#include <itkEuclideanDistancePointSetToPointSetMetricv4.h>

Detailed Description

template<typename TFixedPointSet, typename TMovingPointSet = TFixedPointSet, class TInternalComputationValueType = double>
class itk::EuclideanDistancePointSetToPointSetMetricv4< TFixedPointSet, TMovingPointSet, TInternalComputationValueType >

Computes the Euclidan distance metric between two point sets.

Given two point sets the Euclidean distance metric (i.e. ICP) is defined to be the aggregate of all shortest distances between all possible pairings of points between the two sets.

We only have to handle the individual point case as the parent class handles the aggregation.

Reference: PJ Besl and ND McKay, "A Method for Registration of 3-D Shapes", IEEE PAMI, Vol 14, No. 2, February 1992

Definition at line 44 of file itkEuclideanDistancePointSetToPointSetMetricv4.h.

Inheritance diagram for itk::EuclideanDistancePointSetToPointSetMetricv4< TFixedPointSet, TMovingPointSet, TInternalComputationValueType >:

Collaboration diagram for itk::EuclideanDistancePointSetToPointSetMetricv4< TFixedPointSet, TMovingPointSet, TInternalComputationValueType >:

Public Types
using	ConstPointer = SmartPointer< const Self >

using	Pointer = SmartPointer< Self >

using	RealType = MeasureType

using	Self = EuclideanDistancePointSetToPointSetMetricv4

using	Superclass = PointSetToPointSetMetricv4< TFixedPointSet, TMovingPointSet, TInternalComputationValueType >

Public Types inherited from itk::PointSetToPointSetMetricv4< TFixedPointSet, TFixedPointSet, double >
using	ConstPointer = SmartPointer< const Self >

using	CoordRepType = typename PointType::CoordRepType

using	DisplacementFieldTransformType = typename Superclass::MovingDisplacementFieldTransformType

using	FixedPixelType = typename TFixedPointSet::PixelType

using	FixedPointsContainer = typename TFixedPointSet::PointsContainer

using	FixedPointSetType = TFixedPointSet

using	FixedPointType = typename TFixedPointSet::PointType

using	MovingPixelType = typename TMovingPointSet::PixelType

using	MovingPointsContainer = typename TMovingPointSet::PointsContainer

using	MovingPointSetType = TFixedPointSet

using	MovingPointType = typename TMovingPointSet::PointType

using	NeighborsIdentifierType = typename PointsLocatorType::NeighborsIdentifierType

using	Pointer = SmartPointer< Self >

using	PointsConstIterator = typename PointsContainer::ConstIterator

using	PointsContainer = FixedPointsContainer

using	Self = PointSetToPointSetMetricv4

using	Superclass = PointSetToPointSetMetricWithIndexv4< TFixedPointSet, TFixedPointSet, double >

using	VirtualImageType = typename Superclass::VirtualImageType

using	VirtualOriginType = typename Superclass::VirtualPointType

using	VirtualRadiusType = typename Superclass::VirtualSizeType

Public Types inherited from itk::PointSetToPointSetMetricWithIndexv4< TFixedPointSet, TFixedPointSet, double >
using	ConstPointer = SmartPointer< const Self >

using	CoordRepType = typename PointType::CoordRepType

using	DerivativeValueType = typename DerivativeType::ValueType

using	DisplacementFieldTransformType = typename Superclass::MovingDisplacementFieldTransformType

using	FixedPixelType = typename TFixedPointSet::PixelType

using	FixedPointsContainer = typename TFixedPointSet::PointsContainer

using	FixedPointSetType = TFixedPointSet

using	FixedPointType = typename TFixedPointSet::PointType

using	FixedTransformedPointSetType = PointSet< FixedPixelType, Self::PointDimension >

using	LocalDerivativeType = FixedArray< DerivativeValueType, Self::PointDimension >

using	MovingPixelType = typename TMovingPointSet::PixelType

using	MovingPointsContainer = typename TMovingPointSet::PointsContainer

using	MovingPointSetType = TFixedPointSet

using	MovingPointType = typename TMovingPointSet::PointType

using	MovingTransformedPointSetType = PointSet< MovingPixelType, Self::PointDimension >

using	NeighborsIdentifierType = typename PointsLocatorType::NeighborsIdentifierType

using	ObjectType = typename Superclass::ObjectType

using	PixelType = FixedPixelType

using	Pointer = SmartPointer< Self >

using	PointIdentifier = typename PointsContainer::ElementIdentifier

using	PointsConstIterator = typename PointsContainer::ConstIterator

using	PointsContainer = FixedPointsContainer

using	PointsLocatorType = PointsLocator< PointsContainer >

using	PointType = FixedPointType

using	Self = PointSetToPointSetMetricWithIndexv4

using	Superclass = ObjectToObjectMetric< TFixedPointSet::PointDimension, TMovingPointSet::PointDimension, Image< double, TFixedPointSet::PointDimension >, double >

using	VirtualImageType = typename Superclass::VirtualImageType

using	VirtualOriginType = typename Superclass::VirtualPointType

using	VirtualRadiusType = typename Superclass::VirtualSizeType

Public Types inherited from itk::ObjectToObjectMetric< TFixedPointSet::PointDimension, TMovingPointSet::PointDimension, Image< double, TFixedPointSet::PointDimension >, double >
using	ConstPointer = SmartPointer< const Self >

using	CoordinateRepresentationType = double

using	DimensionType = SizeValueType

using	FixedInputPointType = typename FixedTransformType::InputPointType

using	FixedOutputPointType = typename FixedTransformType::OutputPointType

using	FixedTransformJacobianType = typename FixedTransformType::JacobianType

using	FixedTransformParametersType = typename FixedTransformType::ParametersType

using	FixedTransformPointer = typename FixedTransformType::Pointer

using	FixedTransformType = Transform< double, TVirtualImage::ImageDimension, TFixedDimension >

using	InternalComputationValueType = double

using	JacobianType = typename FixedTransformType::JacobianType

using	MetricCategoryType = typename Superclass::MetricCategoryEnum

using	MovingDisplacementFieldTransformType = DisplacementFieldTransform< CoordinateRepresentationType, Self::MovingDimension >

using	MovingInputPointType = typename MovingTransformType::InputPointType

using	MovingOutputPointType = typename MovingTransformType::OutputPointType

using	MovingTransformJacobianType = typename MovingTransformType::JacobianType

using	MovingTransformParametersType = typename MovingTransformType::ParametersType

using	MovingTransformPointer = typename MovingTransformType::Pointer

using	MovingTransformType = Transform< double, TVirtualImage::ImageDimension, TMovingDimension >

using	ObjectType = typename Superclass::Object

using	Pointer = SmartPointer< Self >

using	Self = ObjectToObjectMetric

using	Superclass = ObjectToObjectMetricBaseTemplate< double >

using	VirtualDirectionType = typename VirtualImageType::DirectionType

using	VirtualImageConstPointer = typename VirtualImageType::ConstPointer

using	VirtualImagePointer = typename VirtualImageType::Pointer

using	VirtualImageType = Image< double, TFixedPointSet::PointDimension >

using	VirtualIndexType = typename VirtualImageType::IndexType

using	VirtualOriginType = typename VirtualImageType::PointType

using	VirtualPixelType = typename VirtualImageType::PixelType

using	VirtualPointSetPointer = typename VirtualPointSetType::Pointer

using	VirtualPointSetType = PointSet< VirtualPixelType, Self::VirtualDimension >

using	VirtualPointType = typename VirtualImageType::PointType

using	VirtualRadiusType = typename VirtualImageType::SizeType

using	VirtualRegionType = typename VirtualImageType::RegionType

using	VirtualSizeType = typename VirtualRegionType::SizeType

using	VirtualSpacingType = typename VirtualImageType::SpacingType

Public Types inherited from itk::ObjectToObjectMetricBaseTemplate< double >
using	ConstPointer = SmartPointer< const Self >

using	CoordinateRepresentationType = double

using	DerivativeValueType = typename DerivativeType::ValueType

using	GradientSourceEnum = itk::ObjectToObjectMetricBaseTemplateEnums::GradientSource

using	MetricCategoryEnum = itk::ObjectToObjectMetricBaseTemplateEnums::MetricCategory

using	NumberOfParametersType = unsigned int

using	ObjectConstPointer = typename ObjectType::ConstPointer

using	ObjectType = Object

using	ParametersValueType = double

using	Pointer = SmartPointer< Self >

using	Self = ObjectToObjectMetricBaseTemplate

using	Superclass = SingleValuedCostFunctionv4Template< double >

Public Types inherited from itk::SingleValuedCostFunctionv4Template< double >
using	ConstPointer = SmartPointer< const Self >

using	DerivativeType = Array< double >

using	MeasureType = double

using	Pointer = SmartPointer< Self >

using	Self = SingleValuedCostFunctionv4Template

using	Superclass = CostFunctionTemplate< double >

Public Types inherited from itk::CostFunctionTemplate< double >
using	ConstPointer = SmartPointer< const Self >

using	ParametersType = OptimizerParameters< double >

using	ParametersValueType = double

using	Pointer = SmartPointer< Self >

using	Self = CostFunctionTemplate

using	Superclass = Object

Public Types inherited from itk::Object
using	ConstPointer = SmartPointer< const Self >

using	Pointer = SmartPointer< Self >

using	Self = Object

using	Superclass = LightObject

Public Types inherited from itk::LightObject
using	ConstPointer = SmartPointer< const Self >

using	Pointer = SmartPointer< Self >

using	Self = LightObject

Public Member Functions
virtual RealType	GetDistanceThreshold () const

MeasureType	GetLocalNeighborhoodValue (const PointType &, const PixelType &pixel=0) const override

void	GetLocalNeighborhoodValueAndDerivative (const PointType &, MeasureType &, LocalDerivativeType &, const PixelType &pixel=0) const override

const char *	GetNameOfClass () const override

virtual void	SetDistanceThreshold (RealType _arg)

Public Member Functions inherited from itk::PointSetToPointSetMetricv4< TFixedPointSet, TFixedPointSet, double >
virtual LocalDerivativeType	GetLocalNeighborhoodDerivative (const PointType &, const PixelType &pixel) const

virtual MeasureType	GetLocalNeighborhoodValue (const PointType &, const PixelType &pixel) const=0

virtual void	GetLocalNeighborhoodValueAndDerivative (const PointType &, MeasureType &, LocalDerivativeType &, const PixelType &pixel) const=0

const char *	GetNameOfClass () const override

Public Member Functions inherited from itk::PointSetToPointSetMetricWithIndexv4< TFixedPointSet, TFixedPointSet, double >
void	GetDerivative (DerivativeType &) const override

virtual FixedTransformedPointSetType *	GetModifiableFixedTransformedPointSet ()

virtual MovingTransformedPointSetType *	GetModifiableMovingTransformedPointSet ()

const char *	GetNameOfClass () const override

SizeValueType	GetNumberOfComponents () const

MeasureType	GetValue () const override

void	GetValueAndDerivative (MeasureType &, DerivativeType &) const override

const VirtualPointSetType *	GetVirtualTransformedPointSet () const

void	Initialize () override

bool	SupportsArbitraryVirtualDomainSamples () const override

void	SetFixedObject (const ObjectType *object) override

void	SetMovingObject (const ObjectType *object) override

virtual void	SetFixedPointSet (const FixedPointSetType *_arg)

virtual const FixedPointSetType *	GetFixedPointSet () const

virtual void	SetMovingPointSet (const MovingPointSetType *_arg)

virtual const MovingPointSetType *	GetMovingPointSet () const

virtual void	SetStoreDerivativeAsSparseFieldForLocalSupportTransforms (bool _arg)

virtual bool	GetStoreDerivativeAsSparseFieldForLocalSupportTransforms () const

virtual void	StoreDerivativeAsSparseFieldForLocalSupportTransformsOn ()

virtual void	SetCalculateValueAndDerivativeInTangentSpace (bool _arg)

virtual bool	GetCalculateValueAndDerivativeInTangentSpace () const

virtual void	CalculateValueAndDerivativeInTangentSpaceOn ()

Public Member Functions inherited from itk::ObjectToObjectMetric< TFixedPointSet::PointDimension, TMovingPointSet::PointDimension, Image< double, TFixedPointSet::PointDimension >, double >
OffsetValueType	ComputeParameterOffsetFromVirtualIndex (const VirtualIndexType &index, const NumberOfParametersType &numberOfLocalParameters) const

OffsetValueType	ComputeParameterOffsetFromVirtualPoint (const VirtualPointType &point, const NumberOfParametersType &numberOfLocalParameters) const

MetricCategoryType	GetMetricCategory () const override

virtual FixedTransformType *	GetModifiableFixedTransform ()

virtual MovingTransformType *	GetModifiableMovingTransform ()

virtual VirtualImageType *	GetModifiableVirtualImage ()

const char *	GetNameOfClass () const override

NumberOfParametersType	GetNumberOfLocalParameters () const override

NumberOfParametersType	GetNumberOfParameters () const override

virtual SizeValueType	GetNumberOfValidPoints () const

const ParametersType &	GetParameters () const override

const MovingTransformType *	GetTransform ()

VirtualDirectionType	GetVirtualDirection () const

virtual const TimeStamp &	GetVirtualDomainTimeStamp () const

VirtualOriginType	GetVirtualOrigin () const

const VirtualRegionType &	GetVirtualRegion () const

VirtualSpacingType	GetVirtualSpacing () const

bool	HasLocalSupport () const override

void	Initialize () override

virtual void	SetFixedTransform (FixedTransformType *_arg)

virtual void	SetMovingTransform (MovingTransformType *_arg)

void	SetParameters (ParametersType &params) override

void	SetTransform (MovingTransformType *transform)

void	SetVirtualDomain (const VirtualSpacingType &spacing, const VirtualOriginType &origin, const VirtualDirectionType &direction, const VirtualRegionType &region)

void	SetVirtualDomainFromImage (const VirtualImageType *virtualImage)

virtual bool	SupportsArbitraryVirtualDomainSamples () const=0

void	UpdateTransformParameters (const DerivativeType &derivative, double factor) override

bool	IsInsideVirtualDomain (const VirtualPointType &point) const

bool	IsInsideVirtualDomain (const VirtualIndexType &index) const

Public Member Functions inherited from itk::ObjectToObjectMetricBaseTemplate< double >
MeasureType	GetCurrentValue () const

virtual void	GetDerivative (DerivativeType &) const=0

virtual GradientSourceEnum	GetGradientSource () const

bool	GetGradientSourceIncludesFixed () const

bool	GetGradientSourceIncludesMoving () const

virtual MetricCategoryEnum	GetMetricCategory () const

const char *	GetNameOfClass () const override

virtual const ParametersType &	GetParameters () const=0

MeasureType	GetValue () const override=0

void	GetValueAndDerivative (MeasureType &value, DerivativeType &derivative) const override=0

virtual bool	HasLocalSupport () const=0

virtual void	Initialize ()=0

virtual void	SetGradientSource (GradientSourceEnum _arg)

virtual void	SetParameters (ParametersType &params)=0

virtual void	UpdateTransformParameters (const DerivativeType &derivative, ParametersValueType factor=NumericTraits< ParametersValueType >::OneValue())=0

virtual void	SetFixedObject (const ObjectType *_arg)

virtual const ObjectType *	GetFixedObject () const

virtual void	SetMovingObject (const ObjectType *_arg)

virtual const ObjectType *	GetMovingObject () const

const char *	GetNameOfClass () const override

virtual MeasureType	GetValue () const=0

virtual void	GetValueAndDerivative (MeasureType &value, DerivativeType &derivative) const=0

const char *	GetNameOfClass () const override

virtual unsigned int	GetNumberOfParameters () const=0

Public Member Functions inherited from itk::Object
unsigned long	AddObserver (const EventObject &event, Command *cmd) const

unsigned long	AddObserver (const EventObject &event, std::function< void(const EventObject &)> function) const

LightObject::Pointer	CreateAnother () const override

virtual void	DebugOff () const

virtual void	DebugOn () const

Command *	GetCommand (unsigned long tag)

bool	GetDebug () const

MetaDataDictionary &	GetMetaDataDictionary ()

const MetaDataDictionary &	GetMetaDataDictionary () const

virtual ModifiedTimeType	GetMTime () const

const char *	GetNameOfClass () const override

virtual const TimeStamp &	GetTimeStamp () const

bool	HasObserver (const EventObject &event) const

void	InvokeEvent (const EventObject &)

void	InvokeEvent (const EventObject &) const

virtual void	Modified () const

void	Register () const override

void	RemoveAllObservers ()

void	RemoveObserver (unsigned long tag) const

void	SetDebug (bool debugFlag) const

void	SetReferenceCount (int) override

void	UnRegister () const noexcept override

void	SetMetaDataDictionary (const MetaDataDictionary &rhs)

void	SetMetaDataDictionary (MetaDataDictionary &&rrhs)

virtual void	SetObjectName (std::string _arg)

virtual const std::string &	GetObjectName () const

Public Member Functions inherited from itk::LightObject
Pointer	Clone () const

virtual Pointer	CreateAnother () const

virtual void	Delete ()

virtual const char *	GetNameOfClass () const

virtual int	GetReferenceCount () const

void	Print (std::ostream &os, Indent indent=0) const

virtual void	Register () const

virtual void	SetReferenceCount (int)

virtual void	UnRegister () const noexcept

Static Public Member Functions
static Pointer	New ()

Static Public Member Functions inherited from itk::Object
static bool	GetGlobalWarningDisplay ()

static void	GlobalWarningDisplayOff ()

static void	GlobalWarningDisplayOn ()

static Pointer	New ()

static void	SetGlobalWarningDisplay (bool val)

Static Public Member Functions inherited from itk::LightObject
static void	BreakOnError ()

static Pointer	New ()

Protected Member Functions
	EuclideanDistancePointSetToPointSetMetricv4 ()=default

void	PrintSelf (std::ostream &os, Indent indent) const override

bool	RequiresFixedPointsLocator () const override

	~EuclideanDistancePointSetToPointSetMetricv4 () override=default

Protected Member Functions inherited from itk::PointSetToPointSetMetricv4< TFixedPointSet, TFixedPointSet, double >
	PointSetToPointSetMetricv4 ()=default

	~PointSetToPointSetMetricv4 () override=default

Protected Member Functions inherited from itk::PointSetToPointSetMetricWithIndexv4< TFixedPointSet, TFixedPointSet, double >
virtual SizeValueType	CalculateNumberOfValidFixedPoints () const

void	CalculateValueAndDerivative (MeasureType &calculatedValue, DerivativeType &derivative, bool calculateValue) const

virtual LocalDerivativeType	GetLocalNeighborhoodDerivativeWithIndex (const PointIdentifier &, const PointType &, const PixelType &pixel) const

virtual void	GetLocalNeighborhoodValueAndDerivativeWithIndex (const PointIdentifier &, const PointType &, MeasureType &, LocalDerivativeType &, const PixelType &pixel) const=0

virtual MeasureType	GetLocalNeighborhoodValueWithIndex (const PointIdentifier &, const PointType &, const PixelType &pixel) const=0

MetricCategoryType	GetMetricCategory () const override

virtual void	InitializeForIteration () const

virtual void	InitializePointSets () const

void	InitializePointsLocators () const

	PointSetToPointSetMetricWithIndexv4 ()

void	PrintSelf (std::ostream &os, Indent indent) const override

virtual bool	RequiresFixedPointsLocator () const

virtual bool	RequiresMovingPointsLocator () const

void	StorePointDerivative (const VirtualPointType &, const DerivativeType &, DerivativeType &) const

void	TransformFixedAndCreateVirtualPointSet () const

void	TransformMovingPointSet () const

	~PointSetToPointSetMetricWithIndexv4 () override=default

Protected Member Functions inherited from itk::ObjectToObjectMetric< TFixedPointSet::PointDimension, TMovingPointSet::PointDimension, Image< double, TFixedPointSet::PointDimension >, double >
const MovingDisplacementFieldTransformType *	GetMovingDisplacementFieldTransform () const

	ObjectToObjectMetric ()

void	PrintSelf (std::ostream &os, Indent indent) const override

bool	TransformPhysicalPointToVirtualIndex (const VirtualPointType &, VirtualIndexType &) const

void	TransformVirtualIndexToPhysicalPoint (const VirtualIndexType &, VirtualPointType &) const

virtual void	VerifyDisplacementFieldSizeAndPhysicalSpace ()

bool	VerifyNumberOfValidPoints (MeasureType &value, DerivativeType &derivative) const

	~ObjectToObjectMetric () override=default

Protected Member Functions inherited from itk::ObjectToObjectMetricBaseTemplate< double >
	ObjectToObjectMetricBaseTemplate ()

void	PrintSelf (std::ostream &os, Indent indent) const override

	~ObjectToObjectMetricBaseTemplate () override=default

Protected Member Functions inherited from itk::SingleValuedCostFunctionv4Template< double >
	SingleValuedCostFunctionv4Template ()=default

	~SingleValuedCostFunctionv4Template () override=default

Protected Member Functions inherited from itk::CostFunctionTemplate< double >
	CostFunctionTemplate ()=default

void	PrintSelf (std::ostream &os, Indent indent) const override

	~CostFunctionTemplate () override=default

Protected Member Functions inherited from itk::Object
	Object ()

bool	PrintObservers (std::ostream &os, Indent indent) const

void	PrintSelf (std::ostream &os, Indent indent) const override

virtual void	SetTimeStamp (const TimeStamp &timeStamp)

	~Object () override

Protected Member Functions inherited from itk::LightObject
virtual LightObject::Pointer	InternalClone () const

	LightObject ()

virtual void	PrintHeader (std::ostream &os, Indent indent) const

virtual void	PrintSelf (std::ostream &os, Indent indent) const

virtual void	PrintTrailer (std::ostream &os, Indent indent) const

virtual	~LightObject ()

Private Attributes
RealType	m_DistanceThreshold = -1.0

Additional Inherited Members
Static Public Attributes inherited from itk::PointSetToPointSetMetricv4< TFixedPointSet, TFixedPointSet, double >
static constexpr DimensionType	FixedPointDimension

static constexpr DimensionType	MovingPointDimension

static constexpr DimensionType	PointDimension

Static Public Attributes inherited from itk::PointSetToPointSetMetricWithIndexv4< TFixedPointSet, TFixedPointSet, double >
static constexpr DimensionType	FixedPointDimension

static constexpr DimensionType	MovingPointDimension

static constexpr DimensionType	PointDimension

Static Public Attributes inherited from itk::ObjectToObjectMetric< TFixedPointSet::PointDimension, TMovingPointSet::PointDimension, Image< double, TFixedPointSet::PointDimension >, double >
static constexpr DimensionType	FixedDimension

static constexpr DimensionType	MovingDimension

static constexpr DimensionType	VirtualDimension

Protected Attributes inherited from itk::PointSetToPointSetMetricWithIndexv4< TFixedPointSet, TFixedPointSet, double >
bool	m_CalculateValueAndDerivativeInTangentSpace

FixedPointSetType::ConstPointer	m_FixedPointSet

FixedTransformedPointSetType::Pointer	m_FixedTransformedPointSet

PointsLocatorType::Pointer	m_FixedTransformedPointsLocator

MovingPointSetType::ConstPointer	m_MovingPointSet

MovingTransformedPointSetType::Pointer	m_MovingTransformedPointSet

PointsLocatorType::Pointer	m_MovingTransformedPointsLocator

bool	m_UsePointSetData

VirtualPointSetPointer	m_VirtualTransformedPointSet

Protected Attributes inherited from itk::ObjectToObjectMetric< TFixedPointSet::PointDimension, TMovingPointSet::PointDimension, Image< double, TFixedPointSet::PointDimension >, double >
FixedTransformPointer	m_FixedTransform

MovingTransformPointer	m_MovingTransform

SizeValueType	m_NumberOfValidPoints

bool	m_UserHasSetVirtualDomain

VirtualImagePointer	m_VirtualImage

Protected Attributes inherited from itk::ObjectToObjectMetricBaseTemplate< double >
ObjectConstPointer	m_FixedObject

GradientSourceEnum	m_GradientSource

ObjectConstPointer	m_MovingObject

MeasureType	m_Value

Protected Attributes inherited from itk::LightObject
std::atomic< int >	m_ReferenceCount {}