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/*========================================================================= |
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Program: Insight Segmentation & Registration Toolkit |
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Module: $RCSfile: itkVersorRigid3DTransform.txx.html,v $ |
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Language: C++ |
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Date: $Date: 2006/01/17 19:15:49 $ |
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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 _itkVersorRigid3DTransform_txx |
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#define _itkVersorRigid3DTransform_txx |
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#include "itkVersorRigid3DTransform.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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VersorRigid3DTransform<TScalarType> |
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::VersorRigid3DTransform() : |
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IND |
**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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VersorRigid3DTransform<TScalarType>:: |
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VersorRigid3DTransform( unsigned int outputSpaceDim, |
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unsigned int paramDim) : |
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**Superclass(outputSpaceDim,paramDim) |
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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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VersorRigid3DTransform<TScalarType>:: |
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VersorRigid3DTransform( const MatrixType & matrix, |
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const OutputVectorType & offset) : |
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**Superclass(matrix,offset) |
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{ |
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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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VersorRigid3DTransform<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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VersorType newVersor; |
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newVersor.Set(axis); |
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this->SetVarVersor( newVersor ); |
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this->ComputeMatrix(); |
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itkDebugMacro( <<"Versor is now " << this->GetVersor() ); |
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// Transfer the translation part |
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TranslationType newTranslation; |
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newTranslation[0] = parameters[3]; |
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newTranslation[1] = parameters[4]; |
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newTranslation[2] = parameters[5]; |
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this->SetVarTranslation(newTranslation); |
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this->ComputeOffset(); |
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itkDebugMacro(<<"After setting paramaters "); |
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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[0:2] = right part of the versor (axis times sin(t/2)) |
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// p[3:5} = translation components |
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// |
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template <class TScalarType> |
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const typename VersorRigid3DTransform<TScalarType>::ParametersType & |
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VersorRigid3DTransform<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->GetVersor().GetX(); |
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this->m_Parameters[1] = this->GetVersor().GetY(); |
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this->m_Parameters[2] = this->GetVersor().GetZ(); |
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// Transfer the translation |
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this->m_Parameters[3] = this->GetTranslation()[0]; |
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this->m_Parameters[4] = this->GetTranslation()[1]; |
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this->m_Parameters[5] = this->GetTranslation()[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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// Set parameters |
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template<class TScalarType> |
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const typename VersorRigid3DTransform<TScalarType>::JacobianType & |
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VersorRigid3DTransform<TScalarType>:: |
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GetJacobian( const InputPointType & p ) const |
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{ |
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typedef typename VersorType::ValueType ValueType; |
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// compute derivatives with respect to rotation |
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const ValueType vx = this->GetVersor().GetX(); |
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const ValueType vy = this->GetVersor().GetY(); |
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const ValueType vz = this->GetVersor().GetZ(); |
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const ValueType vw = this->GetVersor().GetW(); |
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this->m_Jacobian.Fill(0.0); |
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const double px = p[0] - this->GetCenter()[0]; |
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const double py = p[1] - this->GetCenter()[1]; |
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const double pz = p[2] - this->GetCenter()[2]; |
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const double vxx = vx * vx; |
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const double vyy = vy * vy; |
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const double vzz = vz * vz; |
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const double vww = vw * vw; |
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const double vxy = vx * vy; |
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const double vxz = vx * vz; |
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const double vxw = vx * vw; |
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const double vyz = vy * vz; |
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const double vyw = vy * vw; |
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const double vzw = vz * vw; |
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// compute Jacobian with respect to quaternion parameters |
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this->m_Jacobian[0][0] = 2.0 * ( (vyw+vxz)*py + (vzw-vxy)*pz) |
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*************************/ vw; |
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this->m_Jacobian[1][0] = 2.0 * ((vyw-vxz)*px -2*vxw *py + (vxx-vww)*pz) |
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*************************/ vw; |
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this->m_Jacobian[2][0] = 2.0 * ((vzw+vxy)*px + (vww-vxx)*py -2*vxw *pz) |
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*************************/ vw; |
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this->m_Jacobian[0][1] = 2.0 * ( -2*vyw *px + (vxw+vyz)*py + (vww-vyy)*pz) |
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*************************/ vw; |
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this->m_Jacobian[1][1] = 2.0 * ((vxw-vyz)*px + (vzw+vxy)*pz) |
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*************************/ vw; |
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this->m_Jacobian[2][1] = 2.0 * ((vyy-vww)*px + (vzw-vxy)*py -2*vyw *pz) |
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*************************/ vw; |
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this->m_Jacobian[0][2] = 2.0 * ( -2*vzw *px + (vzz-vww)*py + (vxw-vyz)*pz) |
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*************************/ vw; |
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this->m_Jacobian[1][2] = 2.0 * ((vww-vzz)*px -2*vzw *py + (vyw+vxz)*pz) |
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*************************/ vw; |
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this->m_Jacobian[2][2] = 2.0 * ((vxw+vyz)*px + (vyw-vxz)*py ) |
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*************************/ vw; |
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this->m_Jacobian[0][3] = 1.0; |
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this->m_Jacobian[1][4] = 1.0; |
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this->m_Jacobian[2][5] = 1.0; |
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return this->m_Jacobian; |
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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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VersorRigid3DTransform<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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} |
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} // namespace |
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#endif |
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