niftkVTKIterativeClosestPoint.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 niftkVTKIterativeClosestPoint_h
#define niftkVTKIterativeClosestPoint_h

#include "niftkVTKWin32ExportHeader.h"
#include <vtkPolyData.h>
#include <vtkSmartPointer.h>
#include <vtkMatrix4x4.h>
#include <vtkCellLocator.h>

namespace niftk {

class NIFTKVTK_WINEXPORT VTKIterativeClosestPoint {

public:

  VTKIterativeClosestPoint();
  ~VTKIterativeClosestPoint();

  double Run();

  double GetRMSResidual(vtkPolyData &source) const;

  vtkSmartPointer<vtkMatrix4x4> GetTransform() const;

  void ApplyTransform(vtkPolyData *solution);

  void SetSource(vtkSmartPointer<vtkPolyData>);

  void SetTarget(vtkSmartPointer<vtkPolyData>);

  void SetICPMaxLandmarks(unsigned int);

  void SetICPMaxIterations(unsigned int);

  void SetTLSIterations(unsigned int);

  void SetTLSPercentage(unsigned int);

private:

  vtkSmartPointer<vtkPolyData>    m_Source;
  vtkSmartPointer<vtkPolyData>    m_Target;
  vtkSmartPointer<vtkMatrix4x4>   m_TransformMatrix;
  vtkSmartPointer<vtkCellLocator> m_Locator;
  unsigned int                    m_ICPMaxLandmarks;
  unsigned int                    m_ICPMaxIterations;
  unsigned int                    m_TLSPercentage;
  unsigned int                    m_TLSIterations;

  int GetStepSize(vtkPolyData *source) const;

  bool CheckInverted(vtkPolyData *source, vtkPolyData *target) const;

  vtkSmartPointer<vtkMatrix4x4> InternalRunICP(vtkPolyData *source,
                                               vtkPolyData *target,
                                               unsigned int landmarks,
                                               unsigned int iterations,
                                               bool inverted
                                              ) const;

  double InternalGetRMSResidual(vtkPolyData &source,
                                vtkCellLocator &locator,
                                vtkMatrix4x4 &matrix
                                ) const;
};

} // end namespace

#endif