1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
|
/*=========================================================================
*
* 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 itkRigid3DTransform_hxx
#define itkRigid3DTransform_hxx
namespace itk
{
// Constructor with default arguments
template <typename TParametersValueType>
Rigid3DTransform<TParametersValueType>::Rigid3DTransform()
: Superclass(ParametersDimension)
{}
// Constructor with default arguments
template <typename TParametersValueType>
Rigid3DTransform<TParametersValueType>::Rigid3DTransform(unsigned int paramDim)
: Superclass(paramDim)
{}
// Constructor with default arguments
template <typename TParametersValueType>
Rigid3DTransform<TParametersValueType>::Rigid3DTransform(const MatrixType & matrix, const OutputVectorType & offset)
: Superclass(matrix, offset)
{}
// Print self
template <typename TParametersValueType>
void
Rigid3DTransform<TParametersValueType>::PrintSelf(std::ostream & os, Indent indent) const
{
Superclass::PrintSelf(os, indent);
}
// Check if input matrix is orthogonal to within tolerance
template <typename TParametersValueType>
bool
Rigid3DTransform<TParametersValueType>::MatrixIsOrthogonal(const MatrixType & matrix,
const TParametersValueType 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 TParametersValueType>
void
Rigid3DTransform<TParametersValueType>::SetMatrix(const MatrixType & matrix)
{
const TParametersValueType tolerance = MatrixOrthogonalityTolerance<TParametersValueType>::GetTolerance();
this->SetMatrix(matrix, tolerance);
}
template <typename TParametersValueType>
void
Rigid3DTransform<TParametersValueType>::SetMatrix(const MatrixType & matrix, const TParametersValueType tolerance)
{
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 TParametersValueType>
void
Rigid3DTransform<TParametersValueType>::SetParameters(const ParametersType & parameters)
{
// Save parameters. Needed for proper operation of TransformUpdateParameters.
if (¶meters != &(this->m_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 TParametersValueType tolerance = MatrixOrthogonalityTolerance<TParametersValueType>::GetTolerance();
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();
}
// Compose with a translation
template <typename TParametersValueType>
void
Rigid3DTransform<TParametersValueType>::Translate(const OffsetType & offset, bool)
{
OutputVectorType newOffset = this->GetOffset();
newOffset += offset;
this->SetOffset(newOffset);
this->ComputeTranslation();
}
} // namespace itk
#endif
|
