mitkNavigationDataLandmarkTransformFilter.h

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

The Medical Imaging Interaction Toolkit (MITK)

Copyright (c) German Cancer Research Center (DKFZ)
All rights reserved.

Use of this source code is governed by a 3-clause BSD license that can be
found in the LICENSE file.

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

#ifndef MITKNavigationDataLandmarkTransformFilter_H_HEADER_INCLUDED_
#define MITKNavigationDataLandmarkTransformFilter_H_HEADER_INCLUDED_

#include <mitkNavigationDataToNavigationDataFilter.h>
#include <mitkPointSet.h>
#include <itkLandmarkBasedTransformInitializer.h>
#include <itkQuaternionRigidTransform.h>
#include <itkImage.h>


namespace mitk {

  class MITKIGT_EXPORT NavigationDataLandmarkTransformFilter : public NavigationDataToNavigationDataFilter
  {
  public:
    mitkClassMacro(NavigationDataLandmarkTransformFilter, NavigationDataToNavigationDataFilter);
    itkFactorylessNewMacro(Self);
    itkCloneMacro(Self);

    typedef std::vector<mitk::ScalarType> ErrorVector;
    typedef itk::VersorRigid3DTransform< double > LandmarkTransformType;

    virtual void SetSourceLandmarks(mitk::PointSet::Pointer sourcePointSet);

    virtual void SetTargetLandmarks(mitk::PointSet::Pointer targetPointSet);

    virtual bool IsInitialized() const;

    mitk::ScalarType GetFRE() const;

    mitk::ScalarType GetFREStdDev() const;

    mitk::ScalarType GetRMSError() const;

    mitk::ScalarType GetMinError() const;

    mitk::ScalarType GetMaxError() const;

    mitk::ScalarType GetAbsMaxError() const;

    const ErrorVector& GetErrorVector() const;

    itkSetMacro(UseICPInitialization, bool); 
    itkGetMacro(UseICPInitialization, bool); 
    itkBooleanMacro(UseICPInitialization);   

    itkGetConstObjectMacro(LandmarkTransform, LandmarkTransformType);  

  protected:
    typedef itk::Image< signed short, 3>  ImageType;       // only because itk::LandmarkBasedTransformInitializer must be templated over two imagetypes

    typedef itk::LandmarkBasedTransformInitializer< LandmarkTransformType, ImageType, ImageType > TransformInitializerType;
    typedef TransformInitializerType::LandmarkPointContainer LandmarkPointContainer;
    typedef itk::QuaternionRigidTransform<double> QuaternionTransformType;

    NavigationDataLandmarkTransformFilter();
    ~NavigationDataLandmarkTransformFilter() override;

    void GenerateData() override;

    bool FindCorrespondentLandmarks(LandmarkPointContainer& sources, const LandmarkPointContainer& targets) const;

    void InitializeLandmarkTransform(LandmarkPointContainer& sources, const LandmarkPointContainer& targets);

    void UpdateLandmarkTransform(const LandmarkPointContainer &sources, const  LandmarkPointContainer &targets); 
    void AccumulateStatistics(ErrorVector& vector); 

    void PrintSelf( std::ostream& os, itk::Indent indent ) const override;     

    mitk::ScalarType m_ErrorMean;     
    mitk::ScalarType m_ErrorStdDev;   
    mitk::ScalarType m_ErrorRMS;      
    mitk::ScalarType m_ErrorMin;      
    mitk::ScalarType m_ErrorMax;      
    mitk::ScalarType m_ErrorAbsMax;   

    LandmarkPointContainer m_SourcePoints;      
    LandmarkPointContainer m_TargetPoints;      
    TransformInitializerType::Pointer m_LandmarkTransformInitializer;     
    LandmarkTransformType::Pointer m_LandmarkTransform;               

    QuaternionTransformType::Pointer m_QuatLandmarkTransform; 
    QuaternionTransformType::Pointer m_QuatTransform;         

    ErrorVector m_Errors; 
    bool m_UseICPInitialization; 
  };
} // namespace mitk
#endif /* MITKNavigationDataLandmarkTransformFilter_H_HEADER_INCLUDED_ */