noobish question - but say I want to find the distance between two pixels with coordinates (x1,y1) and (x2,y2). What would be the simplest way of doing this with MatLab?
pdist is an OK answer, but I would argue that it's slow (at least for a larger amount of points). Also, pdist requires the statistics toolbox, so if you don't have that toolbox, you can't use that answer.
I would suggest using bsxfun combined with permute and reshape instead for a toolbox independent solution. Assume that X is a 2 column matrix that is arranged in the following way:
X = [x y];
x and y are the X and Y coordinates of all of your points you want to find the distances to. Therefore, each row consists of a single query point:
X2 = permute(X, [3 2 1]);
out = sqrt(sum(bsxfun(#minus, X, X2).^2, 2));
out = reshape(out, size(X,1), []);
This should give you the same output as applying squareform to the output of pdist. Specifically, at element (i,j) of out, this will give you the distance between point i and point j and so the diagonal elements should give values of 0 as self-distances are 0.
Suggestion by Jonas
We can avoid reshape which may be costly by replacing it with another permute call if we slightly change the way we permute the dimensions before calculating the distances:
out = sqrt(sum(bsxfun(#minus, permute(X, [1 3 2]), permute(X, [3 1 2])).^2, 3));
X = [x1,y1;x2,y2];
d = pdist(X,'euclidean')
d is distance.
I'm trying to reconstruct a 3d image from two calibrated cameras. One of the steps involved is to calculate the 3x3 essential matrix E, from two sets of corresponding (homogeneous) points (more than the 8 required) P_a_orig and P_b_orig and the two camera's 3x3 internal calibration matrices K_a and K_b.
We start off by normalizing our points with
P_a = inv(K_a) * p_a_orig
and
P_b = inv(K_b) * p_b_orig
We also know the constraint
P_b' * E * P_a = 0
I'm following it this far, but how do you actually solve that last problem, e.g. finding the nine values of the E matrix? I've read several different lecture notes on this subject, but they all leave out that crucial last step. Likely because it is supposedly trivial math, but I can't remember when I last did this and I haven't been able to find a solution yet.
This equation is actually pretty common in geometry algorithms, essentially, you are trying to calculate the matrix X from the equation AXB=0. To solve this, you vectorise the equation, which means,
vec() means vectorised form of a matrix, i.e., simply stack the coloumns of the matrix one over the another to produce a single coloumn vector. If you don't know the meaning of the scary looking symbol, its called Kronecker product and you can read it from here, its easy, trust me :-)
Now, say I call the matrix obtained by Kronecker product of B^T and A as C.
Then, vec(X) is the null vector of the matrix C and the way to obtain that is by doing the SVD decomposition of C^TC (C transpose multiplied by C) and take the the last coloumn of the matrix V. This last coloumn is nothing but your vec(X). Reshape X to 3 by 3 matrix. This is you Essential matrix.
In case you find this maths too daunting to code, simply use the following code by Y.Ma et.al:
% p are homogenius coordinates of the first image of size 3 by n
% q are homogenius coordinates of the second image of size 3 by n
function [E] = essentialDiscrete(p,q)
n = size(p);
NPOINTS = n(2);
% set up matrix A such that A*[v1,v2,v3,s1,s2,s3,s4,s5,s6]' = 0
A = zeros(NPOINTS, 9);
if NPOINTS < 9
error('Too few mesurements')
return;
end
for i = 1:NPOINTS
A(i,:) = kron(p(:,i),q(:,i))';
end
r = rank(A);
if r < 8
warning('Measurement matrix rank defficient')
T0 = 0; R = [];
end;
[U,S,V] = svd(A);
% pick the eigenvector corresponding to the smallest eigenvalue
e = V(:,9);
e = (round(1.0e+10*e))*(1.0e-10);
% essential matrix
E = reshape(e, 3, 3);
You can do several things:
The Essential matrix can be estimated using the 8-point algorithm, which you can implement yourself.
You can use the estimateFundamentalMatrix function from the Computer Vision System Toolbox, and then get the Essential matrix from the Fundamental matrix.
Alternatively, you can calibrate your stereo camera system using the estimateCameraParameters function in the Computer Vision System Toolbox, which will compute the Essential matrix for you.
I have a 1000 5x5 matrices (Xm) like this:
Each $(x_ij)m$ is a point estimate drawn from a distribution. I'd like to calculate the covariance cov of each $x{ij}$, where i=1..n, and j=1..n in the direction of the red arrow.
For example the variance of $X_m$ is `var(X,0,3) which gives a 5x5 matrix of variances. Can I calculate the covariance in the same way?
Attempt at answer
So far I've done this:
for m=1:1000
Xm_new(m,:)=reshape(Xm(:,:,m)',25,1);
end
cov(Xm_new)
spy(Xm_new) gives me this unusual looking sparse matrix:
If you look at cov (edit cov in the command window) you might see why it doesn't support multi-dimensional arrays. It perform a transpose and a matrix multiplication of the input matrices: xc' * xc. Both operations don't support multi-dimensional arrays and I guess whoever wrote the function decided not to do the work to generalize it (it still might be good to contact the Mathworks however and make a feature request).
In your case, if we take the basic code from cov and make a few assumptions, we can write a covariance function M-file the supports 3-D arrays:
function x = cov3d(x)
% Based on Matlab's cov, version 5.16.4.10
[m,n,p] = size(x);
if m == 1
x = zeros(n,n,p,class(x));
else
x = bsxfun(#minus,x,sum(x,1)/m);
for i = 1:p
xi = x(:,:,i);
x(:,:,i) = xi'*xi;
end
x = x/(m-1);
end
Note that this simple code assumes that x is a series of 2-D matrices stacked up along the third dimension. And the normalization flag is 0, the default in cov. It could be exapnded to multiple dimensions like var with a bit of work. In my timings, it's over 10 times faster than a function that calls cov(x(:,:,i)) in a for loop.
Yes, I used a for loop. There may or may not be faster ways to do this, but in this case for loops are going to be faster than most schemes, especially when the size of your array is not known a priori.
The answer below also works for a rectangular matrix xi=x(:,:,i)
function xy = cov3d(x)
[m,n,p] = size(x);
if m == 1
x = zeros(n,n,p,class(x));
else
xc = bsxfun(#minus,x,sum(x,1)/m);
for i = 1:p
xci = xc(:,:,i);
xy(:,:,i) = xci'*xci;
end
xy = xy/(m-1);
end
My answer is very similar to horchler, however horchler's code does not work with rectangular matrices xi (whose dimensions are different from xi'*xi dimensions).
my question is quite trivial, but I'm looking for the vectorized form of it.
My code is:
HubHt = 110; % Hub Height
GridWidth = 150; % Grid length along Y axis
GridHeight = 150; % Grid length along Z axis
RotorDiameter = min(GridWidth,GridHeight); % Turbine Diameter
Ny = 31;
Nz = 45;
%% GRID DEFINITION
dy = GridWidth/(Ny-1);
dz = GridHeight/(Nz-1);
if isequal(mod(Ny,2),0)
iky = [(-Ny/2:-1) (1:Ny/2)];
else
iky = -floor(Ny/2):ceil(Ny/2-1);
end
if isequal(mod(Nz,2),0)
ikz = [(-Nz/2:-1) (1:Nz/2)];
else
ikz = -floor(Nz/2):ceil(Nz/2-1);
end
[Y Z] = ndgrid(iky*dy,ikz*dz + HubHt);
EDIT
Currently I am using this solution, which has reasonable performances:
coord(:,1) = reshape(Y,[numel(Y),1]);
coord(:,2) = reshape(Z,[numel(Z),1]);
dist_y = bsxfun(#minus,coord(:,1),coord(:,1)');
dist_z = bsxfun(#minus,coord(:,2),coord(:,2)');
dist = sqrt(dist_y.^2 + dist_z.^2);
I disagree with Dan and Tal.
I believe you should use pdist rather than pdist2.
D = pdist( [Y(:) Z(:)] ); % a compact form
D = squareform( D ); % square m*n x m*n distances.
I agree with Tal Darom, pdist2 is exactly the function you need. It finds the distance for each pair of coordinates specified in two vectors and NOT the distance between two matrices.
So I'm pretty sure in your case you want this:
pdist2([Y(:), Z(:)], [Y(:), Z(:)])
The matrix [Y(:), Z(:)] is a list of every possible coordinate combination over the 2D space defined by Y-Z. If you want a matrix containing the distance from each point to each other point then you must call pdist2 on this matrix with itself. The result is a 2D matrix with dimensions numel(Y) x numel(Y) and although you haven't defined it I'm pretty sure that both Y and Z are n*m matrices meaning numel(Y) == n*m
EDIT:
A more correct solution suggested by #Shai is just to use pdist since we are comparing points within the same matrix:
pdist([Y(:), Z(:)])
You can use the matlab function pdist2 (I think it is in the statistics toolbox) or you can search online for open source good implementations of this function.
Also,
look at this unswer: pdist2 equivalent in MATLAB version 7
I am working towards comparing multiple images. I have these image data as column vectors of a matrix called "images." I want to assess the similarity of images by first computing their Eucledian distance. I then want to create a matrix over which I can execute multiple random walks. Right now, my code is as follows:
% clear
% clc
% close all
%
% load tea.mat;
images = Input.X;
M = zeros(size(images, 2), size (images, 2));
for i = 1:size(images, 2)
for j = 1:size(images, 2)
normImageTemp = sqrt((sum((images(:, i) - images(:, j))./256).^2));
%Need to accurately select the value of gamma_i
gamma_i = 1/10;
M(i, j) = exp(-gamma_i.*normImageTemp);
end
end
My matrix M however, ends up having a value of 1 along its main diagonal and zeros elsewhere. I'm expecting "large" values for the first few elements of each row and "small" values for elements with column index > 4. Could someone please explain what is wrong? Any advice is appreciated.
Since you're trying to compute a Euclidean distance, it looks like you have an error in where your parentheses are placed when you compute normImageTemp. You have this:
normImageTemp = sqrt((sum((...)./256).^2));
%# ^--- Note that this parenthesis...
But you actually want to do this:
normImageTemp = sqrt(sum(((...)./256).^2));
%# ^--- ...should be here
In other words, you need to perform the element-wise squaring, then the summation, then the square root. What you are doing now is summing elements first, then squaring and taking the square root of the summation, which essentially cancel each other out (or are actually the equivalent of just taking the absolute value).
Incidentally, you can actually use the function NORM to perform this operation for you, like so:
normImageTemp = norm((images(:, i) - images(:, j))./256);
The results you're getting seem reasonable. Recall the behavior of the exp(-x). When x is zero, exp(-x) is 1. When x is large exp(-x) is zero.
Perhaps if you make M(i,j) = normImageTemp; you'd see what you expect to see.
Consider this solution:
I = Input.X;
D = squareform( pdist(I') ); %'# euclidean distance between columns of I
M = exp(-(1/10) * D); %# similarity matrix between columns of I
PDIST and SQUAREFORM are functions from the Statistics Toolbox.
Otherwise consider this equivalent vectorized code (using only built-in functions):
%# we know that: ||u-v||^2 = ||u||^2 + ||v||^2 - 2*u.v
X = sum(I.^2,1);
D = real( sqrt(bsxfun(#plus,X,X')-2*(I'*I)) );
M = exp(-(1/10) * D);
As was explained in the other answers, D is the distance matrix, while exp(-D) is the similarity matrix (which is why you get ones on the diagonal)
there is an already implemented function pdist, if you have a matrix A, you can directly do
Sim= squareform(pdist(A))