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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: itkAdvancedVersorRigid3DTransform.txx,v $
Date: $Date: 2006-03-19 04:36:59 $
Version: $Revision: 1.32 $
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 itkAdvancedVersorRigid3DTransform_hxx
#define itkAdvancedVersorRigid3DTransform_hxx
#include "itkAdvancedVersorRigid3DTransform.h"
namespace itk
{
// Constructor with default arguments
template <typename TScalarType>
AdvancedVersorRigid3DTransform<TScalarType>::AdvancedVersorRigid3DTransform()
: Superclass(ParametersDimension)
{}
// Constructor with arguments
template <typename TScalarType>
AdvancedVersorRigid3DTransform<TScalarType>::AdvancedVersorRigid3DTransform(unsigned int paramDim)
: Superclass(paramDim)
{}
// Constructor with arguments
template <typename TScalarType>
AdvancedVersorRigid3DTransform<TScalarType>::AdvancedVersorRigid3DTransform(const MatrixType & matrix,
const OutputVectorType & offset)
: Superclass(matrix, offset)
{}
// Set Parameters
template <typename TScalarType>
void
AdvancedVersorRigid3DTransform<TScalarType>::SetParameters(const ParametersType & parameters)
{
itkDebugMacro("Setting parameters " << parameters);
// Transfer the versor part
AxisType axis;
double norm = parameters[0] * parameters[0];
axis[0] = parameters[0];
norm += parameters[1] * parameters[1];
axis[1] = parameters[1];
norm += parameters[2] * parameters[2];
axis[2] = parameters[2];
if (norm > 0)
{
norm = std::sqrt(norm);
}
double epsilon = 1e-10;
if (norm >= 1.0 - epsilon)
{
axis = axis / (norm + epsilon * norm);
}
VersorType newVersor;
newVersor.Set(axis);
this->SetVarVersor(newVersor);
this->ComputeMatrix();
itkDebugMacro("Versor is now " << this->GetVersor());
// Transfer the translation part
TranslationType newTranslation;
newTranslation[0] = parameters[3];
newTranslation[1] = parameters[4];
newTranslation[2] = parameters[5];
this->SetVarTranslation(newTranslation);
this->ComputeOffset();
// Modified is always called since we just have a pointer to the
// parameters and cannot know if the parameters have changed.
this->Modified();
itkDebugMacro("After setting parameters ");
}
//
// Get Parameters
//
// Parameters are ordered as:
//
// p[0:2] = right part of the versor (axis times std::sin(t/2))
// p[3:5} = translation components
//
template <typename TScalarType>
auto
AdvancedVersorRigid3DTransform<TScalarType>::GetParameters() const -> const ParametersType &
{
itkDebugMacro("Getting parameters ");
this->m_Parameters[0] = this->GetVersor().GetX();
this->m_Parameters[1] = this->GetVersor().GetY();
this->m_Parameters[2] = this->GetVersor().GetZ();
// Transfer the translation
this->m_Parameters[3] = this->GetTranslation()[0];
this->m_Parameters[4] = this->GetTranslation()[1];
this->m_Parameters[5] = this->GetTranslation()[2];
itkDebugMacro("After getting parameters " << this->m_Parameters);
return this->m_Parameters;
}
// Set parameters
template <typename TScalarType>
void
AdvancedVersorRigid3DTransform<TScalarType>::GetJacobian(const InputPointType & p,
JacobianType & j,
NonZeroJacobianIndicesType & nzji) const
{
using ValueType = typename VersorType::ValueType;
// Initialize the Jacobian. Resizing is only performed when needed.
// Filling with zeros is needed because the lower loops only visit
// the nonzero positions.
j.set_size(OutputSpaceDimension, ParametersDimension);
j.fill(0.0);
// compute derivatives with respect to rotation
const ValueType vx = this->GetVersor().GetX();
const ValueType vy = this->GetVersor().GetY();
const ValueType vz = this->GetVersor().GetZ();
const ValueType vw = this->GetVersor().GetW();
const double px = p[0] - this->GetCenter()[0];
const double py = p[1] - this->GetCenter()[1];
const double pz = p[2] - this->GetCenter()[2];
const double vxx = vx * vx;
const double vyy = vy * vy;
const double vzz = vz * vz;
const double vww = vw * vw;
const double vxy = vx * vy;
const double vxz = vx * vz;
const double vxw = vx * vw;
const double vyz = vy * vz;
const double vyw = vy * vw;
const double vzw = vz * vw;
// compute Jacobian with respect to quaternion parameters
j[0][0] = 2.0 * ((vyw + vxz) * py + (vzw - vxy) * pz) / vw;
j[1][0] = 2.0 * ((vyw - vxz) * px - 2 * vxw * py + (vxx - vww) * pz) / vw;
j[2][0] = 2.0 * ((vzw + vxy) * px + (vww - vxx) * py - 2 * vxw * pz) / vw;
j[0][1] = 2.0 * (-2 * vyw * px + (vxw + vyz) * py + (vww - vyy) * pz) / vw;
j[1][1] = 2.0 * ((vxw - vyz) * px + (vzw + vxy) * pz) / vw;
j[2][1] = 2.0 * ((vyy - vww) * px + (vzw - vxy) * py - 2 * vyw * pz) / vw;
j[0][2] = 2.0 * (-2 * vzw * px + (vzz - vww) * py + (vxw - vyz) * pz) / vw;
j[1][2] = 2.0 * ((vww - vzz) * px - 2 * vzw * py + (vyw + vxz) * pz) / vw;
j[2][2] = 2.0 * ((vxw + vyz) * px + (vyw - vxz) * py) / vw;
j[0][3] = 1.0;
j[1][4] = 1.0;
j[2][5] = 1.0;
// Copy the constant nonZeroJacobianIndices
nzji = this->m_NonZeroJacobianIndices;
}
} // namespace itk
#endif
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