mitkAnisotropicIterativeClosestPointRegistration.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 mitkAnisotropicIterativeClosestPointRegistration_h
#define mitkAnisotropicIterativeClosestPointRegistration_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() override;
 
    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