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/*=========================================================================
*
* Copyright NumFOCUS
*
* 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
*
* https://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.
*
*=========================================================================*/
#ifndef itkRigid3DPerspectiveTransform_hxx
#define itkRigid3DPerspectiveTransform_hxx
namespace itk
{
// Constructor with default arguments
template <typename TParametersValueType>
Rigid3DPerspectiveTransform<TParametersValueType>::Rigid3DPerspectiveTransform()
: Superclass(ParametersDimension)
{
m_Offset.Fill(0);
m_Versor.SetIdentity();
m_RotationMatrix = m_Versor.GetMatrix();
m_FocalDistance = NumericTraits<ScalarType>::OneValue();
m_FixedOffset.Fill(0);
m_CenterOfRotation.Fill(0);
this->m_Parameters.Fill(0);
this->m_Parameters[3] = 1; // identity versor
}
// Print self
template <typename TParametersValueType>
void
Rigid3DPerspectiveTransform<TParametersValueType>::PrintSelf(std::ostream & os, Indent indent) const
{
Superclass::PrintSelf(os, indent);
os << indent << "Parameters: " << this->m_Parameters << std::endl;
os << indent << "Offset: " << m_Offset << std::endl;
os << indent << "Rotation: " << m_Versor << std::endl;
os << indent << "FocalDistance: " << m_FocalDistance << std::endl;
os << indent << "RotationMatrix: " << m_RotationMatrix << std::endl;
os << indent << "FixedOffset: " << m_FixedOffset << std::endl;
os << indent << "CenterOfRotation: " << m_CenterOfRotation << std::endl;
}
// Set Parameters
template <typename TParametersValueType>
void
Rigid3DPerspectiveTransform<TParametersValueType>::SetParameters(const ParametersType & parameters)
{
itkDebugMacro("Setting parameters " << parameters);
// Save parameters. Needed for proper operation of TransformUpdateParameters.
if (¶meters != &(this->m_Parameters))
{
this->m_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 > 0.0)
{
norm = std::sqrt(norm);
}
double epsilon = 1e-10;
if (norm >= 1.0 - epsilon)
{
axis = axis / (norm + epsilon * norm);
}
m_Versor.Set(axis);
itkDebugMacro("Versor is now " << this->GetRotation());
// Transfer the translation part
OffsetType offset;
for (unsigned int i = 0; i < SpaceDimension; ++i)
{
offset[i] = parameters[i + 3];
}
this->SetOffset(offset);
this->ComputeMatrix();
// Modified is always called since we just have a pointer to the
// parameters and cannot know if the parameters have changed.
this->Modified();
}
// Set Parameters
template <typename TParametersValueType>
auto
Rigid3DPerspectiveTransform<TParametersValueType>::GetParameters() const -> const ParametersType &
{
itkDebugMacro("Getting parameters ");
this->m_Parameters[0] = this->GetRotation().GetX();
this->m_Parameters[1] = this->GetRotation().GetY();
this->m_Parameters[2] = this->GetRotation().GetZ();
// Transfer the translation
this->m_Parameters[3] = this->GetOffset()[0];
this->m_Parameters[4] = this->GetOffset()[1];
this->m_Parameters[5] = this->GetOffset()[2];
itkDebugMacro("After getting parameters " << this->m_Parameters);
return this->m_Parameters;
}
// Set rotation
template <typename TParametersValueType>
void
Rigid3DPerspectiveTransform<TParametersValueType>::SetRotation(const VersorType & rotation)
{
m_Versor = rotation;
m_RotationMatrix = m_Versor.GetMatrix();
}
// Set rotation
template <typename TParametersValueType>
void
Rigid3DPerspectiveTransform<TParametersValueType>::SetRotation(const Vector<TParametersValueType, 3> & axis,
double angle)
{
VersorType v;
v.Set(axis, angle);
this->SetRotation(v);
}
// Transform a point
template <typename TParametersValueType>
auto
Rigid3DPerspectiveTransform<TParametersValueType>::TransformPoint(const InputPointType & point) const -> OutputPointType
{
unsigned int i;
InputPointType centered;
for (i = 0; i < 3; ++i)
{
centered[i] = point[i] - m_CenterOfRotation[i];
}
InputPointType rotated = m_RotationMatrix * centered;
InputPointType rigided;
for (i = 0; i < 3; ++i)
{
rigided[i] = rotated[i] + m_Offset[i] + m_CenterOfRotation[i] + m_FixedOffset[i];
}
OutputPointType result;
TParametersValueType factor = m_FocalDistance / rigided[2];
result[0] = rigided[0] * factor;
result[1] = rigided[1] * factor;
return result;
}
// Transform a point
template <typename TParametersValueType>
void
Rigid3DPerspectiveTransform<TParametersValueType>::ComputeMatrix()
{
m_RotationMatrix = m_Versor.GetMatrix();
}
template <typename TParametersValueType>
void
Rigid3DPerspectiveTransform<TParametersValueType>::ComputeJacobianWithRespectToParameters(const InputPointType &,
JacobianType & jacobian) const
{
jacobian.SetSize(3, this->GetNumberOfLocalParameters());
jacobian.Fill(0.0);
// TODO
}
} // namespace itk
#endif
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