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/*========================================================================= |
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Program: Insight Segmentation & Registration Toolkit |
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Module: $RCSfile: itkRigid2DTransform.txx.html,v $ |
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Language: C++ |
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Date: $Date: 2006/01/17 19:15:47 $ |
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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 _itkRigid2DTransform_txx |
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#define _itkRigid2DTransform_txx |
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#include "itkRigid2DTransform.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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Rigid2DTransform<TScalarType>:: |
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Rigid2DTransform(): |
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**Superclass(OutputSpaceDimension, ParametersDimension) |
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{ |
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m_Angle = NumericTraits< TScalarType >::Zero; |
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} |
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// Constructor with arguments |
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template<class TScalarType> |
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Rigid2DTransform<TScalarType>:: |
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Rigid2DTransform( 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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m_Angle = NumericTraits< TScalarType >::Zero; |
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} |
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// Destructor |
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template<class TScalarType> |
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Rigid2DTransform<TScalarType>:: |
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~Rigid2DTransform() |
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{ |
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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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Rigid2DTransform<TScalarType>:: |
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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 << "Angle = " << m_Angle << std::endl; |
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} |
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// Set the rotation matrix |
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template<class TScalarType> |
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void |
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Rigid2DTransform<TScalarType>:: |
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SetMatrix(const MatrixType & matrix ) |
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{ |
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itkDebugMacro("setting m_Matrix to " << matrix ); |
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// The matrix must be orthogonal otherwise it is not |
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// representing a valid rotaion in 2D space |
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typename MatrixType::InternalMatrixType test = |
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matrix.GetVnlMatrix() * matrix.GetTranspose(); |
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const double tolerance = 1e-10; |
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if( !test.is_identity( tolerance ) ) |
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{ |
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itk::ExceptionObject ex(__FILE__,__LINE__,"Attempt to set a Non-Orthogonal matrix",ITK_LOCATION); |
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throw ex; |
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} |
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this->SetVarMatrix( matrix ); |
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this->ComputeOffset(); |
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this->ComputeMatrixParameters(); |
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this->Modified(); |
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} |
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/** Compute the Angle from the Rotation Matrix */ |
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template <class TScalarType> |
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void |
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Rigid2DTransform<TScalarType> |
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::ComputeMatrixParameters( void ) |
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{ |
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m_Angle = acos(this->GetMatrix()[0][0]); |
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if(this->GetMatrix()[1][0]<0.0) |
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{ |
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m_Angle = -m_Angle; |
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} |
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if(this->GetMatrix()[1][0]-sin(m_Angle) > 0.000001) |
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{ |
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itkWarningMacro("Bad Rotation Matrix " << this->GetMatrix() ); |
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} |
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} |
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// Compose with a translation |
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template<class TScalarType> |
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void |
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Rigid2DTransform<TScalarType>:: |
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Translate(const OffsetType &offset, bool) |
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{ |
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OutputVectorType newOffset = this->GetOffset(); |
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newOffset += offset; |
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this->SetOffset(newOffset); |
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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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Rigid2DTransform<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 a clone of the transformation |
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template<class TScalarType> |
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void |
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Rigid2DTransform<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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// Reset the transform to an identity transform |
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template<class TScalarType > |
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void |
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Rigid2DTransform< TScalarType >:: |
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SetIdentity( void ) |
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{ |
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this->Superclass::SetIdentity(); |
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m_Angle = NumericTraits< TScalarType >::Zero; |
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} |
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// Set the angle of rotation |
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template <class TScalarType> |
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void |
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Rigid2DTransform<TScalarType> |
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::SetAngle(TScalarType angle) |
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{ |
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m_Angle = angle; |
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this->ComputeMatrix(); |
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this->ComputeOffset(); |
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this->Modified(); |
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} |
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// Set the angle of rotation |
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template <class TScalarType> |
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void |
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Rigid2DTransform<TScalarType> |
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::SetAngleInDegrees(TScalarType angle) |
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{ |
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const TScalarType angleInRadians = angle * atan(1.0) / 45.0; |
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this->SetAngle( angleInRadians ); |
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} |
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// Compute the matrix from the angle |
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template <class TScalarType> |
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void |
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Rigid2DTransform<TScalarType> |
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::ComputeMatrix( void ) |
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{ |
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const double ca = cos( m_Angle ); |
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const double sa = sin( m_Angle ); |
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MatrixType rotationMatrix; |
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rotationMatrix[0][0]= ca; rotationMatrix[0][1]=-sa; |
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rotationMatrix[1][0]= sa; rotationMatrix[1][1]= ca; |
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this->SetVarMatrix( rotationMatrix ); |
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} |
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// Set Parameters |
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template <class TScalarType> |
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void |
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Rigid2DTransform<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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// Set angle |
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this->SetVarAngle( parameters[0] ); |
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// Set translation |
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OutputVectorType translation; |
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for(unsigned int i=0; i < OutputSpaceDimension; i++) |
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{ |
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translation[i] = parameters[i+1]; |
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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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itkDebugMacro(<<"After setting parameters "); |
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} |
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// Get Parameters |
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template <class TScalarType> |
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const typename Rigid2DTransform<TScalarType>::ParametersType & |
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Rigid2DTransform<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 translation |
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for(unsigned int i=0; i < OutputSpaceDimension; i++) |
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{ |
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this->m_Parameters[i+1] = this->GetTranslation()[i]; |
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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 transformation Jacobian |
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template<class TScalarType> |
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const typename Rigid2DTransform<TScalarType>::JacobianType & |
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Rigid2DTransform<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 for the translation part |
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unsigned int blockOffset = 1; |
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for(unsigned int dim=0; dim < OutputSpaceDimension; dim++ ) |
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{ |
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this->m_Jacobian[ dim ][ blockOffset + dim ] = 1.0; |
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} |
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return this->m_Jacobian; |
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} |
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// Back transform a point |
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template<class TScalarType> |
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typename Rigid2DTransform<TScalarType>::InputPointType |
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Rigid2DTransform<TScalarType>:: |
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BackTransform(const OutputPointType &point) const |
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{ |
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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() * (point - this->GetOffset()); |
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} |
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// Back transform a vector |
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template<class TScalarType> |
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typename Rigid2DTransform<TScalarType>::InputVectorType |
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Rigid2DTransform<TScalarType>:: |
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BackTransform(const OutputVectorType &vect ) const |
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{ |
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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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// Back transform a vnl_vector |
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template<class TScalarType> |
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typename Rigid2DTransform<TScalarType>::InputVnlVectorType |
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Rigid2DTransform<TScalarType>:: |
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BackTransform(const OutputVnlVectorType &vect ) const |
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{ |
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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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// Back Transform a CovariantVector |
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template<class TScalarType> |
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typename Rigid2DTransform<TScalarType>::InputCovariantVectorType |
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Rigid2DTransform<TScalarType>:: |
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BackTransform(const OutputCovariantVectorType &vect) const |
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{ |
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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->GetMatrix() * vect; |
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} |
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} // namespace |
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#endif |
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