[IGSTK-Users] question about example LandmarkRegistration1 ?

[Patrick Cheng]

Hi Agata,

If you want to return a double pointer, you can try this code:


Double pReturn[16];

if(lrtcb->GotTransform())
{
igstk::Transform transform = lrtcb->GetTransform();
vtkMatrix4x4 * t = vtkMatrix4x4::New();;
transform.ExportTransform( * t );

for ( int i = 0; i < 3; i++ )
{
  for ( int j = 0; j < 3; j++ )
    {
      pReturn = t->GetElement(i,j);
    }
}

t->Delete();

}

return pReturn;



On Sun, Jul 31, 2011 at 8:40 AM, Agata Krasoń <agatakrason at gmail.com> wrote:

> Hi  all Users & Developers,
>
>
> I' m fresh user.  I'm begining my adventure with IGSTK...
> I 'm  just working with example LandmarkRegistration1(Sandbox).
> I  have to do  a DLL & wrapper  with this example.
> I have already made  a method with this transformation but I have a problem
> with  *returned type*.
> I want to return for example 1 element (point)  after transformation .
> Could You help me please ?
> I would  appreciate for any help .
>
>
> Code :
>
> extern "C"
> {
>
> *  __declspec(dllexport) double RegistrationDLL(double tab[30])*
>   {
>
> igstk::RealTimeClock::Initialize();
>
>
> // BeginCodeSnippet
>   typedef igstk::Object::LoggerType             LoggerType;
>   typedef itk::StdStreamLogOutput               LogOutputType;
>
>   typedef igstk::Landmark3DRegistration
>                             Landmark3DRegistrationType;
>   typedef igstk::Landmark3DRegistration::LandmarkPointContainerType
>                             LandmarkPointContainerType;
>   typedef igstk::Landmark3DRegistration::LandmarkImagePointType
>                             LandmarkImagePointType;
>   typedef igstk::Landmark3DRegistration::LandmarkTrackerPointType
>                             LandmarkTrackerPointType;
>   typedef Landmark3DRegistrationType::TransformType::OutputVectorType
>                             OutputVectorType;
>   typedef igstk::Transform  TransformType;
> // EndCodeSnippet
>
>
> // BeginLatex
> //
> // Then, the registration component is instantiated as follows:
> //
> // EndLatex
>
> // BeginCodeSnippet
>   Landmark3DRegistrationType::Pointer landmarkRegister =
>                                         Landmark3DRegistrationType::New();
> // EndCodeSnippet
>
>
> // BeginLatex
> //
> // Next, the landmark containers that hold the landmark image and tracker
> // coordinates are instantiated:
> //
> // EndLatex
>
> // BeginCodeSnippet
>   LandmarkPointContainerType  imagePointContainer;
>   LandmarkPointContainerType  trackerPointContainer;
> // EndCodeSnippet
>
>
>   LandmarkImagePointType      imagePoint;
>   LandmarkTrackerPointType    trackerPoint;
>
> // BeginLatex
> //
> // Then, error event callback objects are instantiated and added to the
> observer
> // list of the registration component, as follows:
> //
> // EndLatex
>
> // BeginCodeSnippet
>   Landmark3DRegistrationInvalidRequestCallback::Pointer
>                   lrcb =
> Landmark3DRegistrationInvalidRequestCallback::New();
>
>   typedef igstk::InvalidRequestErrorEvent  InvalidRequestEvent;
>
>   landmarkRegister->AddObserver( InvalidRequestEvent(), lrcb );
>
>   Landmark3DRegistrationErrorCallback::Pointer ecb =
>                   Landmark3DRegistrationErrorCallback::New();
>   typedef igstk::Landmark3DRegistration::TransformComputationFailureEvent
>
>  ComputationFailureEvent;
>   landmarkRegister->AddObserver( ComputationFailureEvent(), ecb );
>
> // EndCodeSnippet
>
> // BeginLatex
> //
> // A logger can then be connected to the registration component for
> // debugging purpose, as follows:
> //
> // EndLatex
>
>
> // BeginCodeSnippet
>   LoggerType::Pointer   logger = LoggerType::New();
>   LogOutputType::Pointer logOutput = LogOutputType::New();
>   logOutput->SetStream( std::cout );
>   logger->AddLogOutput( logOutput );
>   logger->SetPriorityLevel( LoggerType::DEBUG );
>   landmarkRegister->SetLogger( logger );
> // EndCodeSnippet
>
>
> // BeginLatex
> //
> // Next, landmark points are added to the image and tracker containers.
>  The
> // state machine of this registration component is designed so that the
> image
> // and tracker coordinates that correspond to each landmark are added
> // consecutively. This scheme prevents the mismatch in landmark
> correspondence
> // that could occur when all landmarks image coordinates are recorded first
> and
> // followed by the tracker coordinates.  This design choice is consistent
> with
> // the ``safety by design'' philosophy of IGSTK. The commands are as
> follows:
> //
> //EndLatex
>
> // BeginCodeSnippet
>   // Add entry
>   imagePoint[0] = tab[0];
>   imagePoint[1] = tab[1];
>   imagePoint[2] = tab[2];
>   imagePointContainer.push_back(imagePoint);
>   landmarkRegister->RequestAddImageLandmarkPoint(imagePoint);
>
>   trackerPoint[0] = tab[3];
>   trackerPoint[1] = tab[4];
>   trackerPoint[2] = tab[5];
>   trackerPointContainer.push_back(trackerPoint);
>   landmarkRegister->RequestAddTrackerLandmarkPoint(trackerPoint);
>
>   // Add 1st landmark
>   imagePoint[0] = tab[6];
>   imagePoint[1] = tab[7];
>   imagePoint[2] = tab[8];
>   imagePointContainer.push_back(imagePoint);
>   landmarkRegister->RequestAddImageLandmarkPoint(imagePoint);
>
>   trackerPoint[0] = tab[9];
>   trackerPoint[1] = tab[10];
>   trackerPoint[2] = tab[11];
>   trackerPointContainer.push_back(trackerPoint);
>   landmarkRegister->RequestAddTrackerLandmarkPoint(trackerPoint);
>
>   // Add 2nd landmark
>   imagePoint[0] = tab[12];
>   imagePoint[1] = tab[13];
>   imagePoint[2] = tab[14];
>   imagePointContainer.push_back(imagePoint);
>   landmarkRegister->RequestAddImageLandmarkPoint(imagePoint);
>
>   trackerPoint[0] = tab[15];
>   trackerPoint[1] = tab[16];
>   trackerPoint[2] = tab[17];
>   trackerPointContainer.push_back(trackerPoint);
>   landmarkRegister->RequestAddTrackerLandmarkPoint(trackerPoint);
>
>   // EndCodeSnippet
>
>   // BeginLatex
>   //
>   // More landmarks can be added for the transform computation.
>   //
>   // EndLatex
>
>   // Add 3n landmark
>   imagePoint[0] = tab[18];
>   imagePoint[1] = tab[19];
>   imagePoint[2] = tab[20];
>   imagePointContainer.push_back(imagePoint);
>   landmarkRegister->RequestAddImageLandmarkPoint(imagePoint);
>
>   trackerPoint[0] = tab[21];
>   trackerPoint[1] = tab[22];
>   trackerPoint[2] = tab[23];
>   trackerPointContainer.push_back(trackerPoint);
>   landmarkRegister->RequestAddTrackerLandmarkPoint(trackerPoint);
>
>   // Add target
>   imagePoint[0] = tab[24];
>   imagePoint[1] = tab[25];
>   imagePoint[2] = tab[26];
>   imagePointContainer.push_back(imagePoint);
>   landmarkRegister->RequestAddImageLandmarkPoint(imagePoint);
>
>   trackerPoint[0] = tab[27];
>   trackerPoint[1] = tab[28];
>   trackerPoint[2] = tab[29];
>   trackerPointContainer.push_back(trackerPoint);
>   landmarkRegister->RequestAddTrackerLandmarkPoint(trackerPoint);
>
>   // BeginLatex
>   //
>   // After all landmark coordinates are added, the transform computation
> is
>   // requested as follows:
>   //
>   // EndLatex
>
>   // Calculate transform
>
>   // BeginCodeSnippet
>   landmarkRegister->RequestComputeTransform();
>   // EndCodeSnippet
>
>   typedef itk::VersorRigid3DTransform<double>
>  VersorRigid3DTransformType;
>   typedef VersorRigid3DTransformType::ParametersType ParametersType;
>
>
>
>
>   TransformType  transform;
>   ParametersType     parameters(6);
>
>   // BeginLatex
>   //
>   // To access the transform parameters, a GetTransform callback is
> instantiated
>   // to observe the transform event, as follows:
>   //
>   // EndLatex
>
>   // BeginCodeSnippet
>   Landmark3DRegistrationGetTransformCallback::Pointer lrtcb =
>     Landmark3DRegistrationGetTransformCallback::New();
>
>   landmarkRegister->AddObserver(
>     igstk::CoordinateSystemTransformToEvent(), lrtcb );
>   //EndCodeSnippet
>
>
>   // BeginLatex
>   //
>   // To request that the registration component throw an event loaded with
>   // transform parameters, a \code{RequestGetTransform} function is invoked
> as
>   // follows:
>   //
>   // EndLatex
>
>   // BeginCodeSnippet
>   landmarkRegister->RequestGetTransformFromTrackerToImage();
>   std::cout<<"  "<<std::endl;
>  std::cout << "Transform " << transform << std::endl;
>
>   // EndCodeSnippet
>
>
>
>
>
> *  // return tab[4];  // ????? *
> *
> *
> *return  ... ?? *
> }
>
> }
>
> Best,
> Agata
>
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