Cost function for Ultrasound Pointer based calibration, a la Muratore 2001. More...

Inheritance diagram for niftk::UltrasoundPointerCalibrationCostFunction:

Collaboration diagram for niftk::UltrasoundPointerCalibrationCostFunction:

Public Types
typedef UltrasoundPointerCalibrationCostFunction	Self

typedef itk::MultipleValuedCostFunction	Superclass

typedef itk::SmartPointer< Self >	Pointer

typedef itk::SmartPointer < const Self >	ConstPointer

typedef Superclass::ParametersType	ParametersType

typedef Superclass::DerivativeType	DerivativeType

typedef Superclass::MeasureType	MeasureType

Public Member Functions
virtual unsigned int	GetNumberOfValues (void) const override
	Equal to the number of points * 3. More...

virtual unsigned int	GetNumberOfParameters () const override
	Required by base class to return the number of parameters. More...

virtual void	GetDerivative (const ParametersType &parameters, DerivativeType &derivative) const override
	Simply uses central differences to approximate the derivative for each of the parameters. See also SetScales where you set the relative size of each parameter step size. More...

void	SetScales (const ParametersType &scales)
	Used when calculating derivative using central differences. More...

double	GetResidual (const MeasureType &values) const
	Returns the RMS residual of all the values stored in the values array. More...

vtkSmartPointer< vtkMatrix4x4 >	GetRigidMatrix (const ParametersType &parameters) const
	Returns the rigid matrix for the given parameters. More...

vtkSmartPointer< vtkMatrix4x4 >	GetScalingMatrix (const ParametersType &parameters) const
	Returns the scaling matrix for the given parameters. More...

virtual MeasureType	GetValue (const ParametersType &parameters) const override
	The cost function is the residual error of the reconstructed point, where this function returns an array of n (x, y, z) tuples where n is the number of points, and each x, y, z measure is the difference from the invariant point. More...

void	SetImagePoints (const mitk::PointSet::Pointer imagePoints)
	Sets the points in image space. More...

void	SetSensorPoints (const mitk::PointSet::Pointer sensorPoints)
	Sets the points in sensor space. More...

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
	UltrasoundPointerCalibrationCostFunction ()

virtual	~UltrasoundPointerCalibrationCostFunction ()

	UltrasoundPointerCalibrationCostFunction (const UltrasoundPointerCalibrationCostFunction &)

UltrasoundPointerCalibrationCostFunction &	operator= (const UltrasoundPointerCalibrationCostFunction &)

void	ValidateSizeOfParametersArray (const ParametersType &parameters) const
	Checks the supplied parameters array is the right size (i.e. it equals this->GetNumberOfParameters()), and throws mitk::Exception if it isnt. More...

void	ValidateSizeOfScalesArray (const ParametersType &parameters) const
	Checks the supplied parameters array is the right size (i.e. it equals this->m_Scales.GetSize()), and throws mitk::Exception if it isnt. More...

Detailed Description

Cost function for Ultrasound Pointer based calibration, a la Muratore 2001.

Member Typedef Documentation

typedef itk::SmartPointer<const Self> niftk::UltrasoundPointerCalibrationCostFunction::ConstPointer

typedef Superclass::DerivativeType niftk::UltrasoundPointerCalibrationCostFunction::DerivativeType

typedef Superclass::MeasureType niftk::UltrasoundPointerCalibrationCostFunction::MeasureType

typedef Superclass::ParametersType niftk::UltrasoundPointerCalibrationCostFunction::ParametersType

typedef itk::SmartPointer<Self> niftk::UltrasoundPointerCalibrationCostFunction::Pointer

typedef UltrasoundPointerCalibrationCostFunction niftk::UltrasoundPointerCalibrationCostFunction::Self

typedef itk::MultipleValuedCostFunction niftk::UltrasoundPointerCalibrationCostFunction::Superclass

Constructor & Destructor Documentation

niftk::UltrasoundPointerCalibrationCostFunction::UltrasoundPointerCalibrationCostFunction ( )

protected

niftk::UltrasoundPointerCalibrationCostFunction::~UltrasoundPointerCalibrationCostFunction ( )

protectedvirtual

niftk::UltrasoundPointerCalibrationCostFunction::UltrasoundPointerCalibrationCostFunction ( const UltrasoundPointerCalibrationCostFunction & )

protected

Member Function Documentation

void niftk::UltrasoundPointerCalibrationCostFunction::GetDerivative	(	const ParametersType &	parameters,
		DerivativeType &	derivative
	)		const

overridevirtual

Simply uses central differences to approximate the derivative for each of the parameters. See also SetScales where you set the relative size of each parameter step size.

unsigned int niftk::UltrasoundPointerCalibrationCostFunction::GetNumberOfParameters ( void ) const

overridevirtual

Required by base class to return the number of parameters.

unsigned int niftk::UltrasoundPointerCalibrationCostFunction::GetNumberOfValues ( void ) const

overridevirtual

Equal to the number of points * 3.

double niftk::UltrasoundPointerCalibrationCostFunction::GetResidual ( const MeasureType & values ) const

Returns the RMS residual of all the values stored in the values array.

vtkSmartPointer< vtkMatrix4x4 > niftk::UltrasoundPointerCalibrationCostFunction::GetRigidMatrix ( const ParametersType & parameters ) const

Returns the rigid matrix for the given parameters.

vtkSmartPointer< vtkMatrix4x4 > niftk::UltrasoundPointerCalibrationCostFunction::GetScalingMatrix ( const ParametersType & parameters ) const

Returns the scaling matrix for the given parameters.

UltrasoundPointerCalibrationCostFunction::MeasureType niftk::UltrasoundPointerCalibrationCostFunction::GetValue ( const ParametersType & parameters ) const

overridevirtual

The cost function is the residual error of the reconstructed point, where this function returns an array of n (x, y, z) tuples where n is the number of points, and each x, y, z measure is the difference from the invariant point.

static Pointer niftk::UltrasoundPointerCalibrationCostFunction::New ( )

static

UltrasoundPointerCalibrationCostFunction& niftk::UltrasoundPointerCalibrationCostFunction::operator= ( const UltrasoundPointerCalibrationCostFunction & )

protected

void niftk::UltrasoundPointerCalibrationCostFunction::SetImagePoints ( const mitk::PointSet::Pointer imagePoints )

Sets the points in image space.

void niftk::UltrasoundPointerCalibrationCostFunction::SetScales ( const ParametersType & scales )

Used when calculating derivative using central differences.

void niftk::UltrasoundPointerCalibrationCostFunction::SetSensorPoints ( const mitk::PointSet::Pointer sensorPoints )

Sets the points in sensor space.

void niftk::UltrasoundPointerCalibrationCostFunction::ValidateSizeOfParametersArray ( const ParametersType & parameters ) const

protected

Checks the supplied parameters array is the right size (i.e. it equals this->GetNumberOfParameters()), and throws mitk::Exception if it isnt.

void niftk::UltrasoundPointerCalibrationCostFunction::ValidateSizeOfScalesArray ( const ParametersType & parameters ) const

protected

Checks the supplied parameters array is the right size (i.e. it equals this->m_Scales.GetSize()), and throws mitk::Exception if it isnt.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation