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itkCenteredEuler3DTransform.hxx
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itkCenteredEuler3DTransform.hxx
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/*=========================================================================
*
* Copyright NumFOCUS
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* https://www.apache.org/licenses/LICENSE-2.0.txt
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*=========================================================================*/
#ifndef itkCenteredEuler3DTransform_hxx
#define itkCenteredEuler3DTransform_hxx
namespace itk
{
// Constructor with default arguments
template <typename TParametersValueType>
CenteredEuler3DTransform<TParametersValueType>::CenteredEuler3DTransform()
: Superclass(ParametersDimension)
{}
// Constructor with default arguments
template <typename TParametersValueType>
CenteredEuler3DTransform<TParametersValueType>::CenteredEuler3DTransform(unsigned int parametersDimension)
: Superclass(parametersDimension)
{}
// Constructor with default arguments
template <typename TParametersValueType>
CenteredEuler3DTransform<TParametersValueType>::CenteredEuler3DTransform(const MatrixType & matrix,
const OutputPointType & offset)
: Superclass(matrix, offset)
{}
//
// Set Parameters
//
// Parameters are ordered as:
//
// p[0:2] = rotations about x, y and z axes
// p[3:5} = center of rotation
// p[6:8] = translation
//
//
template <typename TParametersValueType>
void
CenteredEuler3DTransform<TParametersValueType>::SetParameters(const ParametersType & parameters)
{
itkDebugMacro("Setting parameters " << parameters);
// Save parameters
if (¶meters != &(this->m_Parameters))
{
this->m_Parameters = parameters;
}
const ScalarType angleX = parameters[0];
const ScalarType angleY = parameters[1];
const ScalarType angleZ = parameters[2];
this->SetVarRotation(angleX, angleY, angleZ);
CenterType newCenter;
newCenter[0] = parameters[3];
newCenter[1] = parameters[4];
newCenter[2] = parameters[5];
this->SetVarCenter(newCenter);
this->ComputeMatrix();
TranslationType newTranslation;
newTranslation[0] = parameters[6];
newTranslation[1] = parameters[7];
newTranslation[2] = parameters[8];
this->SetVarTranslation(newTranslation);
this->ComputeOffset();
// Modified is always called since we just have a pointer to the
// parameters and cannot know if the parameters have changed.
this->Modified();
itkDebugMacro("After setting parameters ");
}
//
// Get Parameters
//
// Parameters are ordered as:
//
// p[0:2] = rotations about x, y and z axes
// p[3:5} = center of rotation
// p[6:8] = translation
//
template <typename TParametersValueType>
auto
CenteredEuler3DTransform<TParametersValueType>::GetParameters() const -> const ParametersType &
{
ParametersType parameters;
this->m_Parameters[0] = this->GetAngleX();
this->m_Parameters[1] = this->GetAngleY();
this->m_Parameters[2] = this->GetAngleZ();
this->m_Parameters[3] = this->GetCenter()[0];
this->m_Parameters[4] = this->GetCenter()[1];
this->m_Parameters[5] = this->GetCenter()[2];
this->m_Parameters[6] = this->GetTranslation()[0];
this->m_Parameters[7] = this->GetTranslation()[1];
this->m_Parameters[8] = this->GetTranslation()[2];
return this->m_Parameters;
}
template <typename TParametersValueType>
void
CenteredEuler3DTransform<TParametersValueType>::ComputeJacobianWithRespectToParameters(const InputPointType & p,
JacobianType & jacobian) const
{
// need to check if angles are in the right order
const double cx = std::cos(this->GetAngleX());
const double sx = std::sin(this->GetAngleX());
const double cy = std::cos(this->GetAngleY());
const double sy = std::sin(this->GetAngleY());
const double cz = std::cos(this->GetAngleZ());
const double sz = std::sin(this->GetAngleZ());
jacobian.SetSize(3, this->GetNumberOfLocalParameters());
jacobian.Fill(0.0);
const double px = p[0] - this->GetCenter()[0];
const double py = p[1] - this->GetCenter()[1];
const double pz = p[2] - this->GetCenter()[2];
if (this->GetComputeZYX())
{
jacobian[0][0] = (cz * sy * cx + sz * sx) * py + (-cz * sy * sx + sz * cx) * pz;
jacobian[1][0] = (sz * sy * cx - cz * sx) * py + (-sz * sy * sx - cz * cx) * pz;
jacobian[2][0] = (cy * cx) * py + (-cy * sx) * pz;
jacobian[0][1] = (-cz * sy) * px + (cz * cy * sx) * py + (cz * cy * cx) * pz;
jacobian[1][1] = (-sz * sy) * px + (sz * cy * sx) * py + (sz * cy * cx) * pz;
jacobian[2][1] = (-cy) * px + (-sy * sx) * py + (-sy * cx) * pz;
jacobian[0][2] = (-sz * cy) * px + (-sz * sy * sx - cz * cx) * py + (-sz * sy * cx + cz * sx) * pz;
jacobian[1][2] = (cz * cy) * px + (cz * sy * sx - sz * cx) * py + (cz * sy * cx + sz * sx) * pz;
jacobian[2][2] = 0;
}
else
{
jacobian[0][0] = (-sz * cx * sy) * px + (sz * sx) * py + (sz * cx * cy) * pz;
jacobian[1][0] = (cz * cx * sy) * px + (-cz * sx) * py + (-cz * cx * cy) * pz;
jacobian[2][0] = (sx * sy) * px + (cx)*py + (-sx * cy) * pz;
jacobian[0][1] = (-cz * sy - sz * sx * cy) * px + (cz * cy - sz * sx * sy) * pz;
jacobian[1][1] = (-sz * sy + cz * sx * cy) * px + (sz * cy + cz * sx * sy) * pz;
jacobian[2][1] = (-cx * cy) * px + (-cx * sy) * pz;
jacobian[0][2] = (-sz * cy - cz * sx * sy) * px + (-cz * cx) * py + (-sz * sy + cz * sx * cy) * pz;
jacobian[1][2] = (cz * cy - sz * sx * sy) * px + (-sz * cx) * py + (cz * sy + sz * sx * cy) * pz;
jacobian[2][2] = 0;
}
// compute derivatives for the center of rotation part
unsigned int blockOffset = 3;
for (unsigned int dim = 0; dim < SpaceDimension; ++dim)
{
jacobian[dim][blockOffset + dim] = 1.0;
}
blockOffset += SpaceDimension;
// compute derivatives for the translation part
for (unsigned int dim = 0; dim < SpaceDimension; ++dim)
{
jacobian[dim][blockOffset + dim] = 1.0;
}
}
// Get an inverse of this transform
template <typename TParametersValueType>
bool
CenteredEuler3DTransform<TParametersValueType>::GetInverse(Self * inverse) const
{
return this->Superclass::GetInverse(inverse);
}
// Return an inverse of this transform
template <typename TParametersValueType>
auto
CenteredEuler3DTransform<TParametersValueType>::GetInverseTransform() const -> InverseTransformBasePointer
{
Pointer inv = New();
return this->GetInverse(inv) ? inv.GetPointer() : nullptr;
}
// Print self
template <typename TParametersValueType>
void
CenteredEuler3DTransform<TParametersValueType>::PrintSelf(std::ostream & os, Indent indent) const
{
Superclass::PrintSelf(os, indent);
}
} // namespace itk
#endif