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/*========================================================================= |
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Program: Insight Segmentation & Registration Toolkit |
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Module: $RCSfile: itkCenteredRigid2DTransform.txx.html,v $ |
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Language: C++ |
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Date: $Date: 2006/01/17 19:15:33 $ |
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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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#ifndef _itkCenteredRigid2DTransform_txx |
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#define _itkCenteredRigid2DTransform_txx |
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#include "itkCenteredRigid2DTransform.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> |
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CenteredRigid2DTransform<TScalarType> |
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::CenteredRigid2DTransform(): |
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**Superclass(OutputSpaceDimension, ParametersDimension) |
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{ |
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} |
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// Constructor with arguments |
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template<class TScalarType> |
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CenteredRigid2DTransform<TScalarType>:: |
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CenteredRigid2DTransform( unsigned int spaceDimension, |
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unsigned int parametersDimension): |
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**Superclass(spaceDimension,parametersDimension) |
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{ |
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} |
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// |
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// Set Parameters |
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// |
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// Parameters are ordered as: |
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// |
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// p[0] = angle |
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// p[1:2} = center of rotation coordinates |
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// p[3:4} = translation components |
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// |
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// |
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template <class TScalarType> |
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void |
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CenteredRigid2DTransform<TScalarType> |
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::SetParameters( const ParametersType & parameters ) |
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{ |
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**itkDebugMacro( << "Setting paramaters " << parameters ); |
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this->m_Parameters = parameters; |
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**// Set the angle |
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**this->SetVarAngle( parameters[0] ); |
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**// Set the center |
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**InputPointType center; |
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**for(unsigned int i=0; i < SpaceDimension; i++) |
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{ |
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center[i] = parameters[i+1]; |
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} |
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this->SetVarCenter( center ); |
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**// Set the translation |
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**OutputVectorType translation; |
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**for(unsigned int j=0; j < SpaceDimension; j++) |
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{ |
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translation[j] = parameters[j+1+SpaceDimension]; |
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} |
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this->SetVarTranslation( translation ); |
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**// Update matrix and offset |
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**this->ComputeMatrix(); |
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**this->ComputeOffset(); |
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**this->Modified(); |
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**itkDebugMacro(<<"After setting parameters "); |
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} |
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// |
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// Get Parameters |
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// |
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// Parameters are ordered as: |
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// |
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// p[0] = angle |
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// p[1:2} = center of rotation coordinates |
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// p[3:4} = translation components |
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// |
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template <class TScalarType> |
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const typename CenteredRigid2DTransform<TScalarType>::ParametersType & |
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CenteredRigid2DTransform<TScalarType> |
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::GetParameters( void ) const |
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{ |
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**itkDebugMacro( << "Getting parameters "); |
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// Get the angle |
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this->m_Parameters[0] = this->GetAngle(); |
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**// Get the center |
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**for(unsigned int i=0; i < SpaceDimension; i++) |
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{ |
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this->m_Parameters[i+1] = this->GetCenter()[i]; |
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****} |
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**// Get the translation |
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**for(unsigned int j=0; j < SpaceDimension; j++) |
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{ |
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this->m_Parameters[j+1+SpaceDimension] =this->GetTranslation()[j]; |
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****} |
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**itkDebugMacro(<<"After getting parameters " << this->m_Parameters ); |
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**return this->m_Parameters; |
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} |
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// Compute the transformation Jacobian |
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template<class TScalarType> |
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const typename CenteredRigid2DTransform<TScalarType>::JacobianType & |
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CenteredRigid2DTransform<TScalarType>:: |
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GetJacobian( const InputPointType & p ) const |
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{ |
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**const double ca = cos(this->GetAngle()); |
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**const double sa = sin(this->GetAngle()); |
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**this->m_Jacobian.Fill(0.0); |
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**const double cx = this->GetCenter()[0]; |
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**const double cy = this->GetCenter()[1]; |
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**// derivatives with respect to the angle |
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**this->m_Jacobian[0][0] = -sa * ( p[0] - cx ) - ca * ( p[1] - cy ); |
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**this->m_Jacobian[1][0] = ca * ( p[0] - cx ) - sa * ( p[1] - cy ); |
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**// compute derivatives with respect to the center part |
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**// first with respect to cx |
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**this->m_Jacobian[0][1] = 1.0 - ca; |
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**this->m_Jacobian[1][1] = - sa; |
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**// then with respect to cy |
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**this->m_Jacobian[0][2] = sa; |
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**this->m_Jacobian[1][2] = 1.0 - ca; |
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**// compute derivatives with respect to the translation part |
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**// first with respect to tx |
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**this->m_Jacobian[0][3] = 1.0; |
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**this->m_Jacobian[1][3] = 0.0; |
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**// first with respect to ty |
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**this->m_Jacobian[0][4] = 0.0; |
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**this->m_Jacobian[1][4] = 1.0; |
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**return this->m_Jacobian; |
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} |
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template <class TScalarType> |
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void |
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CenteredRigid2DTransform<TScalarType> |
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::SetFixedParameters( const ParametersType & itkNotUsed(parameters) ) |
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{ |
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*// no fixed parameters |
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} |
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template <class TScalarType> |
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const typename CenteredRigid2DTransform<TScalarType>::ParametersType & |
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CenteredRigid2DTransform<TScalarType> |
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::GetFixedParameters( void ) const |
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{ |
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**// return dummy parameters |
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**this->m_FixedParameters.SetSize(0); |
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**return this->m_FixedParameters; |
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} |
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// Create and return an inverse transformation |
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template<class TScalarType> |
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void |
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CenteredRigid2DTransform<TScalarType>:: |
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CloneInverseTo( Pointer & result ) const |
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{ |
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**result = New(); |
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**result->SetCenter( this->GetCenter() ); // inverse have the same center |
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**result->SetAngle( -this->GetAngle() ); |
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**result->SetTranslation( -( this->GetInverseMatrix() * this->GetTranslation() ) ); |
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} |
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// Create and return an clone transformation |
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template<class TScalarType> |
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void |
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CenteredRigid2DTransform<TScalarType>:: |
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CloneTo( Pointer & result ) const |
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{ |
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**result = New(); |
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**result->SetCenter( this->GetCenter() ); |
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**result->SetAngle( this->GetAngle() ); |
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**result->SetTranslation( this->GetTranslation() ); |
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} |
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// Print self |
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template<class TScalarType> |
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void |
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CenteredRigid2DTransform<TScalarType>:: |
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PrintSelf(std::ostream &os, Indent indent) const |
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{ |
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**this->Superclass::PrintSelf(os,indent); |
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} |
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} // namespace |
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#endif |
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