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/*========================================================================= |
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Program: Insight Segmentation & Registration Toolkit |
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Module: $RCSfile: itkRigid3DPerspectiveTransform.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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DEF |
#ifndef _itkRigid3DPerspectiveTransform_txx |
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DEF |
#define _itkRigid3DPerspectiveTransform_txx |
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#include "itkRigid3DPerspectiveTransform.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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Rigid3DPerspectiveTransform<TScalarType>:: |
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Rigid3DPerspectiveTransform():Superclass(SpaceDimension,ParametersDimension) |
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{ |
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m_Offset.Fill( 0 ); |
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m_Versor.SetIdentity(); |
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m_RotationMatrix = m_Versor.GetMatrix(); |
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m_FocalDistance = 1.0; |
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m_FixedOffset.Fill(0); |
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m_CenterOfRotation.Fill(0); |
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this->m_Parameters.Fill(0); |
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this->m_Parameters[3]=1; // identity versor |
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} |
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// Destructor |
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template<class TScalarType> |
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Rigid3DPerspectiveTransform<TScalarType>:: |
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~Rigid3DPerspectiveTransform() |
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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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Rigid3DPerspectiveTransform<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 << "Parameters: " << this->m_Parameters << std::endl; |
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os << indent << "Offset: " << m_Offset << std::endl; |
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os << indent << "Rotation: " << m_Versor << std::endl; |
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os << indent << "FocalDistance: "<< m_FocalDistance << std::endl; |
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os << indent << "RotationMatrix: " << m_RotationMatrix << std::endl; |
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os << indent << "FixedOffset: " << m_FixedOffset << std::endl; |
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os << indent << "CenterOfRotation: " << m_CenterOfRotation << std::endl; |
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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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Rigid3DPerspectiveTransform<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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// Transfer the versor part |
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AxisType axis; |
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double norm = parameters[0]*parameters[0]; |
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axis[0] = parameters[0]; |
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norm += parameters[1]*parameters[1]; |
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axis[1] = parameters[1]; |
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norm += parameters[2]*parameters[2]; |
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axis[2] = parameters[2]; |
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if( norm > 0) |
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{ |
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norm = sqrt(norm); |
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} |
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double epsilon = 1e-10; |
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if(norm >= 1.0-epsilon) |
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{ |
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axis = axis / (norm+epsilon*norm); |
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} |
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m_Versor.Set(axis); |
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itkDebugMacro( <<"Versor is now " << this->GetRotation() ); |
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// Transfer the translation part |
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OffsetType offset; |
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for(unsigned int i=0; i < SpaceDimension; i++) |
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{ |
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offset[i] = parameters[i+3]; |
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} |
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this->SetOffset( offset ); |
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this->ComputeMatrix(); |
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} |
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EML |
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EML |
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// Set Parameters |
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template <class TScalarType> |
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const typename Rigid3DPerspectiveTransform<TScalarType>::ParametersType & |
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Rigid3DPerspectiveTransform<TScalarType> |
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::GetParameters() const |
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{ |
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itkDebugMacro( << "Getting parameters "); |
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this->m_Parameters[0] = this->GetRotation().GetX(); |
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this->m_Parameters[1] = this->GetRotation().GetY(); |
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this->m_Parameters[2] = this->GetRotation().GetZ(); |
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// Transfer the translation |
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this->m_Parameters[3] = this->GetOffset()[0]; |
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this->m_Parameters[4] = this->GetOffset()[1]; |
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this->m_Parameters[5] = this->GetOffset()[2]; |
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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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EML |
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// Set rotation |
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template<class TScalarType> |
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void |
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Rigid3DPerspectiveTransform<TScalarType>:: |
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SetRotation(const VersorType &rotation ) |
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{ |
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m_Versor = rotation; |
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m_RotationMatrix = m_Versor.GetMatrix(); |
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return; |
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} |
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// Set rotation |
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template<class TScalarType> |
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void |
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Rigid3DPerspectiveTransform<TScalarType>:: |
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SetRotation(const Vector<TScalarType,3> & axis, double angle ) |
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{ |
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const double sinus = sin(angle/2.0); |
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const double cosinus = cos(angle/2.0); |
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Vector<TScalarType,3> norm; |
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norm = axis; |
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norm.Normalize(); |
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norm *= sinus; |
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VnlQuaternionType q; |
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q[0] = cosinus; |
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q[1] = norm[0]; |
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q[2] = norm[1]; |
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q[3] = norm[2]; |
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VersorType v; |
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v.Set(q); |
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this->SetRotation(v); |
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} |
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// Transform a point |
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template<class TScalarType> |
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typename Rigid3DPerspectiveTransform<TScalarType>::OutputPointType |
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Rigid3DPerspectiveTransform<TScalarType>:: |
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TransformPoint(const InputPointType &point) const |
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{ |
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unsigned int i; |
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InputPointType centered; |
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for(i=0;i<3;i++) |
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{ |
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centered[i] = point[i] - m_CenterOfRotation[i]; |
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} |
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InputPointType rotated = m_RotationMatrix * centered; |
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InputPointType rigided; |
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for(i=0;i<3;i++) |
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{ |
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rigided[i] = rotated[i] + m_Offset[i] + m_CenterOfRotation[i] |
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+ m_FixedOffset[i]; |
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} |
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OutputPointType result; |
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TScalarType factor = m_FocalDistance / rigided[2]; |
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result[0] = rigided[0] * factor; |
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result[1] = rigided[1] * factor; |
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return result; |
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} |
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EML |
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// Transform a point |
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template<class TScalarType> |
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void |
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Rigid3DPerspectiveTransform<TScalarType>:: |
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ComputeMatrix(void) |
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{ |
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m_RotationMatrix = m_Versor.GetMatrix(); |
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} |
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// Compute the Jacobian in one position |
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template<class TScalarType > |
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const typename Rigid3DPerspectiveTransform<TScalarType>::JacobianType & |
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Rigid3DPerspectiveTransform< TScalarType >:: |
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GetJacobian( const InputPointType &) const |
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{ |
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this->m_Jacobian.Fill( 0.0 ); |
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// TODO |
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return this->m_Jacobian; |
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} |
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} // namespace |
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#endif |
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