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/*========================================================================= |
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Program: Insight Segmentation & Registration Toolkit |
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Module: $RCSfile: itkSimilarity2DTransform.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 _itkSimilarity2DTransform_txx |
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DEF |
#define _itkSimilarity2DTransform_txx |
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#include "itkSimilarity2DTransform.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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Similarity2DTransform<TScalarType> |
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::Similarity2DTransform():Superclass(OutputSpaceDimension, ParametersDimension) |
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{ |
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m_Scale = 1.0f; |
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} |
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// Constructor with arguments |
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template<class TScalarType> |
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Similarity2DTransform<TScalarType>:: |
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Similarity2DTransform( 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_Scale = 1.0f; |
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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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Similarity2DTransform<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 scale |
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this->SetVarScale( parameters[0] ); |
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// Set angle |
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this->SetVarAngle( parameters[1] ); |
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// Set translation |
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OffsetType translation; |
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for(unsigned int i=0; i < SpaceDimension; i++) |
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{ |
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translation[i] = parameters[i+2]; |
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} |
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this->SetVarTranslation( translation ); |
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this->ComputeMatrix(); |
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this->ComputeOffset(); |
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itkDebugMacro(<<"After setting paramaters "); |
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} |
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// Get Parameters |
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template <class TScalarType> |
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const typename Similarity2DTransform<TScalarType>::ParametersType & |
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Similarity2DTransform<TScalarType> |
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::GetParameters( void ) const |
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{ |
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itkDebugMacro( << "Getting parameters "); |
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this->m_Parameters[0] = this->GetScale(); |
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this->m_Parameters[1] = this->GetAngle(); |
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// Get the translation |
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OffsetType translation = this->GetTranslation(); |
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for(unsigned int i=0; i < SpaceDimension; i++) |
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{ |
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this->m_Parameters[i+2] = translation[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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EML |
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// Set Scale Part |
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template <class TScalarType> |
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void |
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Similarity2DTransform<TScalarType> |
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::SetScale( ScaleType scale ) |
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{ |
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m_Scale = scale; |
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this->ComputeMatrix(); |
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this->ComputeOffset(); |
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} |
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// Compute the matrix |
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template <class TScalarType> |
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void |
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Similarity2DTransform<TScalarType> |
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::ComputeMatrix( void ) |
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{ |
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const double angle = this->GetAngle(); |
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const double cc = cos( angle ); |
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const double ss = sin( angle ); |
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const double ca = cc * m_Scale; |
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const double sa = ss * m_Scale; |
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MatrixType matrix; |
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matrix[0][0]= ca; matrix[0][1]=-sa; |
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matrix[1][0]= sa; matrix[1][1]= ca; |
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this->SetVarMatrix( matrix ); |
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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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Similarity2DTransform<TScalarType> |
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::ComputeMatrixParameters( void ) |
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{ |
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m_Scale = sqrt( vnl_math_sqr( this->GetMatrix()[0][0] ) + |
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******************vnl_math_sqr( this->GetMatrix()[0][1] ) ); |
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this->SetVarAngle( acos( this->GetMatrix()[0][0] / m_Scale ) ); |
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if(this->GetMatrix()[1][0]<0.0) |
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{ |
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this->SetVarAngle( this->GetAngle() ); |
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} |
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if( ( this->GetMatrix()[1][0] / m_Scale ) - sin(this->GetAngle()) > 0.000001) |
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{ |
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std::cout << "Bad Rotation Matrix" << std::endl; |
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} |
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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 Similarity2DTransform<TScalarType>::JacobianType & |
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Similarity2DTransform<TScalarType>:: |
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GetJacobian( const InputPointType & p ) const |
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{ |
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const double angle = this->GetAngle(); |
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const double ca = cos( angle ); |
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const double sa = sin( angle ); |
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this->m_Jacobian.Fill(0.0); |
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const InputPointType center = this->GetCenter(); |
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const double cx = center[0]; |
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const double cy = center[1]; |
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const OutputVectorType translation = this->GetTranslation(); |
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// derivatives with respect to the scale |
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this->m_Jacobian[0][0] = ca * ( p[0] - cx ) - sa * ( p[1] - cy ); |
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this->m_Jacobian[1][0] = sa * ( p[0] - cx ) + ca * ( p[1] - cy ); |
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// derivatives with respect to the angle |
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this->m_Jacobian[0][1] = ( -sa * ( p[0] - cx ) - ca * ( p[1] - cy ) ) * m_Scale; |
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this->m_Jacobian[1][1] = ( ca * ( p[0] - cx ) - sa * ( p[1] - cy ) ) * m_Scale; |
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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][2] = 1.0; |
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this->m_Jacobian[1][2] = 0.0; |
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// first with respect to ty |
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this->m_Jacobian[0][3] = 0.0; |
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this->m_Jacobian[1][3] = 1.0; |
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return this->m_Jacobian; |
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} |
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// Set Identity |
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template <class TScalarType> |
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void |
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Similarity2DTransform<TScalarType> |
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::SetIdentity(void) |
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{ |
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this->Superclass::SetIdentity(); |
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m_Scale = static_cast< TScalarType >( 1.0f ); |
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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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Similarity2DTransform<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 << "Scale =" << m_Scale << std::endl; |
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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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Similarity2DTransform<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->SetScale( 1.0 / this->GetScale() ); |
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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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Similarity2DTransform<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->SetScale( this->GetScale() ); |
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result->SetAngle( this->GetAngle() ); |
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result->SetTranslation( this->GetTranslation() ); |
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} |
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// Set the similarity matrix |
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template<class TScalarType> |
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void |
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Similarity2DTransform<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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typename MatrixType::InternalMatrixType test = |
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matrix.GetVnlMatrix() * matrix.GetTranspose(); |
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test /= test[0][0]; // factor out the scale |
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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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} // namespace |
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#endif |
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