32 #ifndef BRONCHOSCOPYREGISTRATION_H_ 33 #define BRONCHOSCOPYREGISTRATION_H_ 35 #include "org_custusx_registration_method_bronchoscopy_Export.h" 40 typedef std::vector< Eigen::Matrix4d >
M4Vector;
51 BranchListPtr mBranchListPtr;
52 bool mCenterlineProcessed;
57 BranchListPtr processCenterlineImage2Image(
vtkPolyDataPtr centerline,
int numberOfGenerations = 0);
58 Eigen::Matrix4d runBronchoscopyRegistration(TimedTransformMap trackingData_prMt,
Transform3D old_rMpr,
double maxDistanceForLocalRegistration);
60 bool isCenterlineProcessed();
67 std::vector<Eigen::MatrixXd::Index>
dsearch2n(Eigen::MatrixXd pos1, Eigen::MatrixXd pos2, Eigen::MatrixXd ori1, Eigen::MatrixXd ori2);
70 std::pair<Eigen::MatrixXd , Eigen::MatrixXd>
RemoveInvalidData(Eigen::MatrixXd positionData, Eigen::MatrixXd orientationData);
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
boost::shared_ptr< class BranchList > BranchListPtr
vtkSmartPointer< vtkPoints > vtkPointsPtr
std::pair< Eigen::MatrixXd, Eigen::MatrixXd > RemoveInvalidData(Eigen::MatrixXd positionData, Eigen::MatrixXd orientationData)
vtkPointsPtr convertTovtkPoints(Eigen::MatrixXd positions)
Eigen::Matrix4d registrationAlgorithmImage2Image(BranchListPtr branchesFixed, BranchListPtr branchesMoving)
std::vector< Eigen::MatrixXd::Index > dsearch2n(Eigen::MatrixXd pos1, Eigen::MatrixXd pos2, Eigen::MatrixXd ori1, Eigen::MatrixXd ori2)
M4Vector excludeClosePositions(M4Vector Tnavigation)
vtkSmartPointer< vtkPolyData > vtkPolyDataPtr
Eigen::Matrix4d performLandmarkRegistration(vtkPointsPtr source, vtkPointsPtr target)
std::vector< Eigen::Matrix4d > M4Vector
std::vector< Eigen::Matrix4d > M4Vector
Eigen::MatrixXd makeTransformedMatrix(vtkPolyDataPtr linesPolyData, Transform3D rMd)
makeTransformedMatrix This method takes an vtkpolydata as input, runs it through a transform and retu...
Eigen::Matrix4d registrationAlgorithm(BranchListPtr branches, M4Vector Tnavigation, Transform3D old_rMpr)
std::map< double, Transform3D > TimedTransformMap
Namespace for all CustusX production code.