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/*=========================================================================
*
* Copyright UMC Utrecht and contributors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0.txt
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*=========================================================================*/
/*=========================================================================
Program: Insight Segmentation & Registration Toolkit
Module: $RCSfile: itkAdvancedRigid3DTransform.txx,v $
Date: $Date: 2008-12-19 16:34:40 $
Version: $Revision: 1.36 $
Copyright (c) Insight Software Consortium. All rights reserved.
See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the above copyright notices for more information.
=========================================================================*/
#ifndef _itkAdvancedRigid3DTransform_hxx
#define _itkAdvancedRigid3DTransform_hxx
#include "itkAdvancedRigid3DTransform.h"
namespace itk
{
// Constructor with default arguments
template <typename TScalarType>
AdvancedRigid3DTransform<TScalarType>::AdvancedRigid3DTransform()
: Superclass(ParametersDimension)
{}
// Constructor with default arguments
template <typename TScalarType>
AdvancedRigid3DTransform<TScalarType>::AdvancedRigid3DTransform(unsigned int paramDim)
: Superclass(paramDim)
{}
// Check if input matrix is orthogonal to within tolerance
template <typename TScalarType>
bool
AdvancedRigid3DTransform<TScalarType>::MatrixIsOrthogonal(const MatrixType & matrix, double tolerance)
{
typename MatrixType::InternalMatrixType test = matrix.GetVnlMatrix() * matrix.GetTranspose();
if (!test.is_identity(tolerance))
{
return false;
}
return true;
}
// Directly set the rotation matrix
template <typename TScalarType>
void
AdvancedRigid3DTransform<TScalarType>::SetMatrix(const MatrixType & matrix)
{
const double tolerance = 1e-10;
if (!this->MatrixIsOrthogonal(matrix, tolerance))
{
itkExceptionMacro("Attempting to set a non-orthogonal rotation matrix");
}
this->Superclass::SetMatrix(matrix);
}
// Set optimizable parameters from array
template <typename TScalarType>
void
AdvancedRigid3DTransform<TScalarType>::SetParameters(const ParametersType & parameters)
{
this->m_Parameters = parameters;
unsigned int par = 0;
MatrixType matrix;
OutputVectorType translation;
for (unsigned int row = 0; row < 3; ++row)
{
for (unsigned int col = 0; col < 3; ++col)
{
matrix[row][col] = this->m_Parameters[par];
++par;
}
}
for (unsigned int dim = 0; dim < 3; ++dim)
{
translation[dim] = this->m_Parameters[par];
++par;
}
const double tolerance = 1e-10;
if (!this->MatrixIsOrthogonal(matrix, tolerance))
{
itkExceptionMacro("Attempting to set a non-orthogonal rotation matrix");
}
this->SetVarMatrix(matrix);
this->SetVarTranslation(translation);
// Update matrix and offset.
// Technically ComputeMatrix() is not require as the parameters are
// directly the elements of the matrix.
this->ComputeMatrix();
this->ComputeOffset();
this->Modified();
}
} // namespace itk
#endif
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