vtkPlusProbeCalibrationOptimizerAlgo Class Reference

Refines the image to probe transform using non-linear optimization. More...

#include <src/PlusCalibration/vtkProbeCalibrationAlgo/vtkPlusProbeCalibrationOptimizerAlgo.h>

Inheritance diagram for vtkPlusProbeCalibrationOptimizerAlgo:

Collaboration diagram for vtkPlusProbeCalibrationOptimizerAlgo:

Public Types
enum	OptimizationMethodType { MINIMIZE_NONE, MINIMIZE_DISTANCE_OF_MIDDLE_WIRES_IN_3D, MINIMIZE_DISTANCE_OF_ALL_WIRES_IN_2D }
typedef vtkObject	Superclass

Public Member Functions
void	ComputeError (const vnl_matrix_fixed< double, 4, 4 > &imageToProbeTransformationMatrix, double &errorMean, double &errorStDev, double &errorRms)
bool	Enabled ()
virtual const char *	GetClassName ()
bool	GetIsotropicPixelSpacing ()
OptimizationMethodType	GetOptimizationMethod ()
vnl_matrix_fixed< double, 4, 4 >	GetOptimizedImageToProbeTransformMatrix ()
virtual int	IsA (const char *type)
PlusStatus	ReadConfiguration (vtkXMLDataElement *aConfig)
void	SetImageToProbeSeedTransform (const vnl_matrix_fixed< double, 4, 4 > &imageToProbeTransformMatrix)
PlusStatus	SetInputDataForMiddlePointMethod (std::vector< vnl_vector< double > > *calibrationMiddleWireIntersectionPointsPos_Image, std::vector< vnl_vector< double > > *calibrationMiddleWireIntersectionPointsPos_Probe, vnl_matrix_fixed< double, 4, 4 > *imageToProbeTransformMatrix, std::set< int > *outliers)
void	SetIsotropicPixelSpacing (bool isotropicPixelSpacing)
void	SetOptimizationMethod (OptimizationMethodType optimizationMethod)
PlusStatus	SetOptimizerDataUsingNWires (std::vector< vnl_vector< double > > *calibrationAllWiresIntersectionPointsPos_Image, std::vector< PlusNWire > *nWires, std::vector< vnl_matrix_fixed< double, 4, 4 > > *probeToPhantomTransforms, vnl_matrix_fixed< double, 4, 4 > *imageToProbeTransformMatrix, std::set< int > *outliers)
void	SetProbeCalibrationAlgo (vtkPlusProbeCalibrationAlgo *probeCalibrationAlgo)
PlusStatus	Update ()

Static Public Member Functions
static const char *	GetOptimizationMethodAsString (OptimizationMethodType type)
static int	IsTypeOf (const char *type)
static vtkPlusProbeCalibrationOptimizerAlgo *	New ()
static vtkPlusProbeCalibrationOptimizerAlgo *	SafeDownCast (vtkObject *o)

Protected Member Functions
PlusStatus	ShowTransformation (const vnl_matrix_fixed< double, 4, 4 > &transformationMatrix)
	vtkPlusProbeCalibrationOptimizerAlgo ()
virtual	~vtkPlusProbeCalibrationOptimizerAlgo ()

Protected Attributes
vnl_matrix_fixed< double, 4, 4 >	ImageToProbeSeedTransformMatrix
vnl_matrix_fixed< double, 4, 4 >	ImageToProbeTransformMatrix
bool	IsotropicPixelSpacing
OptimizationMethodType	OptimizationMethod
vtkPlusProbeCalibrationAlgo *	ProbeCalibrationAlgo

Detailed Description

Refines the image to probe transform using non-linear optimization.

This class tunes the image to probe transformation that is computed by the linear least squares (LS) method. The LS method cannot guarantee an orthogonal image to probe transformation matrix and it can only optimize the out-of-plane (3D) error. Out-of-plane error computation assumes that the uncertainty of the fiducial detecion is isotropic, while actually the uncertainty is much higher in elevation direction. Therefore it is more accurate to optimize the in-plane (2D) error. Also this optimizer enforces orthogonality of the image to probe matrix and optionally it can enforce isotropic image pixel spacing.

Definition at line 36 of file vtkPlusProbeCalibrationOptimizerAlgo.h.

Member Typedef Documentation

Superclass

typedef vtkObject vtkPlusProbeCalibrationOptimizerAlgo::Superclass

Definition at line 49 of file vtkPlusProbeCalibrationOptimizerAlgo.h.

Member Enumeration Documentation

OptimizationMethodType

enum vtkPlusProbeCalibrationOptimizerAlgo::OptimizationMethodType

Enumerator
MINIMIZE_NONE
MINIMIZE_DISTANCE_OF_MIDDLE_WIRES_IN_3D
MINIMIZE_DISTANCE_OF_ALL_WIRES_IN_2D

Definition at line 42 of file vtkPlusProbeCalibrationOptimizerAlgo.h.

Constructor & Destructor Documentation

vtkPlusProbeCalibrationOptimizerAlgo()

vtkPlusProbeCalibrationOptimizerAlgo::vtkPlusProbeCalibrationOptimizerAlgo ( )

protected

Definition at line 166 of file vtkPlusProbeCalibrationOptimizerAlgo.cxx.

~vtkPlusProbeCalibrationOptimizerAlgo()

vtkPlusProbeCalibrationOptimizerAlgo::~vtkPlusProbeCalibrationOptimizerAlgo ( )

protectedvirtual

Definition at line 173 of file vtkPlusProbeCalibrationOptimizerAlgo.cxx.

Member Function Documentation

ComputeError()

void vtkPlusProbeCalibrationOptimizerAlgo::ComputeError	(	const vnl_matrix_fixed< double, 4, 4 > &	imageToProbeTransformationMatrix,
		double &	errorMean,
		double &	errorStDev,
		double &	errorRms
	)

Definition at line 184 of file vtkPlusProbeCalibrationOptimizerAlgo.cxx.

Enabled()

bool vtkPlusProbeCalibrationOptimizerAlgo::Enabled

(

)

Returns true if optimization is requested (the OptimizationMethod is defined and not "NONE")

Definition at line 363 of file vtkPlusProbeCalibrationOptimizerAlgo.cxx.

GetClassName()

virtual const char* vtkPlusProbeCalibrationOptimizerAlgo::GetClassName ( )

virtual

GetIsotropicPixelSpacing()

bool vtkPlusProbeCalibrationOptimizerAlgo::GetIsotropicPixelSpacing ( )

inline

Definition at line 71 of file vtkPlusProbeCalibrationOptimizerAlgo.h.

GetOptimizationMethod()

OptimizationMethodType vtkPlusProbeCalibrationOptimizerAlgo::GetOptimizationMethod ( )

inline

Definition at line 74 of file vtkPlusProbeCalibrationOptimizerAlgo.h.

GetOptimizationMethodAsString()

const char * vtkPlusProbeCalibrationOptimizerAlgo::GetOptimizationMethodAsString ( OptimizationMethodType  type )

static

Definition at line 373 of file vtkPlusProbeCalibrationOptimizerAlgo.cxx.

GetOptimizedImageToProbeTransformMatrix()

vnl_matrix_fixed< double, 4, 4 > vtkPlusProbeCalibrationOptimizerAlgo::GetOptimizedImageToProbeTransformMatrix

(

)

Get optimized Image to Probe matrix

Definition at line 350 of file vtkPlusProbeCalibrationOptimizerAlgo.cxx.

IsA()

virtual int vtkPlusProbeCalibrationOptimizerAlgo::IsA ( const char *  type )

virtual

IsTypeOf()

static int vtkPlusProbeCalibrationOptimizerAlgo::IsTypeOf ( const char *  type )

static

New()

static vtkPlusProbeCalibrationOptimizerAlgo* vtkPlusProbeCalibrationOptimizerAlgo::New ( )

static

ReadConfiguration()

PlusStatus vtkPlusProbeCalibrationOptimizerAlgo::ReadConfiguration

(

vtkXMLDataElement *

aConfig

)

Definition at line 387 of file vtkPlusProbeCalibrationOptimizerAlgo.cxx.

SafeDownCast()

static vtkPlusProbeCalibrationOptimizerAlgo* vtkPlusProbeCalibrationOptimizerAlgo::SafeDownCast ( vtkObject *  o )

static

SetImageToProbeSeedTransform()

void vtkPlusProbeCalibrationOptimizerAlgo::SetImageToProbeSeedTransform

(

const vnl_matrix_fixed< double, 4, 4 > &

imageToProbeTransformMatrix

)

Definition at line 356 of file vtkPlusProbeCalibrationOptimizerAlgo.cxx.

SetInputDataForMiddlePointMethod()

PlusStatus vtkPlusProbeCalibrationOptimizerAlgo::SetInputDataForMiddlePointMethod	(	std::vector< vnl_vector< double > > *	calibrationMiddleWireIntersectionPointsPos_Image,
		std::vector< vnl_vector< double > > *	calibrationMiddleWireIntersectionPointsPos_Probe,
		vnl_matrix_fixed< double, 4, 4 > *	imageToProbeTransformMatrix,
		std::set< int > *	outliers
	)

Provides to the class the information necessary make the optimization

SetIsotropicPixelSpacing()

void vtkPlusProbeCalibrationOptimizerAlgo::SetIsotropicPixelSpacing ( bool  isotropicPixelSpacing )

inline

Definition at line 72 of file vtkPlusProbeCalibrationOptimizerAlgo.h.

SetOptimizationMethod()

void vtkPlusProbeCalibrationOptimizerAlgo::SetOptimizationMethod ( OptimizationMethodType  optimizationMethod )

inline

Definition at line 75 of file vtkPlusProbeCalibrationOptimizerAlgo.h.

SetOptimizerDataUsingNWires()

PlusStatus vtkPlusProbeCalibrationOptimizerAlgo::SetOptimizerDataUsingNWires	(	std::vector< vnl_vector< double > > *	calibrationAllWiresIntersectionPointsPos_Image,
		std::vector< PlusNWire > *	nWires,
		std::vector< vnl_matrix_fixed< double, 4, 4 > > *	probeToPhantomTransforms,
		vnl_matrix_fixed< double, 4, 4 > *	imageToProbeTransformMatrix,
		std::set< int > *	outliers
	)

Provides to the class the information necessary make the optimization

SetProbeCalibrationAlgo()

void vtkPlusProbeCalibrationOptimizerAlgo::SetProbeCalibrationAlgo

(

vtkPlusProbeCalibrationAlgo *

probeCalibrationAlgo

)

Definition at line 178 of file vtkPlusProbeCalibrationOptimizerAlgo.cxx.

ShowTransformation()

PlusStatus vtkPlusProbeCalibrationOptimizerAlgo::ShowTransformation ( const vnl_matrix_fixed< double, 4, 4 > &  transformationMatrix )

protected

Definition at line 200 of file vtkPlusProbeCalibrationOptimizerAlgo.cxx.

Update()

PlusStatus vtkPlusProbeCalibrationOptimizerAlgo::Update

(

)

Calibrate (call the minimizer)

Definition at line 228 of file vtkPlusProbeCalibrationOptimizerAlgo.cxx.

Member Data Documentation

ImageToProbeSeedTransformMatrix

vnl_matrix_fixed<double,4,4> vtkPlusProbeCalibrationOptimizerAlgo::ImageToProbeSeedTransformMatrix

protected

Store the seed for the optimization process

Definition at line 97 of file vtkPlusProbeCalibrationOptimizerAlgo.h.

ImageToProbeTransformMatrix

vnl_matrix_fixed<double,4,4> vtkPlusProbeCalibrationOptimizerAlgo::ImageToProbeTransformMatrix

protected

Store the result of the optimization process

Definition at line 100 of file vtkPlusProbeCalibrationOptimizerAlgo.h.

IsotropicPixelSpacing

bool vtkPlusProbeCalibrationOptimizerAlgo::IsotropicPixelSpacing

protected

If true then X and Y pixel spacing is forced to be the same during the optimization

Definition at line 91 of file vtkPlusProbeCalibrationOptimizerAlgo.h.

OptimizationMethod

OptimizationMethodType vtkPlusProbeCalibrationOptimizerAlgo::OptimizationMethod

protected

Cost function to minimize during the optimization

Definition at line 94 of file vtkPlusProbeCalibrationOptimizerAlgo.h.

ProbeCalibrationAlgo

vtkPlusProbeCalibrationAlgo* vtkPlusProbeCalibrationOptimizerAlgo::ProbeCalibrationAlgo

protected

Definition at line 102 of file vtkPlusProbeCalibrationOptimizerAlgo.h.

---

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

• src/PlusCalibration/vtkProbeCalibrationAlgo/vtkPlusProbeCalibrationOptimizerAlgo.h
• src/PlusCalibration/vtkProbeCalibrationAlgo/vtkPlusProbeCalibrationOptimizerAlgo.cxx