SignUKFRegistration Class Reference

#include <SignUKFRegistration.h>

Collaboration diagram for SignUKFRegistration:


Public Member Functions
	vtkTypeRevisionMacro (SignUKFRegistration, vtkLinearTransform)
void	PrintSelf (ostream &os, vtkIndent indent)
void	SetSourcePoints (vtkPoints *sourcepoints)
void	SetTargetPoints (vtkPoints *targetpoints)
	vtkGetObjectMacro (SourcePoints, vtkPoints)
	vtkGetObjectMacro (TargetPoints, vtkPoints)
vtkMatrix4x4 *	RegisterWithUKF (SignFiducialCollection set1, SignFiducialCollection set2)
void	InternalUpdate ()
unsigned long	GetMTime ()
void	SetContext (SignContext *)
void	SetUIBase (SignUIBase *)
double	GetMeanSDError ()
double	GetMaxSDError ()
void	Inverse ()
vtkAbstractTransform *	MakeTransform ()
Static Public Member Functions
static SignUKFRegistration *	New ()
Public Attributes
double	HomogenousTransform [4][4]
Protected Member Functions
	SignUKFRegistration ()
	~SignUKFRegistration ()
void	UKF (double state_vector4ukf[6], double state_covariance4ukf[6][6], double nearest_neighbours, double Var_State[6][6], double SourcePoints4ukf, double **Var_Observ_Diag_3malt, int t, double alpha, double beta, double kappa, double state_vector_new[6], double state_covariance_new[6][6])
void	HfunReg (double xSigmaPts4HfunReg[6][13], int t, double nearest_neighbour_transposed, double zPredSigmaPts)
void	ScaledSymmetricSigmaPts (double xQ[6], double PQ[6][6], double alpha, double beta, double kappa, double xPts[6][13], double wPts[14])
void	CholeskyFactorization (double matrix2factorize[6][6])
void	rotateM (double vector2rot[3], double R[3][3])
void	AllocateMatrix (double **&M, int r, int c)
void	DeallocateMatrix (double **M, int r)
void	PrintMatrix (double *M, int r, int c, const char name)
void	MultiplyMatrix4UKF (double A, double B, unsigned int rowA, unsigned int colA, unsigned int rowB, unsigned int colB, double **C)
Protected Attributes
SignContext *	context
SignUIBase *	gui
vtkPoints *	SourcePoints
vtkPoints *	TargetPoints

Constructor & Destructor Documentation

SignUKFRegistration::SignUKFRegistration ( ) [protected]

SignUKFRegistration::~SignUKFRegistration ( ) [protected]

Member Function Documentation

void SignUKFRegistration::AllocateMatrix ( double **& M,

int r,

int c

) [protected]

void SignUKFRegistration::CholeskyFactorization ( double matrix2factorize[6][6] ) [protected]

void SignUKFRegistration::DeallocateMatrix ( double ** M,

int r

) [protected]

double SignUKFRegistration::GetMaxSDError ( )

double SignUKFRegistration::GetMeanSDError ( )

unsigned long SignUKFRegistration::GetMTime ( )

void SignUKFRegistration::HfunReg ( double xSigmaPts4HfunReg[6][13],

int t,

double ** nearest_neighbour_transposed,

double ** zPredSigmaPts

) [protected]

void SignUKFRegistration::InternalUpdate ( )

void SignUKFRegistration::Inverse ( )

vtkAbstractTransform * SignUKFRegistration::MakeTransform ( )

void SignUKFRegistration::MultiplyMatrix4UKF ( double ** A,

double ** B,

unsigned int rowA,

unsigned int colA,

unsigned int rowB,

unsigned int colB,

double ** C

) [protected]

static SignUKFRegistration* SignUKFRegistration::New ( ) [static]

void SignUKFRegistration::PrintMatrix ( double ** M,

int r,

int c,

const char * name

) [protected]

void SignUKFRegistration::PrintSelf ( ostream & os,

vtkIndent indent

)

vtkMatrix4x4 * SignUKFRegistration::RegisterWithUKF ( SignFiducialCollection * set1,

SignFiducialCollection * set2

)

void SignUKFRegistration::rotateM ( double vector2rot[3],

double R[3][3]

) [protected]

void SignUKFRegistration::ScaledSymmetricSigmaPts ( double xQ[6],

double PQ[6][6],

double alpha,

double beta,

double kappa,

double xPts[6][13],

double wPts[14]

) [protected]

void SignUKFRegistration::SetContext ( SignContext * )

void SignUKFRegistration::SetSourcePoints ( vtkPoints * sourcepoints )

void SignUKFRegistration::SetTargetPoints ( vtkPoints * targetpoints )

void SignUKFRegistration::SetUIBase ( SignUIBase * )

void SignUKFRegistration::UKF ( double state_vector4ukf[6],

double state_covariance4ukf[6][6],

double ** nearest_neighbours,

double Var_State[6][6],

double ** SourcePoints4ukf,

double ** Var_Observ_Diag_3malt,

int t,

double alpha,

double beta,

double kappa,

double state_vector_new[6],

double state_covariance_new[6][6]

) [protected]