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/*========================================================================= |
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Program: Insight Segmentation & Registration Toolkit |
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Module: $RCSfile: itkAffineTransform.txx.html,v $ |
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Language: C++ |
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Date: $Date: 2006/01/17 19:15:32 $ |
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Version: $Revision: 1.4 $ |
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Copyright (c) Insight Software Consortium. All rights reserved. |
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See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details. |
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This software is distributed WITHOUT ANY WARRANTY; without even |
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the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR |
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PURPOSE. See the above copyright notices for more information. |
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=========================================================================*/ |
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DEF |
#ifndef _itkAffineTransform_txx |
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DEF |
#define _itkAffineTransform_txx |
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#include "itkNumericTraits.h" |
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#include "itkAffineTransform.h" |
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#include "vnl/algo/vnl_matrix_inverse.h" |
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namespace itk |
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{ |
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// Constructor with default arguments |
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template<class TScalarType, unsigned int NDimensions> |
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AffineTransform<TScalarType, NDimensions>:: |
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AffineTransform(): |
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IND |
**Superclass(SpaceDimension,ParametersDimension) |
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{ |
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} |
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// Constructor with default arguments |
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template<class TScalarType, unsigned int NDimensions> |
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AffineTransform<TScalarType, NDimensions>:: |
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AffineTransform( unsigned int outputSpaceDimension, |
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unsigned int parametersDimension ): |
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IND |
**Superclass(outputSpaceDimension,parametersDimension) |
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{ |
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} |
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EML |
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// Constructor with explicit arguments |
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template<class TScalarType, unsigned int NDimensions> |
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AffineTransform<TScalarType, NDimensions>:: |
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AffineTransform(const MatrixType & matrix, |
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const OutputVectorType & offset): |
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IND |
**Superclass(matrix, offset) |
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{ |
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} |
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EML |
|
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EML |
|
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// Destructor |
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template<class TScalarType, unsigned int NDimensions> |
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AffineTransform<TScalarType, NDimensions>:: |
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~AffineTransform() |
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{ |
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return; |
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} |
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EML |
|
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// Print self |
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template<class TScalarType, unsigned int NDimensions> |
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void |
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AffineTransform<TScalarType, NDimensions>:: |
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PrintSelf(std::ostream &os, Indent indent) const |
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{ |
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Superclass::PrintSelf(os,indent); |
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} |
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// Compose with a translation |
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template<class TScalarType, unsigned int NDimensions> |
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void |
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AffineTransform<TScalarType, NDimensions>:: |
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Translate(const OutputVectorType &trans, bool pre) |
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{ |
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OutputVectorType newTranslation = this->GetTranslation(); |
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if (pre) |
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{ |
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newTranslation += this->GetMatrix() * trans; |
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} |
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else |
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{ |
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newTranslation += trans; |
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} |
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this->SetVarTranslation(newTranslation); |
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this->ComputeOffset(); |
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this->Modified(); |
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return; |
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} |
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// Compose with isotropic scaling |
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template<class TScalarType, unsigned int NDimensions> |
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void |
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AffineTransform<TScalarType, NDimensions> |
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::Scale(const TScalarType &factor, bool pre) |
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{ |
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if (pre) |
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{ |
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MatrixType newMatrix = this->GetMatrix(); |
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newMatrix *= factor; |
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this->SetVarMatrix(newMatrix); |
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} |
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else |
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{ |
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MatrixType newMatrix = this->GetMatrix(); |
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newMatrix *= factor; |
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this->SetVarMatrix(newMatrix); |
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|
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OutputVectorType newTranslation = this->GetTranslation(); |
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newTranslation *= factor; |
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this->SetVarTranslation(newTranslation); |
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} |
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this->ComputeMatrixParameters(); |
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this->ComputeOffset(); |
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this->Modified(); |
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return; |
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} |
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EML |
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// Compose with anisotropic scaling |
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template<class TScalarType, unsigned int NDimensions> |
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void |
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AffineTransform<TScalarType, NDimensions> |
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::Scale(const OutputVectorType &factor, bool pre) |
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{ |
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MatrixType trans; |
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unsigned int i, j; |
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for (i = 0; i < NDimensions; i++) |
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{ |
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for (j = 0; j < NDimensions; j++) |
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{ |
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trans[i][j] = 0.0; |
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} |
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trans[i][i] = factor[i]; |
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} |
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if (pre) |
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{ |
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this->SetVarMatrix( this->GetMatrix() * trans ); |
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} |
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else |
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{ |
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this->SetVarMatrix( trans * this->GetMatrix() ); |
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this->SetVarTranslation( trans * this->GetTranslation() ); |
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} |
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this->ComputeMatrixParameters(); |
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this->ComputeOffset(); |
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this->Modified(); |
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return; |
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} |
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EML |
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// Compose with elementary rotation |
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template<class TScalarType, unsigned int NDimensions> |
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void |
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AffineTransform<TScalarType, NDimensions> |
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::Rotate(int axis1, int axis2, TScalarType angle, bool pre) |
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{ |
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MatrixType trans; |
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unsigned int i, j; |
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for (i = 0; i < NDimensions; i++) |
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{ |
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for (j = 0; j < NDimensions; j++) |
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{ |
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trans[i][j] = 0.0; |
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} |
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trans[i][i] = 1.0; |
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} |
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trans[axis1][axis1] = cos(angle); |
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trans[axis1][axis2] = sin(angle); |
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trans[axis2][axis1] = -sin(angle); |
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trans[axis2][axis2] = cos(angle); |
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if (pre) |
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{ |
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this->SetVarMatrix( this->GetMatrix() * trans ); |
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} |
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else |
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{ |
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this->SetVarMatrix( trans * this->GetMatrix() ); |
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this->SetVarTranslation( trans * this->GetTranslation() ); |
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} |
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this->ComputeMatrixParameters(); |
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this->ComputeOffset(); |
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this->Modified(); |
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return; |
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} |
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// Compose with 2D rotation |
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// \todo Find a way to generate a compile-time error |
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// is this is used with NDimensions != 2. |
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template<class TScalarType, unsigned int NDimensions> |
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void |
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AffineTransform<TScalarType, NDimensions> |
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::Rotate2D(TScalarType angle, bool pre) |
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{ |
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MatrixType trans; |
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trans[0][0] = cos(angle); |
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trans[0][1] = -sin(angle); |
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trans[1][0] = sin(angle); |
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trans[1][1] = cos(angle); |
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if (pre) |
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{ |
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this->SetVarMatrix( this->GetMatrix() * trans ); |
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} |
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else |
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{ |
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this->SetVarMatrix( trans * this->GetMatrix() ); |
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this->SetVarTranslation( trans * this->GetTranslation() ); |
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} |
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this->ComputeMatrixParameters(); |
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this->ComputeOffset(); |
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this->Modified(); |
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return; |
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} |
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EML |
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// Compose with 3D rotation |
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// \todo Find a way to generate a compile-time error |
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// is this is used with NDimensions != 3. |
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template<class TScalarType, unsigned int NDimensions> |
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void |
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AffineTransform<TScalarType, NDimensions> |
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::Rotate3D(const OutputVectorType &axis, TScalarType angle, bool pre) |
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{ |
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MatrixType trans; |
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ScalarType r, x1, x2, x3; |
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ScalarType q0, q1, q2, q3; |
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// Convert the axis to a unit vector |
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r = sqrt(axis[0]*axis[0] + axis[1]*axis[1] + axis[2]*axis[2]); |
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x1 = axis[0] / r; |
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x2 = axis[1] / r; |
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x3 = axis[2] / r; |
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// Compute quaternion elements |
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q0 = cos(angle/2.0); |
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q1 = x1 * sin(angle/2.0); |
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q2 = x2 * sin(angle/2.0); |
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q3 = x3 * sin(angle/2.0); |
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// Compute elements of the rotation matrix |
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trans[0][0] = q0*q0 + q1*q1 - q2*q2 - q3*q3; |
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trans[0][1] = 2.0*(q1*q2 - q0*q3); |
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trans[0][2] = 2.0*(q1*q3 + q0*q2); |
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trans[1][0] = 2.0*(q1*q2 + q0*q3); |
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trans[1][1] = q0*q0 + q2*q2 - q1*q1 - q3*q3; |
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trans[1][2] = 2.0*(q2*q3 - q0*q1); |
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trans[2][0] = 2.0*(q1*q3 - q0*q2); |
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trans[2][1] = 2.0*(q2*q3 + q0*q1); |
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trans[2][2] = q0*q0 + q3*q3 - q1*q1 - q2*q2; |
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// Compose rotation matrix with the existing matrix |
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if (pre) |
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{ |
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this->SetVarMatrix( this->GetMatrix() * trans ); |
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} |
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else |
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{ |
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this->SetVarMatrix( trans * this->GetMatrix() ); |
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this->SetVarTranslation( trans * this->GetTranslation() ); |
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} |
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this->ComputeMatrixParameters(); |
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this->ComputeOffset(); |
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this->Modified(); |
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return; |
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} |
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// Compose with elementary rotation |
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template<class TScalarType, unsigned int NDimensions> |
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void |
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AffineTransform<TScalarType, NDimensions> |
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::Shear(int axis1, int axis2, TScalarType coef, bool pre) |
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{ |
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MatrixType trans; |
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unsigned int i, j; |
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for (i = 0; i < NDimensions; i++) |
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{ |
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for (j = 0; j < NDimensions; j++) |
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{ |
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trans[i][j] = 0.0; |
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} |
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trans[i][i] = 1.0; |
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} |
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trans[axis1][axis2] = coef; |
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if (pre) |
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{ |
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this->SetVarMatrix( this->GetMatrix() * trans ); |
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} |
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else |
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{ |
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this->SetVarMatrix( trans * this->GetMatrix() ); |
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this->SetVarTranslation( trans * this->GetTranslation() ); |
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} |
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this->ComputeMatrixParameters(); |
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this->ComputeOffset(); |
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this->Modified(); |
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return; |
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} |
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// Compute a distance between two affine transforms |
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template<class TScalarType, unsigned int NDimensions> |
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typename AffineTransform<TScalarType, NDimensions>::ScalarType |
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AffineTransform<TScalarType, NDimensions> |
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::Metric(const Self * other) const |
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{ |
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ScalarType result = 0.0, term; |
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for (unsigned int i = 0; i < NDimensions; i++) |
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{ |
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for (unsigned int j = 0; j < NDimensions; j++) |
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{ |
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term = this->GetMatrix()[i][j] - other->GetMatrix()[i][j]; |
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result += term * term; |
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} |
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term = this->GetOffset()[i] - other->GetOffset()[i]; |
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result += term * term; |
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} |
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return sqrt(result); |
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} |
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EML |
|
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// Compute a distance between self and the identity transform |
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template<class TScalarType, unsigned int NDimensions> |
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typename AffineTransform<TScalarType, NDimensions>::ScalarType |
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AffineTransform<TScalarType, NDimensions> |
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::Metric(void) const |
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{ |
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ScalarType result = 0.0, term; |
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for (unsigned int i = 0; i < NDimensions; i++) |
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{ |
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for (unsigned int j = 0; j < NDimensions; j++) |
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{ |
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if (i == j) |
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{ |
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term = this->GetMatrix()[i][j] - 1.0; |
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} |
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else |
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{ |
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term = this->GetMatrix()[i][j]; |
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} |
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result += term * term; |
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} |
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term = this->GetOffset()[i]; |
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result += term * term; |
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} |
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return sqrt(result); |
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} |
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|
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// Back transform a point |
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template<class TScalarType, unsigned int NDimensions> |
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typename AffineTransform<TScalarType, NDimensions>::InputPointType |
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AffineTransform<TScalarType, NDimensions>:: |
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BackTransform(const OutputPointType &point) const |
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{ |
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LEN |
itkWarningMacro(<<"BackTransform(): This method is slated to be removed from ITK. Instead, please use GetInverse() to generate an inverse transform and then perform the transform using that inverted transform."); |
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InputPointType result; // Converted point |
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ScalarType temp[NDimensions]; |
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unsigned int i, j; |
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|
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for (j = 0; j < NDimensions; j++) |
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{ |
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temp[j] = point[j] - this->GetOffset()[j]; |
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} |
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|
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for (i = 0; i < NDimensions; i++) |
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{ |
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result[i] = 0.0; |
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for (j = 0; j < NDimensions; j++) |
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{ |
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result[i] += this->GetInverseMatrix()[i][j]*temp[j]; |
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} |
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} |
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return result; |
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} |
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|
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|
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// Back transform a vector |
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template<class TScalarType, unsigned int NDimensions> |
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typename AffineTransform<TScalarType, NDimensions>::InputVectorType |
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AffineTransform<TScalarType, NDimensions>:: |
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BackTransform(const OutputVectorType &vect ) const |
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{ |
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LEN |
itkWarningMacro(<<"BackTransform(): This method is slated to be removed from ITK. Instead, please use GetInverse() to generate an inverse transform and then perform the transform using that inverted transform."); |
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return this->GetInverseMatrix() * vect; |
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} |
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|
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|
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EML |
|
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EML |
|
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// Back transform a vnl_vector |
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template<class TScalarType, unsigned int NDimensions> |
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typename AffineTransform<TScalarType, NDimensions>::InputVnlVectorType |
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AffineTransform<TScalarType, NDimensions>:: |
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BackTransform(const OutputVnlVectorType &vect ) const |
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{ |
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LEN |
itkWarningMacro(<<"BackTransform(): This method is slated to be removed from ITK. Instead, please use GetInverse() to generate an inverse transform and then perform the transform using that inverted transform."); |
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return this->GetInverseMatrix() * vect; |
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} |
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|
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|
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EML |
|
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// Back Transform a CovariantVector |
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template<class TScalarType, unsigned int NDimensions> |
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typename AffineTransform<TScalarType, NDimensions>::InputCovariantVectorType |
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AffineTransform<TScalarType, NDimensions>:: |
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BackTransform(const OutputCovariantVectorType &vec) const |
| 430 |
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{ |
| 431 |
LEN |
itkWarningMacro(<<"BackTransform(): This method is slated to be removed from ITK. Instead, please use GetInverse() to generate an inverse transform and then perform the transform using that inverted transform."); |
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|
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InputCovariantVectorType result; // Converted vector |
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|
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for (unsigned int i = 0; i < NDimensions; i++) |
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{ |
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result[i] = NumericTraits<ScalarType>::Zero; |
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for (unsigned int j = 0; j < NDimensions; j++) |
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{ |
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result[i] += this->GetMatrix()[j][i]*vec[j]; // Direct matrix transposed |
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} |
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} |
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return result; |
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} |
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|
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|
|
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EML |
|
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EML |
|
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|
// Back transform a given point which is represented as type PointType |
| 450 |
|
template<class TScalarType, unsigned int NDimensions> |
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|
typename AffineTransform<TScalarType, NDimensions>::InputPointType |
| 452 |
|
AffineTransform<TScalarType, NDimensions>:: |
| 453 |
|
BackTransformPoint(const OutputPointType &point) const |
| 454 |
|
{ |
| 455 |
|
return this->BackTransform(point); |
| 456 |
|
} |
| 457 |
|
|
| 458 |
|
} // namespace |
| 459 |
|
|
| 460 |
|
#endif |
| 461 |
|
|
| 462 |
EOF |
|
