A Class that provides common static functions used by all classes and tests in the anisotropic iterative closest point algorithm (AnisotropicIterativeClosestPointRegistration). More...

#include <mitkAnisotropicRegistrationCommon.h>

Static Public Member Functions
static WeightMatrix	CalculateWeightMatrix (const CovarianceMatrix &sigma_X, const CovarianceMatrix &sigma_Y)
	Method that computes a WeightMatrix with two CovarianceMatrices. More...

static void	TransformPoints (vtkPoints src, vtkPoints dst, const Rotation &rotation, const Translation &translation)
	Transforms a point cloud with a Rotation and Translation. More...

static void	PropagateMatrices (const MatrixList &src, MatrixList &dst, const Rotation &rotation)
	Propagate a list of matrices with a rotation matrix. More...

static double	ComputeTargetRegistrationError (const mitk::PointSet movingTargets, const mitk::PointSet fixedTargets, const Rotation &rotation, const Translation &translation)
	Compute the target registration error between two point sets. More...

Protected Types
typedef itk::Matrix< double, 3, 3 >	WeightMatrix

typedef WeightMatrix	Rotation

typedef WeightMatrix	CovarianceMatrix

typedef mitk::Vector3D	Translation

typedef std::vector< WeightMatrix >	MatrixList

Protected Member Functions
	AnisotropicRegistrationCommon ()

	~AnisotropicRegistrationCommon ()

Detailed Description

A Class that provides common static functions used by all classes and tests in the anisotropic iterative closest point algorithm (AnisotropicIterativeClosestPointRegistration).

The class provides common functionality used by the A-ICP algorithm like: compute weightmatrices (CalculateWeightMatrix()), transform points (TransformPoints()), propagate 3 x 3 matrices (PropagateMatrices()) and compute the target registration error (TRE) (ComputeTargetRegistrationError()).

Definition at line 45 of file mitkAnisotropicRegistrationCommon.h.

Member Typedef Documentation

typedef WeightMatrix mitk::AnisotropicRegistrationCommon::CovarianceMatrix

protected

Definition of the covariance matrix.

Definition at line 55 of file mitkAnisotropicRegistrationCommon.h.

typedef std::vector<WeightMatrix> mitk::AnisotropicRegistrationCommon::MatrixList

protected

Definition of the weight matrix list.

Definition at line 59 of file mitkAnisotropicRegistrationCommon.h.

typedef WeightMatrix mitk::AnisotropicRegistrationCommon::Rotation

protected

Definition of a rotation matrix.

Definition at line 53 of file mitkAnisotropicRegistrationCommon.h.

typedef mitk::Vector3D mitk::AnisotropicRegistrationCommon::Translation

protected

Definition of the translation vector.

Definition at line 57 of file mitkAnisotropicRegistrationCommon.h.

typedef itk::Matrix<double, 3, 3> mitk::AnisotropicRegistrationCommon::WeightMatrix

protected

Definition of the 3 x 3 weight matrix.

Definition at line 51 of file mitkAnisotropicRegistrationCommon.h.

Constructor & Destructor Documentation

mitk::AnisotropicRegistrationCommon::AnisotropicRegistrationCommon ( )

inlineprotected

Definition at line 61 of file mitkAnisotropicRegistrationCommon.h.

mitk::AnisotropicRegistrationCommon::~AnisotropicRegistrationCommon ( )

inlineprotected

Definition at line 62 of file mitkAnisotropicRegistrationCommon.h.

Member Function Documentation

mitk::AnisotropicRegistrationCommon::WeightMatrix mitk::AnisotropicRegistrationCommon::CalculateWeightMatrix	(	const CovarianceMatrix &	sigma_X,
		const CovarianceMatrix &	sigma_Y
	)

static

Method that computes a WeightMatrix with two CovarianceMatrices.

Parameters

sigma_X	CovarianceMatrix from the moving point set.
sigma_Y	CovarianceMatrix from the fixed point set.

Returns: The computed WeighMatrix.

Definition at line 21 of file mitkAnisotropicRegistrationCommon.cpp.

Referenced by calculateWeightMatrices(), and mitk::AnisotropicIterativeClosestPointRegistration::ComputeCorrespondences().

double mitk::AnisotropicRegistrationCommon::ComputeTargetRegistrationError	(	const mitk::PointSet *	movingTargets,
		const mitk::PointSet *	fixedTargets,
		const Rotation &	rotation,
		const Translation &	translation
	)

static

Compute the target registration error between two point sets.

Method that is used for testing and evaluation. It computes the target registration error (TRE) between two point sets with a rotation matrix and a translation vector.

Parameters

movingTargets	The target points of the moving point set.
fixedTargets	The target points of the fixed point set.
rotation	A 3x3 rotation matrix.
translation	A 3x1 translation vector.

Returns: The Target Registration Error (TRE).

Definition at line 80 of file mitkAnisotropicRegistrationCommon.cpp.

References mitk::PointSet::GetPoint(), and mitk::PointSet::GetSize().

void mitk::AnisotropicRegistrationCommon::PropagateMatrices	(	const MatrixList &	src,
		MatrixList &	dst,
		const Rotation &	rotation
	)

static

Propagate a list of matrices with a rotation matrix.

Method that propagate the source list and saves the result in the destination. If the source and destination lists are the same the matrices will be computed in place.

Warning: No bound check is done. Make sure that both lists are allocated and have the same size.

Parameters

src	Reference to the source matrices list.
dst	Reference to the destination list
rotation	Reference to a rotation matrix.

Definition at line 67 of file mitkAnisotropicRegistrationCommon.cpp.

Referenced by mitk::AnisotropicIterativeClosestPointRegistration::Update().

void mitk::AnisotropicRegistrationCommon::TransformPoints	(	vtkPoints *	src,
		vtkPoints *	dst,
		const Rotation &	rotation,
		const Translation &	translation
	)

static

Transforms a point cloud with a Rotation and Translation.

The method uses two point sets as input. It transforms every point from the source point set and saves the result in the destination. The soure is not modified. If the same point set is used as source and destination. The method will modify the source and the transformation is done in place.

Warning: No bound check is done. Ensure that source and destination are allocated and have the same size.

Parameters

src	The source point set.
dst	The destination point set.
rotation	The rotation matrix.
translation	The translation vector.

Definition at line 46 of file mitkAnisotropicRegistrationCommon.cpp.

Referenced by mitk::AnisotropicIterativeClosestPointRegistration::Update(), and mitk::WeightedPointTransform::WeightedPointRegister().

The documentation for this class was generated from the following files:

Static Public Member Functions

Protected Types

Protected Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation