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/*=========================================================================
*
* Copyright NumFOCUS
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* https://www.apache.org/licenses/LICENSE-2.0.txt
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*=========================================================================*/
#ifndef itkPointSetToPointSetRegistrationMethod_h
#define itkPointSetToPointSetRegistrationMethod_h
#include "itkProcessObject.h"
#include "itkPointSetToPointSetMetric.h"
#include "itkMultipleValuedNonLinearOptimizer.h"
#include "itkDataObjectDecorator.h"
namespace itk
{
/** \class PointSetToPointSetRegistrationMethod
* \brief Base class for PointSet to PointSet Registration Methods.
*
* This Class define the generic interface for a registration method.
*
* This class is templated over the type of the PointSet and the PointSet to be
* registered. A generic Transform is used by this class. That allows to select
* at run time the particular type of transformation that is to be applied for
* registering the PointSets.
*
* This class uses a generic Metric in order to compare the PointSet
* and the PointSet. The final goal of the registration method is to find the
* set of parameters of the Transformation that optimizes the metric.
*
* The registration method also supports a generic optimizer that can be
* selected at run-time. The only restriction for the optimizer is that it
* should be able to operate in single-valued cost functions given that the
* metrics used to compare PointSet with PointSets provide a single value as
* output.
*
* The terms FixedPointSet and MovingPointSet are used in this class to indicate
* that the PointSet is being mapped by the transform.
*
* This class uses the coordinate system of the Fixed PointSet as a reference
* and searches for a Transform that will map points from the space of the Fixed
* PointSet to the space of the Moving PointSet.
*
* For doing so, a Metric will be continuously applied to compare the Fixed
* PointSet with the Transformed Moving PointSet. This process also requires to
* interpolate values from the Moving PointSet.
*
* This class requires the Transform, the Metric, and the Optimizer to be
* explicitly set.
*
* \ingroup RegistrationFilters
* \ingroup ITKRegistrationCommon
*/
template <typename TFixedPointSet, typename TMovingPointSet>
class ITK_TEMPLATE_EXPORT PointSetToPointSetRegistrationMethod : public ProcessObject
{
public:
ITK_DISALLOW_COPY_AND_MOVE(PointSetToPointSetRegistrationMethod);
/** Standard class type aliases. */
using Self = PointSetToPointSetRegistrationMethod;
using Superclass = ProcessObject;
using Pointer = SmartPointer<Self>;
using ConstPointer = SmartPointer<const Self>;
/** Method for creation through the object factory. */
itkNewMacro(Self);
/** \see LightObject::GetNameOfClass() */
itkOverrideGetNameOfClassMacro(PointSetToPointSetRegistrationMethod);
/** Type of the Fixed PointSet. */
using FixedPointSetType = TFixedPointSet;
using FixedPointSetConstPointer = typename FixedPointSetType::ConstPointer;
/** Type of the Moving PointSet. */
using MovingPointSetType = TMovingPointSet;
using MovingPointSetConstPointer = typename MovingPointSetType::ConstPointer;
/** Type of the Metric. */
using MetricType = PointSetToPointSetMetric<FixedPointSetType, MovingPointSetType>;
using MetricPointer = typename MetricType::Pointer;
/** Type of the Transform . */
using TransformType = typename MetricType::TransformType;
using TransformPointer = typename TransformType::Pointer;
/** Type for the output: Using Decorator pattern for enabling
* the Transform to be passed in the data pipeline. */
using TransformOutputType = DataObjectDecorator<TransformType>;
using TransformOutputPointer = typename TransformOutputType::Pointer;
using TransformOutputConstPointer = typename TransformOutputType::ConstPointer;
/** Type of the Optimizer. */
using OptimizerType = MultipleValuedNonLinearOptimizer;
/** Type of the Transformation parameters. This is the same type used to
* represent the search space of the optimization algorithm. */
using ParametersType = typename MetricType::TransformParametersType;
/** Smart Pointer type to a DataObject. */
using DataObjectPointer = typename DataObject::Pointer;
/** Set/Get the Fixed PointSet. */
itkSetConstObjectMacro(FixedPointSet, FixedPointSetType);
itkGetConstObjectMacro(FixedPointSet, FixedPointSetType);
/** Set/Get the Moving PointSet. */
itkSetConstObjectMacro(MovingPointSet, MovingPointSetType);
itkGetConstObjectMacro(MovingPointSet, MovingPointSetType);
/** Set/Get the Optimizer. */
itkSetObjectMacro(Optimizer, OptimizerType);
itkGetModifiableObjectMacro(Optimizer, OptimizerType);
/** Set/Get the Metric. */
itkSetObjectMacro(Metric, MetricType);
itkGetModifiableObjectMacro(Metric, MetricType);
/** Set/Get the Transform. */
itkSetObjectMacro(Transform, TransformType);
itkGetModifiableObjectMacro(Transform, TransformType);
/** Set/Get the initial transformation parameters. */
virtual void
SetInitialTransformParameters(const ParametersType & param);
itkGetConstReferenceMacro(InitialTransformParameters, ParametersType);
/** Get the last transformation parameters visited by
* the optimizer. */
itkGetConstReferenceMacro(LastTransformParameters, ParametersType);
/** Initialize by setting the interconnects between the components. */
void
Initialize();
/** Returns the transform resulting from the registration process */
const TransformOutputType *
GetOutput() const;
/** Make a DataObject of the correct type to be used as the specified
* output. */
using DataObjectPointerArraySizeType = ProcessObject::DataObjectPointerArraySizeType;
using Superclass::MakeOutput;
DataObjectPointer
MakeOutput(DataObjectPointerArraySizeType output) override;
ModifiedTimeType
GetMTime() const override;
protected:
PointSetToPointSetRegistrationMethod();
~PointSetToPointSetRegistrationMethod() override = default;
void
PrintSelf(std::ostream & os, Indent indent) const override;
void
GenerateData() override;
private:
MetricPointer m_Metric{};
OptimizerType::Pointer m_Optimizer{};
MovingPointSetConstPointer m_MovingPointSet{};
FixedPointSetConstPointer m_FixedPointSet{};
TransformPointer m_Transform{};
ParametersType m_InitialTransformParameters{};
ParametersType m_LastTransformParameters{};
};
} // end namespace itk
#ifndef ITK_MANUAL_INSTANTIATION
# include "itkPointSetToPointSetRegistrationMethod.hxx"
#endif
#endif
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