Package gov.nih.mipav.model.algorithms.registration

Class AlgorithmRegLeastSquares

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

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