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cxBronchoscopyRegistration.h
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1 /*=========================================================================
2 This file is part of CustusX, an Image Guided Therapy Application.
3 
4 Copyright (c) 2008-2014, SINTEF Department of Medical Technology
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7 Redistribution and use in source and binary forms, with or without
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31 =========================================================================*/
32 #ifndef BRONCHOSCOPYREGISTRATION_H_
33 #define BRONCHOSCOPYREGISTRATION_H_
34 
35 //#include "PositionData.h"
36 #include "cxBranchList.h"
37 #include <vector>
38 #include "vtkForwardDeclarations.h"
39 
40 
41 typedef std::vector< Eigen::Matrix4d > M4Vector;
42 
43 
44 namespace cx
45 {
46 
47 typedef std::map<double, Transform3D> TimedTransformMap;
48 typedef boost::shared_ptr<class BranchList> BranchListPtr;
49 
51 {
52  BranchListPtr mBranchListPtr;
53  bool mCenterlineProcessed;
54 
55 public:
57  vtkPolyDataPtr processCenterline(vtkPolyDataPtr centerline, Transform3D rMd, int numberOfGenerations = 0);
58  Eigen::Matrix4d runBronchoscopyRegistration(TimedTransformMap trackingData_prMt, Transform3D old_rMpr, double maxDistanceForLocalRegistration);
59  bool isCenterlineProcessed();
60  virtual ~BronchoscopyRegistration();
61 };
62 
64 Eigen::Matrix4d registrationAlgorithm(BranchListPtr branches, M4Vector Tnavigation);
65 std::vector<Eigen::MatrixXd::Index> dsearch2n(Eigen::MatrixXd pos1, Eigen::MatrixXd pos2, Eigen::MatrixXd ori1, Eigen::MatrixXd ori2);
66 vtkPointsPtr convertTovtkPoints(Eigen::MatrixXd positions);
67 Eigen::Matrix4d performLandmarkRegistration(vtkPointsPtr source, vtkPointsPtr target, bool* ok);
68 std::pair<Eigen::MatrixXd , Eigen::MatrixXd> RemoveInvalidData(Eigen::MatrixXd positionData, Eigen::MatrixXd orientationData);
70 }//namespace cx
71 
72 #endif /* BRONCHOSCOPYREGISTRATION_H_ */
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
boost::shared_ptr< class BranchList > BranchListPtr
std::pair< Eigen::MatrixXd, Eigen::MatrixXd > RemoveInvalidData(Eigen::MatrixXd positionData, Eigen::MatrixXd orientationData)
vtkPointsPtr convertTovtkPoints(Eigen::MatrixXd positions)
vtkSmartPointer< class vtkPolyData > vtkPolyDataPtr
std::vector< Eigen::MatrixXd::Index > dsearch2n(Eigen::MatrixXd pos1, Eigen::MatrixXd pos2, Eigen::MatrixXd ori1, Eigen::MatrixXd ori2)
M4Vector excludeClosePositions(M4Vector Tnavigation)
Eigen::Matrix4d runBronchoscopyRegistration(TimedTransformMap trackingData_prMt, Transform3D old_rMpr, double maxDistanceForLocalRegistration)
vtkPolyDataPtr processCenterline(vtkPolyDataPtr centerline, Transform3D rMd, int numberOfGenerations=0)
Eigen::Matrix4d performLandmarkRegistration(vtkPointsPtr source, vtkPointsPtr target)
std::vector< Eigen::Matrix4d > M4Vector
std::vector< Eigen::Matrix4d > M4Vector
Eigen::Matrix4d registrationAlgorithm(BranchListPtr branches, M4Vector Tnavigation, Transform3D old_rMpr)
std::map< double, Transform3D > TimedTransformMap
vtkSmartPointer< class vtkPoints > vtkPointsPtr