mitkAnisotropicIterativeClosestPointRegistration.h

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/*===================================================================

The Medical Imaging Interaction Toolkit (MITK)

Copyright (c) German Cancer Research Center,
Division of Medical and Biological Informatics.
All rights reserved.

This software is distributed WITHOUT ANY WARRANTY; without
even the implied warranty of MERCHANTABILITY or FITNESS FOR
A PARTICULAR PURPOSE.

See LICENSE.txt or http://www.mitk.org for details.

===================================================================*/

#ifndef __ANISOTROPICITERATIVECLOSESTPOINTREGISTRATION_H__
#define __ANISOTROPICITERATIVECLOSESTPOINTREGISTRATION_H__

// MITK
#include <mitkCommon.h>
#include <mitkVector.h>

// EXPORTS
#include "MitkAlgorithmsExtExports.h"

// STL
#include <vector>

// ITK
#include <itkMatrix.h>

// forward declarations
class vtkPoints;
class vtkKdTreePointLocator;

namespace mitk
{
  class Surface;
  class WeightedPointTransform;

  class MITKALGORITHMSEXT_EXPORT AnisotropicIterativeClosestPointRegistration : public itk::Object
  {
  protected:
    typedef itk::Matrix<double, 3, 3> CovarianceMatrix;
    typedef std::vector<CovarianceMatrix> CovarianceMatrixList;
    typedef mitk::Vector3D Translation;
    typedef CovarianceMatrix Rotation;
    typedef std::pair<unsigned int, double> Correspondence;
    typedef std::vector<Correspondence> CorrespondenceList;

    AnisotropicIterativeClosestPointRegistration();
    ~AnisotropicIterativeClosestPointRegistration();

    unsigned int m_MaxIterations;

    double m_Threshold;

    double m_FRENormalizationFactor;

    double m_SearchRadius;

    double m_MaxIterationsInWeightedPointTransform;

    double m_FRE;

    double m_TrimmFactor;

    unsigned int m_NumberOfIterations;

    itk::SmartPointer<Surface> m_MovingSurface;
    itk::SmartPointer<Surface> m_FixedSurface;

    itk::SmartPointer<WeightedPointTransform> m_WeightedPointTransform;

    CovarianceMatrixList m_CovarianceMatricesMovingSurface;

    CovarianceMatrixList m_CovarianceMatricesFixedSurface;

    Translation m_Translation;
    Rotation m_Rotation;

    void ComputeCorrespondences(vtkPoints *X,
                                vtkPoints *Z,
                                vtkKdTreePointLocator *Y,
                                const CovarianceMatrixList &sigma_X,
                                const CovarianceMatrixList &sigma_Y,
                                CovarianceMatrixList &sigma_Z,
                                CorrespondenceList &correspondences,
                                const double radius);

  public:
    mitkClassMacroItkParent(AnisotropicIterativeClosestPointRegistration, itk::Object) itkFactorylessNewMacro(Self)
      itkCloneMacro(Self)

      itkSetMacro(MaxIterations, unsigned int)

      itkSetMacro(Threshold, double)

      itkSetMacro(FRENormalizationFactor, double)

      itkSetMacro(SearchRadius, double)

      itkSetMacro(MaxIterationsInWeightedPointTransform, double)

      itkGetMacro(FRE, double)

      itkGetMacro(NumberOfIterations, unsigned int)

      itkSetMacro(TrimmFactor, double)

      itkSetMacro(MovingSurface, itk::SmartPointer<Surface>)

      itkSetMacro(FixedSurface, itk::SmartPointer<Surface>)

      itkGetConstReferenceMacro(Translation, Translation)

      itkGetConstReferenceMacro(Rotation, Rotation)

      void SetCovarianceMatricesMovingSurface(CovarianceMatrixList &list)
    {
      m_CovarianceMatricesMovingSurface = list;
    }

    void SetCovarianceMatricesFixedSurface(CovarianceMatrixList &list) { m_CovarianceMatricesFixedSurface = list; }
    void Update();
  };
}
#endif