java.lang.Object
- java.lang.Thread
- - gov.nih.mipav.model.algorithms.AlgorithmBase
  - - gov.nih.mipav.model.algorithms.registration.AlgorithmRegLeastSquares

All Implemented Interfaces:

java.awt.event.ActionListener, java.awt.event.WindowListener, java.lang.Runnable, java.util.EventListener
```
public class AlgorithmRegLeastSquares
extends AlgorithmBase
```
"Least-Squares Fitting of 2 3-D Point Sets", K. S. Arun PAMI-9(5), September, 1987 (698-700)
Rotation and translation but not scale. That is, this is a rigid transformation based on two homologous datasets.

Version:

1.0 October 1998

Author:

Delia McGarry idea to use point matching for surgical cases is from the Virginia Neurological Institute, Charlottesville, VA Registers 1. 2 sets of 2D points (number of points in sets should be equal and greater or equal to 3 and non-colinear) 2. 2 sets of 3D points (number of points in sets should be equal and greater or equal to 4 and non-colinear) Software can handle cases which are are coplanar but are not colinear.
USAGE: AlgorithmleastSquares LSMatch = new AlgorithmLeastSquares(coordsA, coordsB); LSMatch.run(); where coordsA = double[3][n] or Vector3f[n]

USAGE FOR SUBSEQUENT EXECUTIONS: LSMatch.setup(coordsA, coordsB); LSMatch.run();

Nested Class Summary
- Nested classes/interfaces inherited from class java.lang.Thread
  java.lang.Thread.State, java.lang.Thread.UncaughtExceptionHandler

Field Summary

Fields
Modifier and Type	Field	Description
`private int`	`dim`	The number of dimensions (2D or 3D).
`private int`	`numCoords`	DOCUMENT ME!
`private double[][]`	`pointSetA`	Input point set A (2D or 3D)
`private double[][]`	`pointSetB`	Input point set B (2D or 3D)
`private TransMatrix`	`xfrmBA`	The transformation matrix that describes the transform from point set B to point set A.

Fields inherited from class gov.nih.mipav.model.algorithms.AlgorithmBase
destFlag, destImage, image25D, mask, maxProgressValue, minProgressValue, multiThreadingEnabled, nthreads, progress, progressModulus, progressStep, runningInSeparateThread, separable, srcImage, threadStopped

Fields inherited from class java.lang.Thread
MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Constructor Summary

Constructors
Constructor	Description
`AlgorithmRegLeastSquares(double[][] coordsA, double[][] coordsB, int dim2or3)`	AlgorithmRegLeastSquares - Constructor.
`AlgorithmRegLeastSquares(WildMagic.LibFoundation.Mathematics.Vector3f[] coordsA3D, WildMagic.LibFoundation.Mathematics.Vector3f[] coordsB3D, int dim2or3)`	AlgorithmRegLeastSquares - Constructor.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`private TransMatrix`	`buildXfrm(double[] p1, double[] p2, Jama.Matrix R)`	Builds 4x4 transformation matrix from R and T where T=p2-R*p1.
`void`	`calculateResiduals()`	CalculateResiduals.
`double`	`EuclideanDistance(double[] ptA, double[] ptB)`	EuclideanDistance.
`void`	`finalize()`	Prepares this class for destruction.
`TransMatrix`	`getTransformBtoA()`	Accesses xfrm from point set B to point set A.
`void`	`matchBtoA()`	matchBtoA pA and pB are 2 3D point sets (pointSetA and B).
`void`	`runAlgorithm()`	Starts the program.
`void`	`setTransformBtoA(TransMatrix xfrm)`	Set transform from point set A to point set B.
`int`	`setup(double[][] coordsA, double[][] coordsB)`	Checks if pointSetA is same dimension as pointSetB sets pointSetA and pointSetB.
`int`	`setup(WildMagic.LibFoundation.Mathematics.Vector2f[] coordsA, WildMagic.LibFoundation.Mathematics.Vector2f[] coordsB)`	Checks if pointSetA is same dimension as pointSetB sets pointSetA and pointSetB.
`int`	`setup(WildMagic.LibFoundation.Mathematics.Vector3f[] coordsA, WildMagic.LibFoundation.Mathematics.Vector3f[] coordsB)`	Checks if pointSetA is same dimension as pointSetB sets pointSetA and pointSetB.
`static double`	`SQR(double x)`	SQR = x^2.

Methods inherited from class gov.nih.mipav.model.algorithms.AlgorithmBase
actionPerformed, addListener, addProgressChangeListener, calculateImageSize, calculatePrincipleAxis, computeElapsedTime, computeElapsedTime, convertIntoFloat, delinkProgressToAlgorithm, delinkProgressToAlgorithmMulti, displayError, errorCleanUp, fireProgressStateChanged, fireProgressStateChanged, fireProgressStateChanged, fireProgressStateChanged, fireProgressStateChanged, generateProgressValues, getDestImage, getElapsedTime, getMask, getMaxProgressValue, getMinProgressValue, getNumberOfThreads, getProgress, getProgressChangeListener, getProgressChangeListeners, getProgressModulus, getProgressStep, getProgressValues, getSrcImage, isCompleted, isImage25D, isMultiThreadingEnabled, isRunningInSeparateThread, isThreadStopped, linkProgressToAlgorithm, linkProgressToAlgorithm, makeProgress, notifyListeners, removeListener, removeProgressChangeListener, run, setCompleted, setImage25D, setMask, setMaxProgressValue, setMinProgressValue, setMultiThreadingEnabled, setNumberOfThreads, setProgress, setProgressModulus, setProgressStep, setProgressValues, setProgressValues, setRunningInSeparateThread, setSrcImage, setStartTime, setThreadStopped, startMethod, windowActivated, windowClosed, windowClosing, windowDeactivated, windowDeiconified, windowIconified, windowOpened

Methods inherited from class java.lang.Thread
activeCount, checkAccess, clone, countStackFrames, currentThread, dumpStack, enumerate, getAllStackTraces, getContextClassLoader, getDefaultUncaughtExceptionHandler, getId, getName, getPriority, getStackTrace, getState, getThreadGroup, getUncaughtExceptionHandler, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, join, onSpinWait, resume, setContextClassLoader, setDaemon, setDefaultUncaughtExceptionHandler, setName, setPriority, setUncaughtExceptionHandler, sleep, sleep, start, stop, suspend, toString, yield

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Field Detail
  - numCoords
```
private int numCoords
```
    DOCUMENT ME!
  - dim
```
private int dim
```
    The number of dimensions (2D or 3D).
  - pointSetA
```
private double[][] pointSetA
```
    Input point set A (2D or 3D)
  - pointSetB
```
private double[][] pointSetB
```
    Input point set B (2D or 3D)
  - xfrmBA
```
private TransMatrix xfrmBA
```
    The transformation matrix that describes the transform from point set B to point set A.
- Constructor Detail
  - AlgorithmRegLeastSquares
```
public AlgorithmRegLeastSquares(double[][] coordsA,
                                double[][] coordsB,
                                int dim2or3)
```
    AlgorithmRegLeastSquares - Constructor.
    
    Parameters:
    
    coordsA - - double[dim][n] 3D or 2D point set
    
    coordsB - - double[dim][n] 3D or 2D point set
    
    dim2or3 - - indicates whether data set is 2D or 3D
  - AlgorithmRegLeastSquares
```
public AlgorithmRegLeastSquares(WildMagic.LibFoundation.Mathematics.Vector3f[] coordsA3D,
                                WildMagic.LibFoundation.Mathematics.Vector3f[] coordsB3D,
                                int dim2or3)
```
    AlgorithmRegLeastSquares - Constructor.
    
    Parameters:
    
    coordsA3D - Vector3f[n] 3D point set
    
    coordsB3D - Vector3f[n] 3D point set
    
    dim2or3 - indicates whether data set is 2D or 3D
- Method Detail
  - SQR
```
public static double SQR(double x)
```
    SQR = x^2.
    
    Parameters:
    
    x - DOCUMENT ME!
    
    Returns:
    
    DOCUMENT ME!
  - buildXfrm
```
private TransMatrix buildXfrm(double[] p1,
                              double[] p2,
                              Jama.Matrix R)
```
    Builds 4x4 transformation matrix from R and T where T=p2-R*p1.
    
    Parameters:
    
    p1 - from Match
    
    p2 - from Match
    
    R - =rotation matrix from Match
    
    Returns:
    
    DOCUMENT ME!
  - calculateResiduals
```
public void calculateResiduals()
```
    CalculateResiduals.
  - EuclideanDistance
```
public double EuclideanDistance(double[] ptA,
                                double[] ptB)
```
    EuclideanDistance.
    
    Parameters:
    
    ptA - DOCUMENT ME!
    
    ptB - DOCUMENT ME!
    
    Returns:
    
    DOCUMENT ME!
  - finalize
```
public void finalize()
```
    Prepares this class for destruction.
    
    Overrides:
    
    finalize in class AlgorithmBase
  - getTransformBtoA
```
public TransMatrix getTransformBtoA()
```
    Accesses xfrm from point set B to point set A.
    
    Returns:
    
    xfrmBA
  - matchBtoA
```
public void matchBtoA()
```
    matchBtoA pA and pB are 2 3D point sets (pointSetA and B).
    p1[i]=(1/numCoords)*(sum from j = 0 to j = numCoords - 1 of pB[i][j]) p2[i]=(1/numCoords)*(sum from j = 0 to j = numCoords - 1 of pA[i][j])
    
    q1[i][j] =pB[i][j]-p1[i] q2[i][j]=pA[i][j]-p2[i]
  - runAlgorithm
```
public void runAlgorithm()
```
    Starts the program.
    
    Specified by:
    
    runAlgorithm in class AlgorithmBase
  - setTransformBtoA
```
public void setTransformBtoA(TransMatrix xfrm)
```
    Set transform from point set A to point set B.
    
    Parameters:
    
    xfrm - transform to copy
  - setup
```
public int setup(double[][] coordsA,
                 double[][] coordsB)
```
    Checks if pointSetA is same dimension as pointSetB sets pointSetA and pointSetB.
    
    Parameters:
    
    coordsA - first 3D point set
    
    coordsB - second 3D point set
    
    Returns:
    
    distinguishing reason for error
  - setup
```
public int setup(WildMagic.LibFoundation.Mathematics.Vector3f[] coordsA,
                 WildMagic.LibFoundation.Mathematics.Vector3f[] coordsB)
```
    Checks if pointSetA is same dimension as pointSetB sets pointSetA and pointSetB.
    
    Parameters:
    
    coordsA - first 3D point set
    
    coordsB - second 3D point Set
    
    Returns:
    
    int distinguishing reason for error
  - setup
```
public int setup(WildMagic.LibFoundation.Mathematics.Vector2f[] coordsA,
                 WildMagic.LibFoundation.Mathematics.Vector2f[] coordsB)
```
    Checks if pointSetA is same dimension as pointSetB sets pointSetA and pointSetB.
    
    Parameters:
    
    coordsA - first 2D point set
    
    coordsB - second 2D point Set
    
    Returns:
    
    int distinguishing reason for error

Class AlgorithmRegLeastSquares

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Thread

Field Summary

Fields inherited from class gov.nih.mipav.model.algorithms.AlgorithmBase

Fields inherited from class java.lang.Thread

Constructor Summary

Method Summary

Methods inherited from class gov.nih.mipav.model.algorithms.AlgorithmBase

Methods inherited from class java.lang.Thread

Methods inherited from class java.lang.Object

Field Detail

numCoords

dim

pointSetA

pointSetB

xfrmBA

Constructor Detail

AlgorithmRegLeastSquares

AlgorithmRegLeastSquares

Method Detail

SQR

buildXfrm

calculateResiduals

EuclideanDistance

finalize

getTransformBtoA

matchBtoA

runAlgorithm

setTransformBtoA

setup

setup

setup