igstkLandmark3DRegistration.h

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

  Program:   Image Guided Surgery Software Toolkit
  Module:    $RCSfile: igstkLandmark3DRegistration.h,v $
  Language:  C++
  Date:      $Date: 2008-11-17 20:12:25 $
  Version:   $Revision: 1.23 $

  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 __igstkLandmark3DRegistration_h
#define __igstkLandmark3DRegistration_h

#include "igstkStateMachine.h"
#include "igstkEvents.h"
#include "igstkMacros.h"
#include "igstkObject.h"
#include "igstkTransform.h"
#include "igstkCoordinateSystem.h"

#include "itkImage.h"
#include "itkLandmarkBasedTransformInitializer.h"


namespace igstk
{
class Landmark3DRegistration : public Object
{

public:
  
  igstkStandardClassTraitsMacro( Landmark3DRegistration, Object )

public:

  itkStaticConstMacro(Dimension,unsigned int,3);

  typedef  unsigned char                      PixelType;
  typedef itk::Image< PixelType, Dimension >  ImageType;

  typedef itk::VersorRigid3DTransform< double > TransformType;
  typedef TransformType::Pointer                TransformPointerType;
  
  typedef itk::LandmarkBasedTransformInitializer< TransformType, 
            ImageType, ImageType > TransformInitializerType;
  
  typedef TransformInitializerType::LandmarkPointContainer 
                                              LandmarkPointContainerType;
  
  typedef TransformInitializerType::LandmarkPointType LandmarkImagePointType;
  
  typedef TransformInitializerType::LandmarkPointType LandmarkTrackerPointType;
  
  typedef TransformInitializerType::Pointer   TransformInitializerPointerType;
  
  typedef LandmarkPointContainerType::const_iterator
                                              PointsContainerConstIterator;

  void RequestAddImageLandmarkPoint( const LandmarkImagePointType & pt );
  
  void RequestAddTrackerLandmarkPoint( const LandmarkImagePointType & pt );

  void RequestResetRegistration();

  void RequestComputeTransform();

  void RequestGetTransformFromTrackerToImage();

  void RequestGetTransformFromImageToTracker();
 
  void RequestGetRMSError();

  void RequestSetCollinearityTolerance( const double & tolerance ); 
  
  igstkEventMacro( TransformInitializerEvent,       IGSTKEvent );
  igstkEventMacro( TransformInitializerErrorEvent,  IGSTKErrorEvent );

  igstkEventMacro( TransformComputationFailureEvent,
                                              TransformInitializerErrorEvent );

  igstkEventMacro( TransformComputationSuccessEvent,TransformInitializerEvent);

protected:

  Landmark3DRegistration  ( void );
  ~Landmark3DRegistration ( void );

  void ComputeRMSError();

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

private:
 
  Landmark3DRegistration(const Self&);    //purposely not implemented
  void operator=(const Self&);          //purposely not implemented


  TransformPointerType                     m_Transform;
  TransformInitializerPointerType          m_TransformInitializer;
  LandmarkPointContainerType               m_TrackerLandmarks;
  LandmarkPointContainerType               m_ImageLandmarks;
  LandmarkImagePointType                   m_ImageLandmarkPoint;
  LandmarkTrackerPointType                 m_TrackerLandmarkPoint;
  
  Transform::ErrorType                     m_RMSError;

  double                                   m_CollinearityTolerance;
  
  igstkDeclareStateMacro( Idle );
  igstkDeclareStateMacro( ImageLandmark1Added );
  igstkDeclareStateMacro( TrackerLandmark1Added );
  igstkDeclareStateMacro( ImageLandmark2Added );
  igstkDeclareStateMacro( TrackerLandmark2Added );
  igstkDeclareStateMacro( ImageLandmark3Added );
  igstkDeclareStateMacro( TrackerLandmark3Added );
  igstkDeclareStateMacro( AttemptingToComputeTransform ); 
  igstkDeclareStateMacro( TransformComputed ); 


  igstkDeclareInputMacro( ImageLandmark );
  igstkDeclareInputMacro( TrackerLandmark );
  igstkDeclareInputMacro( ComputeTransform );
  igstkDeclareInputMacro( GetTransformFromTrackerToImage );
  igstkDeclareInputMacro( GetTransformFromImageToTracker );
  igstkDeclareInputMacro( GetRMSError );
  igstkDeclareInputMacro( ResetRegistration );
  igstkDeclareInputMacro( TransformComputationFailure );
  igstkDeclareInputMacro( TransformComputationSuccess );

  bool CheckCollinearity();
   
  void AddImageLandmarkPointProcessing();
  
  void AddTrackerLandmarkPointProcessing();

  void ResetRegistrationProcessing();

  void ComputeTransformProcessing();

  void GetTransformFromTrackerToImageProcessing();

  void GetTransformFromImageToTrackerProcessing();

  void GetRMSErrorProcessing();

  void ReportInvalidRequestProcessing();

  void ReportSuccessInTransformComputationProcessing();

  void ReportFailureInTransformComputationProcessing();

  CoordinateSystem::Pointer     m_TrackerCoordinateSystem;
  CoordinateSystem::Pointer     m_ImageCoordinateSystem;
};

} // end namespace igstk

#endif // __igstkLandmark3DRegistration_h