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/*=========================================================================
Program: Insight Segmentation & Registration Toolkit
Module: $RCSfile: itkVersorRigid3DTransform.txx,v $
Language: C++
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 __itkVersorRigid3DTransform_txx
#define __itkVersorRigid3DTransform_txx
#include "itkVersorRigid3DTransform.h"
namespace itk
{
// Constructor with default arguments
template <class TScalarType>
VersorRigid3DTransform<TScalarType>
::VersorRigid3DTransform() :
Superclass(OutputSpaceDimension, ParametersDimension)
{
}
// Constructor with arguments
template<class TScalarType>
VersorRigid3DTransform<TScalarType>::
VersorRigid3DTransform( unsigned int outputSpaceDim,
unsigned int paramDim) :
Superclass(outputSpaceDim,paramDim)
{
}
// Constructor with arguments
template<class TScalarType>
VersorRigid3DTransform<TScalarType>::
VersorRigid3DTransform( const MatrixType & matrix,
const OutputVectorType & offset) :
Superclass(matrix,offset)
{
}
// Set Parameters
template <class TScalarType>
void
VersorRigid3DTransform<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 = vcl_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 vcl_sin(t/2))
// p[3:5} = translation components
//
template <class TScalarType>
const typename VersorRigid3DTransform<TScalarType>::ParametersType &
VersorRigid3DTransform<TScalarType>
::GetParameters( void ) const
{
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<class TScalarType>
const typename VersorRigid3DTransform<TScalarType>::JacobianType &
VersorRigid3DTransform<TScalarType>::
GetJacobian( const InputPointType & p ) const
{
typedef typename VersorType::ValueType ValueType;
// 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();
this->m_Jacobian.Fill(0.0);
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
this->m_Jacobian[0][0] = 2.0 * ( (vyw+vxz)*py + (vzw-vxy)*pz)
/ vw;
this->m_Jacobian[1][0] = 2.0 * ((vyw-vxz)*px -2*vxw *py + (vxx-vww)*pz)
/ vw;
this->m_Jacobian[2][0] = 2.0 * ((vzw+vxy)*px + (vww-vxx)*py -2*vxw *pz)
/ vw;
this->m_Jacobian[0][1] = 2.0 * ( -2*vyw *px + (vxw+vyz)*py + (vww-vyy)*pz)
/ vw;
this->m_Jacobian[1][1] = 2.0 * ((vxw-vyz)*px + (vzw+vxy)*pz)
/ vw;
this->m_Jacobian[2][1] = 2.0 * ((vyy-vww)*px + (vzw-vxy)*py -2*vyw *pz)
/ vw;
this->m_Jacobian[0][2] = 2.0 * ( -2*vzw *px + (vzz-vww)*py + (vxw-vyz)*pz)
/ vw;
this->m_Jacobian[1][2] = 2.0 * ((vww-vzz)*px -2*vzw *py + (vyw+vxz)*pz)
/ vw;
this->m_Jacobian[2][2] = 2.0 * ((vxw+vyz)*px + (vyw-vxz)*py )
/ vw;
this->m_Jacobian[0][3] = 1.0;
this->m_Jacobian[1][4] = 1.0;
this->m_Jacobian[2][5] = 1.0;
return this->m_Jacobian;
}
// Print self
template<class TScalarType>
void
VersorRigid3DTransform<TScalarType>::
PrintSelf(std::ostream &os, Indent indent) const
{
Superclass::PrintSelf(os,indent);
}
} // namespace
#endif
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