usNeedleTrackerSIR2D Class Reference

#include <visp3/ustk_needle_detection/usNeedleTrackerSIR2D.h>

Public Member Functions
	usNeedleTrackerSIR2D ()
	~usNeedleTrackerSIR2D ()
double	computeLikelihood (const usPolynomialCurve2D &model, const vpImage< unsigned char > &I)
usPolynomialCurve2D *	getNeedle ()
usPolynomialCurve2D *	getParticle (unsigned int i)
double	getWeight (unsigned int i)
void	init (unsigned int dims[2], unsigned int nPoints, unsigned int nParticles, const usPolynomialCurve2D &needle)
void	init (const vpImage< unsigned char > &I, unsigned int nPoints, unsigned int nParticles, const usPolynomialCurve2D &needle)
void	resample ()
void	run (vpImage< unsigned char > &I, double v)
void	setSigma (double s)
void	setSigma1 (double s)
void	setSigma2 (double s)

Detailed Description

Needle detection in 2D images based on particle filtering.

This class defines the particle-based needle detection pipeline for 2D images.

See [1] for more details.

Definition at line 53 of file usNeedleTrackerSIR2D.h.

Constructor & Destructor Documentation

usNeedleTrackerSIR2D()

usNeedleTrackerSIR2D::usNeedleTrackerSIR2D

(

)

Default constructor.

Definition at line 37 of file usNeedleTrackerSIR2D.cpp.

~usNeedleTrackerSIR2D()

usNeedleTrackerSIR2D::~usNeedleTrackerSIR2D

(

)

Destructor.

Definition at line 48 of file usNeedleTrackerSIR2D.cpp.

Member Function Documentation

computeLikelihood()

double usNeedleTrackerSIR2D::computeLikelihood	(	const usPolynomialCurve2D &	model,
		const vpImage< unsigned char > &	I
	)

Computing the likelihood of the model for a given observation.

Parameters

model	The needle model.
I	The input image.

Definition at line 252 of file usNeedleTrackerSIR2D.cpp.

References usPolynomialCurve2D::getLength(), and usPolynomialCurve2D::getPoint().

Referenced by run().

getNeedle()

usPolynomialCurve2D * usNeedleTrackerSIR2D::getNeedle

(

)

Returns the detected needle model.

Definition at line 114 of file usNeedleTrackerSIR2D.cpp.

getParticle()

usPolynomialCurve2D * usNeedleTrackerSIR2D::getParticle

(

unsigned int

i

)

Get a specific particle.

Definition at line 116 of file usNeedleTrackerSIR2D.cpp.

getWeight()

double usNeedleTrackerSIR2D::getWeight

(

unsigned int

i

)

Get a specific particle's weight.

Definition at line 126 of file usNeedleTrackerSIR2D.cpp.

init() [1/2]

void usNeedleTrackerSIR2D::init	(	const vpImage< unsigned char > &	I,
		unsigned int	nPoints,
		unsigned int	nParticles,
		const usPolynomialCurve2D &	needle
	)

Initialization method.

Initializes all attributes with default values and the given image resolution. Should be called before to start the detection.

Parameters

I	Reference to the image.
nPoints	The number of control points.
nParticles	The number of particles.
needle	The initial needle model.

Definition at line 88 of file usNeedleTrackerSIR2D.cpp.

References usPolynomialCurve2D::getLength(), usPolynomialCurve2D::getPoint(), and init().

init() [2/2]

void usNeedleTrackerSIR2D::init	(	unsigned int	dims[2],
		unsigned int	nPoints,
		unsigned int	nParticles,
		const usPolynomialCurve2D &	needle
	)

Initialization method.

Parameters

dims	The image dimensions (height, width).
nPoints	The number of control points.
nParticles	The number of particles.
needle	The initial needle model.

Initializes the particle filter. Should be called before to start the detection.

Definition at line 70 of file usNeedleTrackerSIR2D.cpp.

References usPolynomialCurve2D::getOrder().

Referenced by init().

resample()

void usNeedleTrackerSIR2D::resample

(

)

Resample the particles proportionnaly to their weights.

Definition at line 295 of file usNeedleTrackerSIR2D.cpp.

Referenced by run().

run()

void usNeedleTrackerSIR2D::run	(	vpImage< unsigned char > &	I,
		double	v
	)

Runs the needle detection process with the current post-scan volume.

Parameters

I	The input image.
v	The insertion velocity.

Definition at line 142 of file usNeedleTrackerSIR2D.cpp.

References computeLikelihood(), usPolynomialCurve2D::getControlPoints(), usPolynomialCurve2D::getLength(), usPolynomialCurve2D::getNewOrderPolynomialCurve(), usPolynomialCurve2D::getTangent(), resample(), and usPolynomialCurve2D::setControlPoints().

setSigma()

void usNeedleTrackerSIR2D::setSigma

(

double

s

)

Set the standard deviation for the update noise.

Definition at line 136 of file usNeedleTrackerSIR2D.cpp.

setSigma1()

void usNeedleTrackerSIR2D::setSigma1

(

double

s

)

Set the standard deviation along the insertion direction.

Definition at line 138 of file usNeedleTrackerSIR2D.cpp.

setSigma2()

void usNeedleTrackerSIR2D::setSigma2

(

double

s

)

Set the standard deviation orthogonal to the insertion direction.

Definition at line 140 of file usNeedleTrackerSIR2D.cpp.