This class implements an extension of the weighted point based registration algorithm from A. Danilchenko, R. Balachandran and J. M. Fitzpatrick. More...

#include <mitkWeightedPointTransform.h>

Inheritance diagram for mitk::WeightedPointTransform:

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Collaboration diagram for mitk::WeightedPointTransform:

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Public Member Functions
	mitkClassMacroItkParent (WeightedPointTransform, itk::Object)

Pointer	Clone () const

void	ComputeTransformation ()
	Method which registers both point sets. More...

virtual void	SetThreshold (double _arg)
	Sets the threshold of the registration. Default value is 0.0001. More...

virtual void	SetMaxIterations (double _arg)
	Sets the maximum number of iterations of the registration. Default value is 1000. More...

virtual int	GetIterations ()

virtual double	GetFRE ()

virtual void	SetFRENormalizationFactor (double _arg)
	Sets the FRE normalization factor. Default value is 1.0. More...

virtual double	GetFRENormalizationFactor ()

void	SetMovingPointSet (vtkSmartPointer< vtkPoints > p)

void	SetCovarianceMatricesMoving (const CovarianceMatrixList &matrices)

void	SetFixedPointSet (vtkSmartPointer< vtkPoints > p)

void	SetCovarianceMatricesFixed (const CovarianceMatrixList &matrices)

const Translation &	GetTransformT () const

const Rotation &	GetTransformR () const

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
	WeightedPointTransform ()

	~WeightedPointTransform () override

void	C_maker (vtkPoints *X, const WeightMatrixList &W, itk::VariableSizeMatrix< double > &returnValue)

void	E_maker (vtkPoints X, vtkPoints Y, const WeightMatrixList &W, vnl_vector< double > &returnValue)

double	CalculateConfigChange (vtkPoints X, vtkPoints X_new)

void	WeightedPointRegister (vtkPoints X, vtkPoints Y, const CovarianceMatrixList &Sigma_X, const CovarianceMatrixList &Sigma_Y, double Threshold, int MaxIterations, Rotation &TransformationR, Translation &TransformationT, double &FRE, int &n)
	This method performs a variant of the weighted point register algorithm presented by A. Danilchenko, R. Balachandran and J. M. Fitzpatrick in January 2010. (Modified in January 2011) converted to C++ by Alfred Franz in March/April 2010. More...

Protected Attributes
double	m_Threshold

int	m_MaxIterations

int	m_Iterations

double	m_FRE

double	m_FRENormalizationFactor

vtkSmartPointer< vtkLandmarkTransform >	m_LandmarkTransform

vtkSmartPointer< vtkPoints >	m_FixedPointSet

vtkSmartPointer< vtkPoints >	m_MovingPointSet

CovarianceMatrixList	m_CovarianceMatricesMoving

CovarianceMatrixList	m_CovarianceMatricesFixed

Translation	m_Translation

Rotation	m_Rotation

Detailed Description

This class implements an extension of the weighted point based registration algorithm from A. Danilchenko, R. Balachandran and J. M. Fitzpatrick.

The class implements an extension of the weighted point based registration from A. Danilchenko et al. presented by L. Maier-Hein et al. in "Convergent Iterative Closest-Point Algorithm to Accommodate Anisotropic and Inhomogenous Localization Error.", IEEE T Pattern Anal 34 (8), 1520-1532, 2012. The extension computes, in order to ensure the convergence of the algorithm, an isotropic estimation by an unweighted point based registration algorithm as an initial estimate. The implemantion was originally ported to C/C++ by A. Franz.

Note: Some methods are accelerated when OpenMP is enabled.

Definition at line 52 of file mitkWeightedPointTransform.h.

Constructor & Destructor Documentation

◆ WeightedPointTransform()

mitk::WeightedPointTransform::WeightedPointTransform ( )

protected

◆ ~WeightedPointTransform()

mitk::WeightedPointTransform::~WeightedPointTransform ( )

overrideprotected

Member Function Documentation

◆ C_maker()

void mitk::WeightedPointTransform::C_maker	(	vtkPoints *	X,
		const WeightMatrixList &	W,
		itk::VariableSizeMatrix< double > &	returnValue
	)

protected

original matlab-function:

Constructs the C matrix of the linear version of the registration problem, Cq = e, where q = [delta_angle(1:3),delta_translation(1:3)] and e is produced by e_maker(X,Y,W)

Authors: JM Fitzpatrick and R Balachandran Creation: February 2009

converted to C++ by Alfred Franz in March/April 2010

◆ CalculateConfigChange()

double mitk::WeightedPointTransform::CalculateConfigChange	(	vtkPoints *	X,
		vtkPoints *	X_new
	)

protected

This method computes the change in a root mean squared sense between the previous and the actual iteration. The computed value is used as a termination constraint of the algorithm and compared against the threshold.

Parameters

X	The moving point set in the previous iteration step.
X_new	The moving point set in the actual step.

Returns: The computed change between the two point sets.

◆ Clone()

Pointer mitk::WeightedPointTransform::Clone ( ) const

◆ ComputeTransformation()

void mitk::WeightedPointTransform::ComputeTransformation ( )

Method which registers both point sets.

◆ E_maker()

void mitk::WeightedPointTransform::E_maker	(	vtkPoints *	X,
		vtkPoints *	Y,
		const WeightMatrixList &	W,
		vnl_vector< double > &	returnValue
	)

protected

original matlab-function:

Constructs the e vector of the linear version of the registration problem, Cq = e, where q = [delta_angle(1:3),delta_translation(1:3)] and C is produced by C_maker(X,W)

Authors: JM Fitzpatrick and R Balachandran Creation: February 2009

converted to C++ by Alfred Franz in March/April 2010

◆ GetFRE()

virtual double mitk::WeightedPointTransform::GetFRE ( )

virtual

Returns: Returns the FRE of the last run of the registration algorithm. Returns -1 if there was no run of the registration yet.

◆ GetFRENormalizationFactor()

virtual double mitk::WeightedPointTransform::GetFRENormalizationFactor ( )

virtual

Returns: Returns the current FRE normalization factor.

◆ GetIterations()

virtual int mitk::WeightedPointTransform::GetIterations ( )

virtual

Returns: Returns the number of iterations of the last run of the registration algorithm. Returns -1 if there was no run of the registration yet.

◆ GetTransformR()

const Rotation& mitk::WeightedPointTransform::GetTransformR ( ) const

inline

The rotation matrix computed by the algorithm.

Definition at line 130 of file mitkWeightedPointTransform.h.

◆ GetTransformT()

const Translation& mitk::WeightedPointTransform::GetTransformT ( ) const

inline

The translation vector computed by the algorithm.

Returns: 3x1 translation vector.

Definition at line 126 of file mitkWeightedPointTransform.h.

◆ mitkClassMacroItkParent()

mitk::WeightedPointTransform::mitkClassMacroItkParent	(	WeightedPointTransform	,
		itk::Object
	)

◆ New()

static Pointer mitk::WeightedPointTransform::New ( )

static

◆ SetCovarianceMatricesFixed()

void mitk::WeightedPointTransform::SetCovarianceMatricesFixed ( const CovarianceMatrixList & matrices )

Set the list of 3x3 covariance matrices belonging to the fixed point set.

Parameters

matrices List of covariance matrices.

◆ SetCovarianceMatricesMoving()

void mitk::WeightedPointTransform::SetCovarianceMatricesMoving ( const CovarianceMatrixList & matrices )

Set the list of 3x3 covariance matrices belonging to the moving point set.

Parameters

matrices List of covariance matrices.

◆ SetFixedPointSet()

void mitk::WeightedPointTransform::SetFixedPointSet ( vtkSmartPointer< vtkPoints > p )

Sets the fixed point set used for the registration.

Parameters

p	The input point set.

◆ SetFRENormalizationFactor()

virtual void mitk::WeightedPointTransform::SetFRENormalizationFactor ( double _arg )

virtual

Sets the FRE normalization factor. Default value is 1.0.

◆ SetMaxIterations()

virtual void mitk::WeightedPointTransform::SetMaxIterations ( double _arg )

virtual

Sets the maximum number of iterations of the registration. Default value is 1000.

◆ SetMovingPointSet()

void mitk::WeightedPointTransform::SetMovingPointSet ( vtkSmartPointer< vtkPoints > p )

Sets the moving point set used for the registration.

Parameters

p	The input point set.

◆ SetThreshold()

virtual void mitk::WeightedPointTransform::SetThreshold ( double _arg )

virtual

Sets the threshold of the registration. Default value is 0.0001.

◆ WeightedPointRegister()

void mitk::WeightedPointTransform::WeightedPointRegister	(	vtkPoints *	X,
		vtkPoints *	Y,
		const CovarianceMatrixList &	Sigma_X,
		const CovarianceMatrixList &	Sigma_Y,
		double	Threshold,
		int	MaxIterations,
		Rotation &	TransformationR,
		Translation &	TransformationT,
		double &	FRE,
		int &	n
	)

protected

This method performs a variant of the weighted point register algorithm presented by A. Danilchenko, R. Balachandran and J. M. Fitzpatrick in January 2010. (Modified in January 2011) converted to C++ by Alfred Franz in March/April 2010.

Parameters

X	(input) the moving point set
Y	(input) the fixed (static) point set
Sigma_X	(input) a 3-by-3-by-N array, each page containing the weighting matrix for the Nth pair of points in X
Sigma_Y	(input) a 3-by-3-by-N array, each page containing the weighting matrix for the Nth pair of points in Y
Threshold	(input) the relative size of the change to the moving set above which the iteration continues
MaxIterations	(input) the maximum number of iterations allowed
TransformationR	(output) this variable will hold the computed rotation matrix
TransformationT	(output) this variable will hold the computed translation vector
FRE	(output) this variable will hold the computed rotation FRE of the transformation
n	(output) this variable will hold the number of iterations used by the algorithm

Member Data Documentation

◆ m_CovarianceMatricesFixed

CovarianceMatrixList mitk::WeightedPointTransform::m_CovarianceMatricesFixed

protected

Covariance matrices of the moving point set (Sigma_Y).

Definition at line 163 of file mitkWeightedPointTransform.h.

◆ m_CovarianceMatricesMoving

CovarianceMatrixList mitk::WeightedPointTransform::m_CovarianceMatricesMoving

protected

Covariance matrices of the moving point set (Sigma_X).

Definition at line 160 of file mitkWeightedPointTransform.h.

◆ m_FixedPointSet

vtkSmartPointer<vtkPoints> mitk::WeightedPointTransform::m_FixedPointSet

protected

The fixed point set (Y).

Definition at line 154 of file mitkWeightedPointTransform.h.

◆ m_FRE

double mitk::WeightedPointTransform::m_FRE

protected

The fiducial registration error (FRE) used in the algorithm.

Definition at line 145 of file mitkWeightedPointTransform.h.

◆ m_FRENormalizationFactor

double mitk::WeightedPointTransform::m_FRENormalizationFactor

protected

Normalization factor for the FRE.

Definition at line 148 of file mitkWeightedPointTransform.h.

◆ m_Iterations

int mitk::WeightedPointTransform::m_Iterations

protected

The amount of iterations needed by the algorithm.

Definition at line 142 of file mitkWeightedPointTransform.h.

◆ m_LandmarkTransform

vtkSmartPointer<vtkLandmarkTransform> mitk::WeightedPointTransform::m_LandmarkTransform

protected

Isotropic point based registration used for initial estimate.

Definition at line 151 of file mitkWeightedPointTransform.h.

◆ m_MaxIterations

int mitk::WeightedPointTransform::m_MaxIterations

protected

Max allowed iterations used by the algorithm.

Definition at line 139 of file mitkWeightedPointTransform.h.

◆ m_MovingPointSet

vtkSmartPointer<vtkPoints> mitk::WeightedPointTransform::m_MovingPointSet

protected

Moving point set (X).

Definition at line 157 of file mitkWeightedPointTransform.h.

◆ m_Rotation

Rotation mitk::WeightedPointTransform::m_Rotation

protected

3x3 rotation matrix.

Definition at line 169 of file mitkWeightedPointTransform.h.

◆ m_Threshold

double mitk::WeightedPointTransform::m_Threshold

protected

Threshold used to terminate the algorithm.

Definition at line 136 of file mitkWeightedPointTransform.h.

◆ m_Translation

Translation mitk::WeightedPointTransform::m_Translation

protected

3x1 translation vector.

Definition at line 166 of file mitkWeightedPointTransform.h.

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

mitkWeightedPointTransform.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ WeightedPointTransform()

◆ ~WeightedPointTransform()

Member Function Documentation

◆ C_maker()

◆ CalculateConfigChange()

◆ Clone()

◆ ComputeTransformation()

◆ E_maker()

◆ GetFRE()

◆ GetFRENormalizationFactor()

◆ GetIterations()

◆ GetTransformR()

◆ GetTransformT()

◆ mitkClassMacroItkParent()

◆ New()

◆ SetCovarianceMatricesFixed()

◆ SetCovarianceMatricesMoving()

◆ SetFixedPointSet()

◆ SetFRENormalizationFactor()

◆ SetMaxIterations()

◆ SetMovingPointSet()

◆ SetThreshold()

◆ WeightedPointRegister()

Member Data Documentation

◆ m_CovarianceMatricesFixed

◆ m_CovarianceMatricesMoving

◆ m_FixedPointSet

◆ m_FRE

◆ m_FRENormalizationFactor

◆ m_Iterations

◆ m_LandmarkTransform

◆ m_MaxIterations

◆ m_MovingPointSet

◆ m_Rotation

◆ m_Threshold

◆ m_Translation