namespace Algorithms
{
CPPLUGINS_DEFINE_ISOIMAGESLICER(
- IsoImageSlicer,
- itk::ResampleImageFilter,
- itk::InterpolateImageFunction
- );
+ IsoImageSlicer,
+ itk::ResampleImageFilter,
+ itk::InterpolateImageFunction
+ );
CPPLUGINS_DEFINE_ISOIMAGESLICER(
- VectorIsoImageSlicer,
- itk::VectorResampleImageFilter,
- itk::VectorInterpolateImageFunction
- );
+ VectorIsoImageSlicer,
+ itk::VectorResampleImageFilter,
+ itk::VectorInterpolateImageFunction
+ );
+
} // ecapseman
} // ecapseman
--- /dev/null
+// -------------------------------------------------------------------------
+// @author Leonardo Florez-Valencia (florez-l@javeriana.edu.co)
+// -------------------------------------------------------------------------
+
+#include <cpPlugins/Extensions/Algorithms/KalmanConstantFilter.h>
+
+// -------------------------------------------------------------------------
+template< typename T >
+void cpPlugins::Extensions::Algorithms::KalmanConstantFilter< T >::
+Configure( unsigned int m )
+{
+ this->Superclass::Configure( m, 1, m );
+}
+
+// -------------------------------------------------------------------------
+template< typename T >
+void cpPlugins::Extensions::Algorithms::KalmanConstantFilter< T >::
+Initialize( )
+{
+ this->Superclass::Initialize( );
+
+ this->m_A.set_identity( );
+ this->m_B.fill( TScalar( 0 ) );
+ this->m_H.set_identity( );
+}
+
+// -------------------------------------------------------------------------
+template< typename T >
+cpPlugins::Extensions::Algorithms::KalmanConstantFilter< T >::
+KalmanConstantFilter( )
+ : Superclass( )
+{
+ this->Configure( 1 );
+}
+
+// -------------------------------------------------------------------------
+template< typename T >
+cpPlugins::Extensions::Algorithms::KalmanConstantFilter< T >::
+~KalmanConstantFilter( )
+{
+}
+
+// -------------------------------------------------------------------------
+// Explicit instantiations
+
+using namespace cpPlugins::Extensions::Algorithms;
+
+template class KalmanConstantFilter< float >;
+template class KalmanConstantFilter< double >;
+
+// eof - $RCSfile$
--- /dev/null
+// -------------------------------------------------------------------------
+// @author Leonardo Florez-Valencia (florez-l@javeriana.edu.co)
+// -------------------------------------------------------------------------
+
+#ifndef __CPPLUGINS__EXTENSIONS__ALGORITHMS__KALMANCONSTANTFILTER__H__
+#define __CPPLUGINS__EXTENSIONS__ALGORITHMS__KALMANCONSTANTFILTER__H__
+
+#include <cpPlugins/Extensions/Algorithms/KalmanFilter.h>
+
+namespace cpPlugins
+{
+ namespace Extensions
+ {
+ namespace Algorithms
+ {
+ /**
+ */
+ template< typename T >
+ class KalmanConstantFilter
+ : public KalmanFilter< T >
+ {
+ public:
+ typedef KalmanConstantFilter Self;
+ typedef KalmanFilter< T > Superclass;
+ typedef itk::SmartPointer< Self > Pointer;
+ typedef itk::SmartPointer< const Self > ConstPointer;
+
+ typedef typename Superclass::TScalar TScalar;
+ typedef typename Superclass::TMatrix TMatrix;
+ typedef typename Superclass::TVector TVector;
+
+ public:
+ itkNewMacro( Self );
+ itkTypeMacro( KalmanConstantFilter, KalmanFilter );
+
+ public:
+ void Configure( unsigned int m );
+
+ /// Iteration methods
+ virtual void Initialize( );
+
+ protected:
+ KalmanConstantFilter( );
+ virtual ~KalmanConstantFilter( );
+
+ private:
+ // Purposely not implemented.
+ KalmanConstantFilter( const Self& );
+ void operator=( const Self& );
+ };
+
+ } // ecapseman
+
+ } // ecapseman
+
+} // ecapseman
+
+#endif // __CPPLUGINS__EXTENSIONS__ALGORITHMS__KALMANCONSTANTFILTER__H__
+
+// eof - $RCSfile$
#include <cstdlib>
#include <vnl/algo/vnl_matrix_inverse.h>
-// -------------------------------------------------------------------------
-template< typename T >
-cpPlugins::Extensions::Algorithms::KalmanFilter< T >::
-KalmanFilter( unsigned int s, unsigned int i, unsigned int m )
-{
- this->Configure( s, i, m );
-}
-
-// -------------------------------------------------------------------------
-template< typename T >
-cpPlugins::Extensions::Algorithms::KalmanFilter< T >::
-~KalmanFilter( )
-{
-}
-
// -------------------------------------------------------------------------
template< typename T >
void cpPlugins::Extensions::Algorithms::KalmanFilter< T >::
} // fi
}
+// -------------------------------------------------------------------------
+template< typename T >
+cpPlugins::Extensions::Algorithms::KalmanFilter< T >::
+KalmanFilter( )
+ : Superclass( )
+{
+ this->Configure( 1, 1, 1 );
+}
+
+// -------------------------------------------------------------------------
+template< typename T >
+cpPlugins::Extensions::Algorithms::KalmanFilter< T >::
+~KalmanFilter( )
+{
+}
+
// -------------------------------------------------------------------------
// Explicit instantiations
#ifndef __CPPLUGINS__EXTENSIONS__ALGORITHMS__KALMANFILTER__H__
#define __CPPLUGINS__EXTENSIONS__ALGORITHMS__KALMANFILTER__H__
+#include <itkObject.h>
+#include <itkObjectFactory.h>
#include <vnl/vnl_matrix.h>
#include <vnl/vnl_vector.h>
// -------------------------------------------------------------------------
-#define kalmanGetMacro( type, name ) \
- virtual type Get##name( ) const \
- { return( this->m_##name ); }
-
-// -------------------------------------------------------------------------
-#define kalmanSetMacro( type, name ) \
- virtual void Set##name( const type& m ) \
- { this->m_##name = m; }
-
-// -------------------------------------------------------------------------
-#define kalmanGetSetMacro( type, name ) \
- kalmanGetMacro( type, name ); \
- kalmanSetMacro( type, name );
+#define kalmanGetSetMacro( type, name ) \
+ itkGetConstMacro( name, type ); \
+ itkSetMacro( name, type );
// -------------------------------------------------------------------------
#define kalmanGetMatrixMacro( var, name ) \
// -------------------------------------------------------------------------
#define kalmanSetMatrixMacro( var, name ) \
virtual void Set##name( const TMatrix& m ) \
- { this->m_##var = m; }
+ { this->Set##var( m ); }
// -------------------------------------------------------------------------
#define kalmanGetSetMatrixMacro( var, name ) \
// -------------------------------------------------------------------------
#define kalmanSetVectorMacro( var, name ) \
virtual void Set##name( const TVector& v ) \
- { this->m_##var = v; }
+ { this->Set##var( v ); }
// -------------------------------------------------------------------------
#define kalmanGetSetVectorMacro( var, name ) \
*/
template< typename T >
class KalmanFilter
+ : public itk::Object
{
public:
- typedef KalmanFilter Self;
+ typedef KalmanFilter Self;
+ typedef itk::Object Superclass;
+ typedef itk::SmartPointer< Self > Pointer;
+ typedef itk::SmartPointer< const Self > ConstPointer;
// Template parameters types
typedef T TScalar;
};
public:
+ itkNewMacro( Self );
+ itkTypeMacro( KalmanFilter, itkObject );
+
// Values
- kalmanGetMacro( unsigned int, StateSize );
- kalmanGetMacro( unsigned int, InputSize );
- kalmanGetMacro( unsigned int, MeasureSize );
+ itkGetConstMacro( StateSize, unsigned int );
+ itkGetConstMacro( InputSize, unsigned int );
+ itkGetConstMacro( MeasureSize, unsigned int );
// Matrices
kalmanGetSetMacro( TMatrix, A );
kalmanGetSetVectorMacro( xp, APosterioriState );
public:
- KalmanFilter(
- unsigned int s = 1, unsigned int i = 1, unsigned int m = 1
- );
- virtual ~KalmanFilter( );
void Configure( unsigned int s, unsigned int i, unsigned int m );
unsigned char CurrentStep( ) const
{ return( this->m_Step ); }
+ protected:
+ KalmanFilter( );
+ virtual ~KalmanFilter( );
+
private:
// Purposely not implemented
KalmanFilter( const Self& );
--- /dev/null
+// -------------------------------------------------------------------------
+// @author Leonardo Florez-Valencia (florez-l@javeriana.edu.co)
+// -------------------------------------------------------------------------
+
+#include <cpPlugins/Extensions/Algorithms/KalmanVelocityFilter.h>
+#include <cmath>
+
+// -------------------------------------------------------------------------
+template< typename T >
+void cpPlugins::Extensions::Algorithms::KalmanVelocityFilter< T >::
+Configure( unsigned int m )
+{
+ this->Superclass::Configure( m << 1, 1, m );
+
+ this->m_TimeOffset.set_size( 2, 2 );
+ this->SetTimeOffset( TScalar( 1 ) );
+
+ this->m_Sigma.set_size( this->m_MeasureSize, this->m_MeasureSize );
+ this->m_Sigma.set_identity( );
+}
+
+// -------------------------------------------------------------------------
+template< typename T >
+typename cpPlugins::Extensions::Algorithms::KalmanVelocityFilter< T >::
+TScalar cpPlugins::Extensions::Algorithms::KalmanVelocityFilter< T >::
+GetTimeOffset( ) const
+{
+ return( TScalar( std::sqrt( double( this->m_TimeOffset[ 1 ][ 1 ] ) ) ) );
+}
+
+// -------------------------------------------------------------------------
+template< typename T >
+void cpPlugins::Extensions::Algorithms::KalmanVelocityFilter< T >::
+SetTimeOffset( TScalar t )
+{
+ TScalar t2 = t * t;
+ TScalar t3 = t2 * t;
+ TScalar t4 = t3 * t;
+ this->m_TimeOffset[ 0 ][ 0 ] = t4 / TScalar( 4 );
+ this->m_TimeOffset[ 1 ][ 1 ] = t2;
+
+ this->m_TimeOffset[ 0 ][ 1 ] = t3 / TScalar( 2 );
+ this->m_TimeOffset[ 1 ][ 0 ] = this->m_TimeOffset[ 0 ][ 1 ];
+}
+
+// -------------------------------------------------------------------------
+template< typename T >
+void cpPlugins::Extensions::Algorithms::KalmanVelocityFilter< T >::
+Initialize( )
+{
+ this->Superclass::Initialize( );
+
+ Self::Kronecker( this->m_Q, this->m_Sigma, this->m_TimeOffset );
+
+ this->m_A.set_identity( );
+ this->m_B.fill( TScalar( 0 ) );
+ this->m_H.fill( TScalar( 0 ) );
+
+ TScalar tOff = this->GetTimeOffset( );
+ for( unsigned int i = 0; i < this->m_MeasureSize; i++ )
+ {
+ this->m_A[ i ][ this->m_MeasureSize + i ] = tOff;
+ this->m_H[ i ][ i ] = TScalar( 1 );
+
+ } // rof
+}
+
+// -------------------------------------------------------------------------
+template< typename T >
+cpPlugins::Extensions::Algorithms::KalmanVelocityFilter< T >::
+KalmanVelocityFilter( )
+ : Superclass( )
+{
+ this->Configure( 1 );
+}
+
+// -------------------------------------------------------------------------
+template< typename T >
+cpPlugins::Extensions::Algorithms::KalmanVelocityFilter< T >::
+~KalmanVelocityFilter( )
+{
+}
+
+// -------------------------------------------------------------------------
+// Explicit instantiations
+
+using namespace cpPlugins::Extensions::Algorithms;
+
+template class KalmanVelocityFilter< float >;
+template class KalmanVelocityFilter< double >;
+
+// eof - $RCSfile$
--- /dev/null
+// -------------------------------------------------------------------------
+// @author Leonardo Florez-Valencia (florez-l@javeriana.edu.co)
+// -------------------------------------------------------------------------
+
+#ifndef __CPPLUGINS__EXTENSIONS__ALGORITHMS__KALMANVELOCITYFILTER__H__
+#define __CPPLUGINS__EXTENSIONS__ALGORITHMS__KALMANVELOCITYFILTER__H__
+
+#include <cpPlugins/Extensions/Algorithms/KalmanFilter.h>
+
+namespace cpPlugins
+{
+ namespace Extensions
+ {
+ namespace Algorithms
+ {
+ /**
+ */
+ template< typename T >
+ class KalmanVelocityFilter
+ : public KalmanFilter< T >
+ {
+ public:
+ typedef KalmanVelocityFilter Self;
+ typedef KalmanFilter< T > Superclass;
+ typedef itk::SmartPointer< Self > Pointer;
+ typedef itk::SmartPointer< const Self > ConstPointer;
+
+ typedef typename Superclass::TScalar TScalar;
+ typedef typename Superclass::TMatrix TMatrix;
+ typedef typename Superclass::TVector TVector;
+
+ public:
+ itkNewMacro( Self );
+ itkTypeMacro( KalmanVelocityFilter, KalmanFilter );
+
+ kalmanGetSetMacro( TMatrix, Sigma );
+ kalmanGetSetMatrixMacro( Sigma, AccelerationNoise );
+
+ public:
+ void Configure( unsigned int m );
+
+ TScalar GetTimeOffset( ) const;
+ void SetTimeOffset( TScalar t );
+
+ /// Iteration methods
+ virtual void Initialize( );
+
+ protected:
+ KalmanVelocityFilter( );
+ virtual ~KalmanVelocityFilter( );
+
+ private:
+ // Purposely not implemented.
+ KalmanVelocityFilter( const Self& );
+ void operator=( const Self& );
+
+ protected:
+ TMatrix m_TimeOffset;
+ TMatrix m_Sigma;
+ };
+
+ } // ecapseman
+
+ } // ecapseman
+
+} // ecapseman
+
+#endif // __CPPLUGINS__EXTENSIONS__ALGORITHMS__KALMANVELOCITYFILTER__H__
+
+// eof - $RCSfile$
git://git.creatis.insa-lyon.fr / cpPlugins.git / commitdiff