igstkLandmark3DRegistrationErrorEstimator.h

Go to the documentation of this file.

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

  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 : public Object
{

public:
  
  igstkStandardClassTraitsMacro( Landmark3DRegistrationErrorEstimator, Object )

public:

  typedef itk::Point<double, 3>                           TargetPointType;
  typedef itk::Point<double, 3>                           LandmarkPointType;
  typedef std::vector< LandmarkPointType >                LandmarkContainerType;

  typedef double                                          ErrorType;

  void RequestSetLandmarkContainer( const LandmarkContainerType & );

  void RequestSetTargetPoint ( const TargetPointType & );

  void RequestSetLandmarkRegistrationError ( const ErrorType & );

  void RequestEstimateTargetPointRegistrationError( );

  void RequestGetTargetPointRegistrationErrorEstimate();
   
protected:

  Landmark3DRegistrationErrorEstimator  ( void );
  ~Landmark3DRegistrationErrorEstimator ( void );

  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;

  
  void ComputeLandmarksCentroid();

  void ComputeLandmarkPrincipalAxes();

  void ComputeRMSDistanceLandmarksFromPrincipalAxes();

  void SetLandmarkContainerProcessing();

  void SetTargetPointProcessing();

  void SetLandmarkRegistrationErrorProcessing( );
    
  void ComputeErrorParameters( );

  void EstimateTargetPointRegistrationErrorProcessing( );

  void ReportInvalidRequestProcessing();

  void ReportSuccessInTargetPointRegistrationErrorEstimationProcessing();

  void ReportFailureInTargePointRegistrationErrorEstimationProcessing();

  void GetTargetPointRegistrationErrorEstimateProcessing();

  igstkDeclareStateMacro( Idle );
  igstkDeclareStateMacro( LandmarkContainerSet );
  igstkDeclareStateMacro( LandmarkRegistrationErrorSet );
  igstkDeclareStateMacro( TargetPointSet );
  igstkDeclareStateMacro( AttemptingToEstimateTargetRegstirationError );
  igstkDeclareStateMacro( TargetRegistrationErrorEstimated );


  igstkDeclareInputMacro( LandmarkContainer );
  igstkDeclareInputMacro( LandmarkRegistrationError );
  igstkDeclareInputMacro( TargetPoint );
  igstkDeclareInputMacro( EstimateTargetPointRegistrationError );
  igstkDeclareInputMacro( TargetPointRegistrationErrorEstimationSuccess );
  igstkDeclareInputMacro( TargetPointRegistrationErrorEstimationFailure );
  igstkDeclareInputMacro( GetTargetPointRegistrationErrorEstimate );

  
  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;
  
  itk::Matrix<double,3,3>           m_LandmarkPrincipalAxes;

  VectorType                        m_RMSDistanceFromLandmarkToPrincipalAxes;

  LandmarkPointType                 m_LandmarkCentroid;

};
} // end namespace igstk

#endif // __igstkLandmark3DRegistrationErrorEstimator_h