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/*========================================================================= |
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Program: Insight Segmentation & Registration Toolkit |
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Module: $RCSfile: itkNonUniformBSpline.txx.html,v $ |
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Language: C++ |
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Date: $Date: 2006/01/17 19:15:42 $ |
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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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DEF |
=========================================================================*/ |
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#if defined(_MSC_VER) |
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#pragma warning ( disable : 4786 ) |
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#endif |
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#ifndef __itkNonUniformBSpline_txx |
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#define __itkNonUniformBSpline_txx |
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#include "itkNonUniformBSpline.h" |
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#include "vnl/vnl_vector.h" |
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#include "vnl/vnl_matrix.h" |
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#include "vnl/algo/vnl_matrix_inverse.h" |
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// #define DEBUG_SPLINE |
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namespace itk |
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{ |
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/** Constructor */ |
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template< unsigned int TDimension > |
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NonUniformBSpline< TDimension > |
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::NonUniformBSpline() |
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{ |
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// Cubic bspline => 4th order |
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m_SplineOrder = 3; |
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m_SpatialDimension = TDimension; |
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} |
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/** Destructor */ |
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template< unsigned int TDimension > |
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NonUniformBSpline< TDimension > |
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::~NonUniformBSpline() |
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{ |
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} |
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/** Print the object */ |
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template< unsigned int TDimension > |
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void |
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NonUniformBSpline< TDimension > |
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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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os << indent << "NonUniformBSpline(" << this << ")" << std::endl; |
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os << indent << "Chord lengths : " << std::endl; |
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for (ChordLengthListType::const_iterator iter = m_CumulativeChordLength.begin(); |
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iter != m_CumulativeChordLength.end(); |
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iter++) |
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{ |
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os << indent << indent << *iter << std::endl; |
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} |
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os << indent << "Knots : " << std::endl; |
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for (KnotListType::const_iterator kiter = m_Knots.begin(); |
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kiter != m_Knots.end(); |
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kiter++) |
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{ |
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os << indent << indent << *kiter << std::endl; |
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} |
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os << indent << "Control Points : " << std::endl; |
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for (typename ControlPointListType::const_iterator cpiter = m_ControlPoints.begin(); |
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cpiter != m_ControlPoints.end(); |
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cpiter++) |
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{ |
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os << indent << indent << *cpiter << std::endl; |
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} |
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} |
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/** Set the list of points composing the tube */ |
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template< unsigned int TDimension > |
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void |
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NonUniformBSpline< TDimension > |
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::SetPoints( PointListType & points ) |
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{ |
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m_Points.clear(); |
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typename PointListType::iterator it,end; |
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it = points.begin(); |
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end = points.end(); |
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while(it != end) |
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{ |
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m_Points.push_back(*it); |
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it++; |
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} |
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this->Modified(); |
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} |
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/** Set the list of points composing the tube */ |
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template< unsigned int TDimension > |
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void |
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NonUniformBSpline< TDimension > |
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::SetKnots( KnotListType & knots ) |
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{ |
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m_Knots.clear(); |
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int len = knots.size(); |
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double max_knot = knots[len - 1]; |
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typename KnotListType::iterator it; |
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typename KnotListType::iterator end; |
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it = knots.begin(); |
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end = knots.end(); |
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while(it != end) |
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{ |
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m_Knots.push_back(*it/max_knot); |
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it++; |
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} |
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this->Modified(); |
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} |
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template< unsigned int TDimension > |
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double |
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NonUniformBSpline< TDimension > |
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::NonUniformBSplineFunctionRecursive(unsigned int order, unsigned int i, double t) const |
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{ |
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if (order == 1) |
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{ |
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if (m_Knots[i] <= t && t < m_Knots[i+1]) |
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{ |
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return 1; |
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} |
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else |
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{ |
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return 0; |
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} |
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} |
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// |
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// Be careful, we must use the passed in parameter for the order since this |
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// function is recursive. |
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// |
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double numer1 = (t - m_Knots[i]) * NonUniformBSplineFunctionRecursive(order-1, i, t); |
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double denom1 = (m_Knots[i+order-1] - m_Knots[i]); |
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double val1 = numer1 / denom1; |
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if (denom1 == 0 && numer1 == 0) |
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val1 = 0; |
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else if (denom1 == 0) |
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std::cout << "Error : " << denom1 << ", " << numer1 << std::endl; |
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double numer2 = (m_Knots[i+order] - t) * NonUniformBSplineFunctionRecursive(order-1, i+1, t); |
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double denom2 = (m_Knots[i + order] - m_Knots[i+1]); |
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double val2 = numer2 / denom2; |
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if (denom2 == 0 && numer2 == 0) |
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val2 = 0; |
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else if (denom2 == 0) |
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std::cout << "Error : " << denom2 << ", " << numer2 << std::endl; |
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return val1 + val2; |
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} |
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template< unsigned int TDimension > |
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void |
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NonUniformBSpline< TDimension > |
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::ComputeChordLengths() |
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{ |
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m_ChordLength.clear(); |
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m_CumulativeChordLength.clear(); |
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m_ChordLength.push_back(0); |
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m_CumulativeChordLength.push_back(0); |
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double total_chord_length = 0.0; |
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ChordLengthListType temp; |
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for (::size_t i = 0; i < m_Points.size()-1; i++) |
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{ |
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PointType pt = m_Points[i]; |
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PointType pt2 = m_Points[i+1]; |
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double chord = pt.EuclideanDistanceTo(pt2); |
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m_ChordLength.push_back(chord); |
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total_chord_length = total_chord_length + chord; |
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temp.push_back(total_chord_length); |
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} |
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for (ChordLengthListType::iterator aiter = temp.begin(); |
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aiter != temp.end(); |
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aiter++) |
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{ |
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m_CumulativeChordLength.push_back(*aiter/total_chord_length); |
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} |
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// |
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// Debug printouts |
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// |
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#ifdef DEBUG_SPLINE |
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std::cout << "Total chord length : " << total_chord_length << std::endl; |
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std::cout << "Chord length : " << std::endl; |
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for (ChordLengthListType::iterator aiter2 = m_ChordLength.begin(); |
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aiter2 != m_ChordLength.end(); |
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aiter2++) |
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{ |
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std::cout << *aiter2 << std::endl; |
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} |
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std::cout << "Cumulative chord length : " << std::endl; |
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for (ChordLengthListType::iterator aiter3 = m_CumulativeChordLength.begin(); |
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aiter3 != m_CumulativeChordLength.end(); |
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aiter3++) |
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{ |
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std::cout << *aiter3 << std::endl; |
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} |
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std::cout << std::endl; |
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#endif |
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} |
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template< unsigned int TDimension > |
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void |
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NonUniformBSpline< TDimension > |
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::SetControlPoints( ControlPointListType& ctrlpts ) |
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{ |
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*m_ControlPoints.clear(); |
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*for (typename ControlPointListType::iterator iter = ctrlpts.begin(); |
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********iter != ctrlpts.end(); |
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********iter++) |
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*****{ |
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*****m_ControlPoints.push_back(*iter); |
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*****} |
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*this->Modified(); |
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} |
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template< unsigned int TDimension > |
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void |
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NonUniformBSpline< TDimension >::ComputeControlPoints() |
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{ |
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unsigned int dim = m_Points[0].GetPointDimension(); |
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#ifdef DEBUG_SPLINE |
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std::cout << "Points have dimension : " << dim << std::endl; |
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#endif |
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// |
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// +1 in cols for radius |
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// |
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vnl_matrix<double> data_matrix(m_Points.size(), dim); |
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// |
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// Form data point matrix |
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// |
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int rr = 0; |
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for (typename PointListType::iterator iter = m_Points.begin(); |
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********iter != m_Points.end(); |
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********iter++) |
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******{ |
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******PointType pt = (*iter); |
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******for (int i = 0; i < dim; i++) |
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{ |
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data_matrix(rr, i) = pt.GetVnlVector()[i]; |
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} |
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rr++; |
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} |
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#ifdef DEBUG_SPLINE |
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std::cout << std::endl << "Data matrix" << std::endl; |
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std::cout << data_matrix << std::endl; |
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#endif |
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// |
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// Form basis function matrix |
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// |
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//int num_basis_functions = 2 * m_SplineOrder - 1; |
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//int num_basis_functions = m_Points.size(); |
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int num_rows = m_Points.size(); |
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// |
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// Assumes multiplicity k (m_SplineOrder at the ends). |
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// |
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int num_cols = m_Knots.size() - m_SplineOrder; |
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vnl_matrix<double> N_matrix(num_rows, num_cols); |
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//N_matrix(0, 0) = 1.0; |
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for (int r = 0; r < num_rows; r++) |
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{ |
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for (int c = 0; c < num_cols; c++) |
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{ |
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double t = m_CumulativeChordLength[r]; |
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N_matrix(r, c) = NonUniformBSplineFunctionRecursive(m_SplineOrder, c, t); |
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} |
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} |
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N_matrix(num_rows-1, num_cols-1) = 1.0; |
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#ifdef DEBUG_SPLINE |
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std::cout << "Basis function matrix : " << std::endl; |
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std::cout << N_matrix << std::endl; |
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#endif |
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vnl_matrix<double> B = vnl_matrix_inverse<double>(N_matrix.transpose() * N_matrix) * N_matrix.transpose() * data_matrix; |
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//#ifdef DEBUG_SPLINE |
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std::cout << "Control point matrix : " << std::endl; |
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std::cout << B << std::endl; |
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//#endif |
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m_ControlPoints.clear(); |
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int j = 0; |
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for (j = 0; j < B.rows(); j++) |
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{ |
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vnl_vector<double> v = B.get_row(j); |
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itk::Vector<double> iv; |
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iv.SetVnlVector(v); |
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itk::Point<double, TDimension> pt; |
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for (int d = 0; d < dim; d++) |
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{ |
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pt[d] = v(d); |
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} |
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m_ControlPoints.push_back(pt); |
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} |
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return; |
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} |
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template< unsigned int TDimension > |
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typename NonUniformBSpline<TDimension>::PointType |
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NonUniformBSpline< TDimension > |
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::EvaluateSpline(const itk::Array<double> & p) const |
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{ |
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double t = p[0]; |
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return EvaluateSpline(t); |
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} |
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template< unsigned int TDimension > |
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typename NonUniformBSpline<TDimension>::PointType |
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NonUniformBSpline< TDimension > |
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::EvaluateSpline(double t) const |
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{ |
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double N = 0.0; |
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int i = 0; |
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vnl_vector<double> result(TDimension); |
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result.fill(0); |
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LEN |
for (typename ControlPointListType::const_iterator cpiter = m_ControlPoints.begin(); |
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********cpiter != m_ControlPoints.end(); |
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********cpiter++) |
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{ |
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ControlPointType pt = *cpiter; |
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vnl_vector<double> v = pt.GetVnlVector(); |
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N = this->NonUniformBSplineFunctionRecursive(m_SplineOrder, i, t); |
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result = result + N * v; |
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i++; |
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} |
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double array[TDimension]; |
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for (int d = 0; d < TDimension ; d++) |
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{ |
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array[d] = result[d]; |
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} |
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ControlPointType sum(array); |
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#ifdef DEBUG_SPLINE |
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std::cout << "Result : " << result << std::endl; |
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std::cout << "Sum : " << sum << std::endl; |
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#endif |
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return sum; |
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} |
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} // end namespace itk |
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#endif |
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EOF |
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