niftkPointRegMaths.h

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

  NifTK: A software platform for medical image computing.

  Copyright (c) University College London (UCL). All rights reserved.

  This software is distributed WITHOUT ANY WARRANTY; without even
  the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
  PURPOSE.

  See LICENSE.txt in the top level directory for details.

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

#ifndef niftkPointRegMaths_h
#define niftkPointRegMaths_h

#include "niftkPointRegExports.h"
#include <cv.h>
#include <mitkPointSet.h>
#include <vtkMatrix4x4.h>

namespace niftk {

extern "C++" NIFTKPOINTREG_EXPORT
cv::Matx33d CalculateCrossCovarianceH(
  const std::vector<cv::Point3d>& q,
  const std::vector<cv::Point3d>& qPrime);


extern "C++" NIFTKPOINTREG_EXPORT
double DoSVDPointBasedRegistration(
  const std::vector<cv::Point3d>& fixedPoints,
  const std::vector<cv::Point3d>& movingPoints,
  cv::Matx33d& H,
  cv::Point3d &p,
  cv::Point3d& pPrime,
  cv::Matx44d& outputMatrix);


extern "C++" NIFTKPOINTREG_EXPORT
double CalculateFiducialRegistrationError(
  const std::vector<cv::Point3d>& fixedPoints,
  const std::vector<cv::Point3d>& movingPoints,
  const cv::Matx44d& matrix);


extern "C++" NIFTKPOINTREG_EXPORT
double CalculateFiducialRegistrationError(
  const mitk::PointSet::Pointer& fixedPointSet,
  const mitk::PointSet::Pointer& movingPointSet,
  vtkMatrix4x4& vtkMatrix);

} // end namespace

#endif