/usr/include/IGSTK/igstkLandmark3DRegistrationErrorEstimator.h is in libigstk4-dev 4.4.0-6.
This file is owned by root:root, with mode 0o644.
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Program: Image Guided Surgery Software Toolkit
Module: $RCSfile: igstkLandmark3DRegistrationErrorEstimator.h,v $
Language: C++
Date: $Date: 2008-06-05 14:54:59 $
Version: $Revision: 1.12 $
Copyright (c) ISC Insight Software Consortium. All rights reserved.
See IGSTKCopyright.txt or http://www.igstk.org/copyright.htm for details.
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the above copyright notices for more information.
=========================================================================*/
#ifndef __igstkLandmark3DRegistrationErrorEstimator_h
#define __igstkLandmark3DRegistrationErrorEstimator_h
#include "igstkStateMachine.h"
#include "igstkMacros.h"
#include "igstkObject.h"
#include "igstkEvents.h"
#include "itkPoint.h"
#include "itkVersor.h"
#include <vector>
namespace igstk
{
/** \class Landmark3DRegistrationErrorEstimator
*
* \brief This class estimates error in point-based
* rigid-body landmark registration .
*
* The error estimation is based on the work by West et al.
*
* J.B West et al, "Fiducial Point Placement and the Accuracy of Point-based,
* Rigid Body Registration", Neurosurgery, pp 810-816, Vol.48, No.4,
* April 2001.
*
*\image html igstkLandmark3DRegistrationErrorEstimator.png "State Machine"
*
*\image latex igstkLandmark3DRegistrationErrorEstimator.eps "State Machine"
*
* \ingroup Registration
*/
class Landmark3DRegistrationErrorEstimator : public Object
{
public:
/** Macro with standard traits declarations. */
igstkStandardClassTraitsMacro( Landmark3DRegistrationErrorEstimator, Object )
public:
/** Typedefs */
typedef itk::Point<double, 3> TargetPointType;
typedef itk::Point<double, 3> LandmarkPointType;
typedef std::vector< LandmarkPointType > LandmarkContainerType;
/** Error parameter Typedefs */
typedef double ErrorType;
/** Method to set the landmark container */
void RequestSetLandmarkContainer( const LandmarkContainerType & );
/** Method to set the target point */
void RequestSetTargetPoint ( const TargetPointType & );
/** Method to set the landmark registration error */
void RequestSetLandmarkRegistrationError ( const ErrorType & );
/** Method to request target registration estimation */
void RequestEstimateTargetPointRegistrationError( );
/** Request target point registration error event */
void RequestGetTargetPointRegistrationErrorEstimate();
protected:
Landmark3DRegistrationErrorEstimator ( void );
~Landmark3DRegistrationErrorEstimator ( void );
/** Print the object information in a stream. */
void PrintSelf( std::ostream& os, itk::Indent indent ) const;
private:
typedef itk::Vector<double, 3> VectorType;
typedef LandmarkContainerType::const_iterator PointsContainerConstIterator;
typedef double DistanceType;
typedef itk::Versor<double> VersorType;
/** Compute Landmarks centroid */
void ComputeLandmarksCentroid();
/** Compute landmark principal axes */
void ComputeLandmarkPrincipalAxes();
/** Compute RMS distance of landmarks from the principal axes */
void ComputeRMSDistanceLandmarksFromPrincipalAxes();
/** Set landmark container */
void SetLandmarkContainerProcessing();
/** Set target point */
void SetTargetPointProcessing();
/** Set landmark registration error */
void SetLandmarkRegistrationErrorProcessing( );
void ComputeErrorParameters( );
/** Estimate target point registration error */
void EstimateTargetPointRegistrationErrorProcessing( );
/** Report any invalid request to the logger */
void ReportInvalidRequestProcessing();
/** Report success in target point registration error estimation */
void ReportSuccessInTargetPointRegistrationErrorEstimationProcessing();
/** Report failure in target point registration error estimation */
void ReportFailureInTargePointRegistrationErrorEstimationProcessing();
/** This method throws an event loaded with the landmark registration
* error */
void GetTargetPointRegistrationErrorEstimateProcessing();
/** List of States */
igstkDeclareStateMacro( Idle );
igstkDeclareStateMacro( LandmarkContainerSet );
igstkDeclareStateMacro( LandmarkRegistrationErrorSet );
igstkDeclareStateMacro( TargetPointSet );
igstkDeclareStateMacro( AttemptingToEstimateTargetRegstirationError );
igstkDeclareStateMacro( TargetRegistrationErrorEstimated );
/** List of Inputs */
igstkDeclareInputMacro( LandmarkContainer );
igstkDeclareInputMacro( LandmarkRegistrationError );
igstkDeclareInputMacro( TargetPoint );
igstkDeclareInputMacro( EstimateTargetPointRegistrationError );
igstkDeclareInputMacro( TargetPointRegistrationErrorEstimationSuccess );
igstkDeclareInputMacro( TargetPointRegistrationErrorEstimationFailure );
igstkDeclareInputMacro( GetTargetPointRegistrationErrorEstimate );
/** These two methods must be declared and note be implemented
* in order to enforce the protocol of smart pointers. */
Landmark3DRegistrationErrorEstimator(const Self&); //purposely not implemented
void operator=(const Self&); //purposely not implemented
LandmarkContainerType m_LandmarkContainer;
LandmarkContainerType m_LandmarkContainerToBeSet;
TargetPointType m_TargetPoint;
TargetPointType m_TargetPointToBeSet;
ErrorType m_LandmarkRegistrationError;
ErrorType m_LandmarkRegistrationErrorToBeSet;
ErrorType m_TargetPointRegistrationError;
/** Landmark configuration */
itk::Matrix<double,3,3> m_LandmarkPrincipalAxes;
/** RMS distance from the landmarks to the principal axes of the
* landmark configuration */
VectorType m_RMSDistanceFromLandmarkToPrincipalAxes;
/** Landmarks centroid */
LandmarkPointType m_LandmarkCentroid;
};
} // end namespace igstk
#endif // __igstkLandmark3DRegistrationErrorEstimator_h
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