niftkUltrasoundPointerCalibrationCostFunction.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 niftkUltrasoundPointerCalibrationCostFunction_h
#define niftkUltrasoundPointerCalibrationCostFunction_h

#include <itkMultipleValuedCostFunction.h>
#include <mitkPointSet.h>
#include <vtkSmartPointer.h>
#include <vtkMatrix4x4.h>

namespace niftk {

class UltrasoundPointerCalibrationCostFunction : public itk::MultipleValuedCostFunction
{

public:

  typedef UltrasoundPointerCalibrationCostFunction Self;
  typedef itk::MultipleValuedCostFunction          Superclass;
  typedef itk::SmartPointer<Self>                  Pointer;
  typedef itk::SmartPointer<const Self>            ConstPointer;

  itkNewMacro( Self );

  typedef Superclass::ParametersType               ParametersType;
  typedef Superclass::DerivativeType               DerivativeType;
  typedef Superclass::MeasureType                  MeasureType;

  virtual unsigned int GetNumberOfValues(void) const override;

  virtual unsigned int GetNumberOfParameters() const override;

  virtual void GetDerivative( const ParametersType & parameters, DerivativeType  & derivative ) const override;

  void SetScales(const ParametersType& scales);

  double GetResidual(const MeasureType& values) const;

  vtkSmartPointer<vtkMatrix4x4> GetRigidMatrix(const ParametersType & parameters) const;

  vtkSmartPointer<vtkMatrix4x4> GetScalingMatrix(const ParametersType & parameters) const;

  virtual MeasureType GetValue( const ParametersType & parameters ) const override;

  void SetImagePoints(const mitk::PointSet::Pointer imagePoints);

  void SetSensorPoints(const mitk::PointSet::Pointer sensorPoints);

protected:

  UltrasoundPointerCalibrationCostFunction();
  virtual ~UltrasoundPointerCalibrationCostFunction();

  UltrasoundPointerCalibrationCostFunction(const UltrasoundPointerCalibrationCostFunction&); // Purposefully not impl.
  UltrasoundPointerCalibrationCostFunction& operator=(
      const UltrasoundPointerCalibrationCostFunction&); // Purposefully not impl.

  void ValidateSizeOfParametersArray(const ParametersType & parameters) const;

  void ValidateSizeOfScalesArray(const ParametersType & parameters) const;

private:

  unsigned int            m_NumberOfParameters;
  ParametersType          m_Scales;
  mitk::PointSet::Pointer m_ImagePoints;
  mitk::PointSet::Pointer m_SensorPoints;
};

} // end namespace

#endif