NavigationDataReferenceTransformFilter applies a itk-landmark-transformation defined by source and target NavigationDatas. More...

#include <mitkNavigationDataReferenceTransformFilter.h>

Inheritance diagram for mitk::NavigationDataReferenceTransformFilter:

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Collaboration diagram for mitk::NavigationDataReferenceTransformFilter:

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Public Types
typedef itk::QuaternionRigidTransform< double >	QuaternionTransformType
	Quaternion transform for calculating. More...

Public Types inherited from mitk::NavigationDataLandmarkTransformFilter
typedef std::vector< mitk::ScalarType >	ErrorVector

typedef itk::VersorRigid3DTransform< double >	LandmarkTransformType

Public Member Functions
	mitkClassMacro (NavigationDataReferenceTransformFilter, NavigationDataToNavigationDataFilter)

Pointer	Clone () const

void	SetSourceNavigationDatas (const std::vector< mitk::NavigationData::Pointer > &sourceNavigationDatas)
	Set NavigationDatas whose positions are used as source points for the transform. More...

void	SetTargetNavigationDatas (const std::vector< mitk::NavigationData::Pointer > &sourceNavigationDatas)
	Set NavigationDatas whose positions are used as target points for the transform. More...

void	ReinitFilter ()
	Sets the filter back to initial settings. More...

const mitk::PointSet::Pointer	GetSourceLandmarks ()
	Returns the source landmarks PointSet filled with points from given ND position(s) and orientation. More...

const mitk::PointSet::Pointer	GetTargetLandmarks ()
	Returns the target landmarks PointSet filled with points from given ND position(s) and orientation. More...

bool	InitializeTransform ()
	Initializes the transform. Transform will be perfomed only if source and target points have the same size. More...

Public Member Functions inherited from mitk::NavigationDataLandmarkTransformFilter
	mitkClassMacro (NavigationDataLandmarkTransformFilter, NavigationDataToNavigationDataFilter)

Pointer	Clone () const

virtual void	SetSourceLandmarks (mitk::PointSet::Pointer sourcePointSet)
	Set points used as source points for landmark transform. More...

virtual void	SetTargetLandmarks (mitk::PointSet::Pointer targetPointSet)
	Set points used as target points for landmark transform. More...

virtual bool	IsInitialized () const

mitk::ScalarType	GetFRE () const
	Returns the Fiducial Registration Error. More...

mitk::ScalarType	GetFREStdDev () const
	Returns the standard deviation of the Fiducial Registration Error. More...

mitk::ScalarType	GetRMSError () const
	Returns the Root Mean Square of the registration error. More...

mitk::ScalarType	GetMinError () const
	Returns the minimum registration error / best fitting landmark distance. More...

mitk::ScalarType	GetMaxError () const
	Returns the maximum registration error / worst fitting landmark distance. More...

mitk::ScalarType	GetAbsMaxError () const
	Returns the absolute maximum registration error. More...

const ErrorVector &	GetErrorVector () const
	Returns a vector with the euclidean distance of each transformed source point to its respective target point. More...

virtual void	SetUseICPInitialization (bool _arg)

virtual bool	GetUseICPInitialization ()
	If set to true, source and target point correspondences are established with iterative closest point optimization. More...

virtual void	UseICPInitializationOn ()
	If set to true, source and target point correspondences are established with iterative closest point optimization. More...

virtual void	UseICPInitializationOff ()

virtual const LandmarkTransformType *	GetLandmarkTransform ()
	If set to true, source and target point correspondences are established with iterative closest point optimization. More...

Public Member Functions inherited from mitk::NavigationDataToNavigationDataFilter
	mitkClassMacro (NavigationDataToNavigationDataFilter, NavigationDataSource)

virtual void	SetInput (const NavigationData *nd)
	Set the input of this filter. More...

virtual void	SetInput (unsigned int idx, const NavigationData *nd)
	Set input with id idx of this filter. More...

const NavigationData *	GetInput (void) const
	Get the input of this filter. More...

const NavigationData *	GetInput (unsigned int idx) const
	Get the input with id idx of this filter. More...

const NavigationData *	GetInput (std::string navDataName) const
	Get the input with name navDataName of this filter. More...

DataObjectPointerArraySizeType	GetInputIndex (std::string navDataName)
	return the index of the input with name navDataName, throw std::invalid_argument exception if that name was not found More...

virtual void	ConnectTo (mitk::NavigationDataSource *UpstreamFilter)
	Connects the input of this filter to the outputs of the given NavigationDataSource. More...

Public Member Functions inherited from mitk::NavigationDataSource
	mitkClassMacroItkParent (NavigationDataSource, itk::ProcessObject)

virtual std::string	GetName ()

virtual void	SetName (std::string _arg)
	Sets the human readable name of this source. There is also a default name, but you can use this method if you need to define it on your own. More...

NavigationData *	GetOutput (void)
	return the output (output with id 0) of the filter More...

NavigationData *	GetOutput (DataObjectPointerArraySizeType idx)
	return the output with id idx of the filter More...

NavigationData *	GetOutput (const std::string &navDataName)
	return the output with name navDataName of the filter More...

DataObjectPointerArraySizeType	GetOutputIndex (std::string navDataName)
	return the index of the output with name navDataName, -1 if no output with that name was found More...

virtual void	RegisterAsMicroservice ()
	Registers this object as a Microservice, making it available to every module and/or plugin. To unregister, call UnregisterMicroservice(). More...

virtual void	UnRegisterMicroservice ()
	Registers this object as a Microservice, making it available to every module and/or plugin. More...

std::string	GetMicroserviceID ()
	Returns the id that this device is registered with. The id will only be valid, if the NavigationDataSource has been registered using RegisterAsMicroservice(). More...

virtual void	GraftNthOutput (unsigned int idx, itk::DataObject *graft)
	Graft the specified DataObject onto this ProcessObject's output. More...

virtual void	GraftOutput (itk::DataObject *graft)
	Graft the specified DataObject onto this ProcessObject's output. More...

virtual itk::DataObject::Pointer	MakeOutput (DataObjectPointerArraySizeType idx) override

virtual itk::DataObject::Pointer	MakeOutput (const DataObjectIdentifierType &name) override

virtual void	SetParameters (const mitk::PropertyList *)
	Set all filter parameters as the PropertyList p. More...

virtual mitk::PropertyList::ConstPointer	GetParameters () const
	Get all filter parameters as a PropertyList. More...

virtual void	Freeze ()

virtual void	UnFreeze ()

virtual bool	GetIsFrozen ()

Static Public Member Functions
static Pointer	New ()

Static Public Member Functions inherited from mitk::NavigationDataLandmarkTransformFilter
static Pointer	New ()

Protected Member Functions
	NavigationDataReferenceTransformFilter ()
	Constructor. More...

virtual	~NavigationDataReferenceTransformFilter ()
	Destructor. More...

mitk::PointSet::Pointer	CreateLandmarkPointsForSingleNavigationData (mitk::PointSet::Pointer landmarkContainer, const std::vector< mitk::NavigationData::Pointer > &navigationDatas)

Protected Member Functions inherited from mitk::NavigationDataLandmarkTransformFilter
	NavigationDataLandmarkTransformFilter ()
	Constructor. More...

virtual	~NavigationDataLandmarkTransformFilter ()

virtual void	GenerateData () override
	transforms input NDs according to the calculated LandmarkTransform More...

bool	FindCorrespondentLandmarks (LandmarkPointContainer &sources, const LandmarkPointContainer &targets) const
	perform an iterative closest point matching to find corresponding landmarks that will be used for landmark transform calculation More...

void	InitializeLandmarkTransform (LandmarkPointContainer &sources, const LandmarkPointContainer &targets)
	initializes the transform using source and target PointSets More...

void	UpdateLandmarkTransform (const LandmarkPointContainer &sources, const LandmarkPointContainer &targets)
	calculates the transform using source and target PointSets More...

void	AccumulateStatistics (ErrorVector &vector)
	calculate error metrics for the transforms. More...

void	PrintSelf (std::ostream &os, itk::Indent indent) const override
	print object info to ostream More...

Protected Member Functions inherited from mitk::NavigationDataToNavigationDataFilter
	NavigationDataToNavigationDataFilter ()

virtual	~NavigationDataToNavigationDataFilter ()

void	CreateOutputsForAllInputs ()
	Create an output for each input. More...

Protected Member Functions inherited from mitk::NavigationDataSource
	NavigationDataSource ()

virtual	~NavigationDataSource ()

Protected Attributes
QuaternionTransformType::Pointer	m_QuaternionTransform
	itk Quaternion transform More...

mitk::PointSet::Pointer	m_SourceLandmarksFromNavigationDatas
	source points from NavigationDatas More...

mitk::PointSet::Pointer	m_TargetLandmarksFromNavigationDatas
	target points from NavigationDatas More...

Protected Attributes inherited from mitk::NavigationDataLandmarkTransformFilter
mitk::ScalarType	m_ErrorMean
	Fiducial Registration Error. More...

mitk::ScalarType	m_ErrorStdDev
	standard deviation of the Fiducial Registration Error More...

mitk::ScalarType	m_ErrorRMS
	Root Mean Square of the registration error. More...

mitk::ScalarType	m_ErrorMin
	minimum registration error / best fitting landmark distance More...

mitk::ScalarType	m_ErrorMax
	maximum registration error / worst fitting landmark distance More...

mitk::ScalarType	m_ErrorAbsMax
	the absolute maximum registration error More...

LandmarkPointContainer	m_SourcePoints
	positions of the source points More...

LandmarkPointContainer	m_TargetPoints
	positions of the target points More...

TransformInitializerType::Pointer	m_LandmarkTransformInitializer
	landmark based transform initializer More...

LandmarkTransformType::Pointer	m_LandmarkTransform
	transform calculated from source and target points More...

QuaternionTransformType::Pointer	m_QuatLandmarkTransform
	transform needed to rotate orientation More...

QuaternionTransformType::Pointer	m_QuatTransform
	further transform needed to rotate orientation More...

ErrorVector	m_Errors
	stores the euclidean distance of each transformed source landmark and its respective target landmark More...

bool	m_UseICPInitialization
	find source <–> target point correspondences with iterative closest point optimization More...

Protected Attributes inherited from mitk::NavigationDataSource
std::string	m_Name

bool	m_IsFrozen

Additional Inherited Members
Static Public Attributes inherited from mitk::NavigationDataSource
static const std::string	US_INTERFACE_NAME
	These Constants are used in conjunction with Microservices. More...

static const std::string	US_PROPKEY_DEVICENAME

static const std::string	US_PROPKEY_ID

static const std::string	US_PROPKEY_ISACTIVE

Protected Types inherited from mitk::NavigationDataLandmarkTransformFilter
typedef itk::Image< signed short, 3 >	ImageType
	returns the current landmark transform More...

typedef itk::LandmarkBasedTransformInitializer< LandmarkTransformType, ImageType, ImageType >	TransformInitializerType

typedef TransformInitializerType::LandmarkPointContainer	LandmarkPointContainer

typedef itk::QuaternionRigidTransform< double >	QuaternionTransformType

Detailed Description

NavigationDataReferenceTransformFilter applies a itk-landmark-transformation defined by source and target NavigationDatas.

Documentation Before executing the filter SetSourceNavigationDatas and SetTargetNavigationDatas must be called. The amount of given NavigationDatas must be the same for source and target. If source or target points are changed after calling SetXXXNavigationDatas, the corresponding SetXXXNavigationDatas method has to be called again to apply the changes. If UseICPInitialization is false (standard value, or set with SetUseICPInitialization(false) or UseICPInitializationOff()) then source landmarks and target landmarks with the same ID must correspondent to each other. (–> source landmark with ID x will be mapped to target landmark with ID x). If you do not know the correspondences, call SetUseICPInitialization(true) or UseICPInitializationOn() to let the filter guess the correspondences during initialization with an iterative closest point search. This is only possible, if at least 6 source and target landmarks are available.

Definition at line 46 of file mitkNavigationDataReferenceTransformFilter.h.

Member Typedef Documentation

typedef itk::QuaternionRigidTransform<double> mitk::NavigationDataReferenceTransformFilter::QuaternionTransformType

Quaternion transform for calculating.

Definition at line 53 of file mitkNavigationDataReferenceTransformFilter.h.

Constructor & Destructor Documentation

mitk::NavigationDataReferenceTransformFilter::NavigationDataReferenceTransformFilter ( )

protected

Constructor.

Definition at line 21 of file mitkNavigationDataReferenceTransformFilter.cpp.

References m_QuaternionTransform, m_SourceLandmarksFromNavigationDatas, m_TargetLandmarksFromNavigationDatas, mitk::New(), and mitk::PointSet::New().

mitk::NavigationDataReferenceTransformFilter::~NavigationDataReferenceTransformFilter ( )

protectedvirtual

Destructor.

Definition at line 33 of file mitkNavigationDataReferenceTransformFilter.cpp.

Member Function Documentation

Pointer mitk::NavigationDataReferenceTransformFilter::Clone ( ) const

mitk::PointSet::Pointer mitk::NavigationDataReferenceTransformFilter::CreateLandmarkPointsForSingleNavigationData	(	mitk::PointSet::Pointer	landmarkContainer,
		const std::vector< mitk::NavigationData::Pointer > &	navigationDatas
	)

protected

Definition at line 125 of file mitkNavigationDataReferenceTransformFilter.cpp.

const mitk::PointSet::Pointer mitk::NavigationDataReferenceTransformFilter::GetSourceLandmarks ( )

Returns the source landmarks PointSet filled with points from given ND position(s) and orientation.

Definition at line 186 of file mitkNavigationDataReferenceTransformFilter.cpp.

const mitk::PointSet::Pointer mitk::NavigationDataReferenceTransformFilter::GetTargetLandmarks ( )

Returns the target landmarks PointSet filled with points from given ND position(s) and orientation.

Definition at line 191 of file mitkNavigationDataReferenceTransformFilter.cpp.

bool mitk::NavigationDataReferenceTransformFilter::InitializeTransform ( )

Initializes the transform. Transform will be perfomed only if source and target points have the same size.

Returns "true" if transform has been initialized, else "false" is returned.

Definition at line 90 of file mitkNavigationDataReferenceTransformFilter.cpp.

mitk::NavigationDataReferenceTransformFilter::mitkClassMacro	(	NavigationDataReferenceTransformFilter	,
		NavigationDataToNavigationDataFilter
	)

static Pointer mitk::NavigationDataReferenceTransformFilter::New ( )

static

void mitk::NavigationDataReferenceTransformFilter::ReinitFilter ( )

Sets the filter back to initial settings.

Definition at line 110 of file mitkNavigationDataReferenceTransformFilter.cpp.

void mitk::NavigationDataReferenceTransformFilter::SetSourceNavigationDatas ( const std::vector< mitk::NavigationData::Pointer > & sourceNavigationDatas )

Set NavigationDatas whose positions are used as source points for the transform.

Definition at line 39 of file mitkNavigationDataReferenceTransformFilter.cpp.

void mitk::NavigationDataReferenceTransformFilter::SetTargetNavigationDatas ( const std::vector< mitk::NavigationData::Pointer > & sourceNavigationDatas )

Set NavigationDatas whose positions are used as target points for the transform.

Definition at line 65 of file mitkNavigationDataReferenceTransformFilter.cpp.