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itkEuler3DTransform.hxx
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itkEuler3DTransform.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 itkEuler3DTransform_hxx
#define itkEuler3DTransform_hxx
namespace itk
{
template <typename TParametersValueType>
Euler3DTransform<TParametersValueType>::Euler3DTransform()
: Superclass(ParametersDimension)
{
m_ComputeZYX = false;
m_AngleX = m_AngleY = m_AngleZ = NumericTraits<ScalarType>::ZeroValue();
this->m_FixedParameters.SetSize(SpaceDimension + 1);
this->m_FixedParameters.Fill(0.0);
}
template <typename TParametersValueType>
Euler3DTransform<TParametersValueType>::Euler3DTransform(const MatrixType & matrix, const OutputPointType & offset)
{
m_ComputeZYX = false;
this->SetMatrix(matrix);
OffsetType off;
off[0] = offset[0];
off[1] = offset[1];
off[2] = offset[2];
this->SetOffset(off);
this->m_FixedParameters.SetSize(SpaceDimension + 1);
this->m_FixedParameters.Fill(0.0);
}
template <typename TParametersValueType>
Euler3DTransform<TParametersValueType>::Euler3DTransform(unsigned int parametersDimension)
: Superclass(parametersDimension)
{
m_ComputeZYX = false;
m_AngleX = m_AngleY = m_AngleZ = NumericTraits<ScalarType>::ZeroValue();
this->m_FixedParameters.SetSize(SpaceDimension + 1);
this->m_FixedParameters.Fill(0.0);
}
template <typename TParametersValueType>
void
Euler3DTransform<TParametersValueType>::SetVarRotation(ScalarType angleX, ScalarType angleY, ScalarType angleZ)
{
this->m_AngleX = angleX;
this->m_AngleY = angleY;
this->m_AngleZ = angleZ;
}
template <typename TParametersValueType>
void
Euler3DTransform<TParametersValueType>::SetParameters(const ParametersType & parameters)
{
itkDebugMacro(<< "Setting parameters " << parameters);
// Save parameters. Needed for proper operation of TransformUpdateParameters.
if (¶meters != &(this->m_Parameters))
{
this->m_Parameters = parameters;
}
// Set angles with parameters
m_AngleX = parameters[0];
m_AngleY = parameters[1];
m_AngleZ = parameters[2];
this->ComputeMatrix();
// Transfer the translation part
OutputVectorType newTranslation;
newTranslation[0] = parameters[3];
newTranslation[1] = parameters[4];
newTranslation[2] = parameters[5];
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 ");
}
template <typename TParametersValueType>
auto
Euler3DTransform<TParametersValueType>::GetParameters() const -> const ParametersType &
{
this->m_Parameters[0] = m_AngleX;
this->m_Parameters[1] = m_AngleY;
this->m_Parameters[2] = m_AngleZ;
this->m_Parameters[3] = this->GetTranslation()[0];
this->m_Parameters[4] = this->GetTranslation()[1];
this->m_Parameters[5] = this->GetTranslation()[2];
return this->m_Parameters;
}
template <typename TParametersValueType>
auto
Euler3DTransform<TParametersValueType>::GetFixedParameters() const -> const FixedParametersType &
{
// Call the superclass GetFixedParameters so that it fills the
// array, we ignore the returned data and add the additional
// information to the updated array.
Superclass::GetFixedParameters();
this->m_FixedParameters[3] = this->m_ComputeZYX ? 1.0 : 0.0;
return this->m_FixedParameters;
}
template <typename TParametersValueType>
void
Euler3DTransform<TParametersValueType>::SetFixedParameters(const FixedParametersType & parameters)
{
if (parameters.size() < InputSpaceDimension)
{
itkExceptionMacro(<< "Error setting fixed parameters: parameters array size (" << parameters.size()
<< ") is less than expected (InputSpaceDimension = " << InputSpaceDimension << ')');
}
InputPointType c;
for (unsigned int i = 0; i < InputSpaceDimension; ++i)
{
c[i] = this->m_FixedParameters[i] = parameters[i];
}
this->SetCenter(c);
// conditional is here for backwards compatibility: the
// m_ComputeZYX flag was not serialized so it may or may
// not be included as part of the fixed parameters
if (parameters.Size() == 4)
{
this->m_FixedParameters[3] = parameters[3];
this->SetComputeZYX(this->m_FixedParameters[3] != 0.0);
}
}
template <typename TParametersValueType>
void
Euler3DTransform<TParametersValueType>::SetRotation(ScalarType angleX, ScalarType angleY, ScalarType angleZ)
{
m_AngleX = angleX;
m_AngleY = angleY;
m_AngleZ = angleZ;
this->ComputeMatrix();
this->ComputeOffset();
}
template <typename TParametersValueType>
void
Euler3DTransform<TParametersValueType>::SetIdentity()
{
Superclass::SetIdentity();
m_AngleX = 0;
m_AngleY = 0;
m_AngleZ = 0;
}
template <typename TParametersValueType>
void
Euler3DTransform<TParametersValueType>::ComputeMatrixParameters()
{
if (m_ComputeZYX)
{
m_AngleY = -std::asin(this->GetMatrix()[2][0]);
double C = std::cos(m_AngleY);
if (itk::Math::abs(C) > 0.00005)
{
double x = this->GetMatrix()[2][2] / C;
double y = this->GetMatrix()[2][1] / C;
m_AngleX = std::atan2(y, x);
x = this->GetMatrix()[0][0] / C;
y = this->GetMatrix()[1][0] / C;
m_AngleZ = std::atan2(y, x);
}
else
{
m_AngleX = NumericTraits<ScalarType>::ZeroValue();
double x = this->GetMatrix()[1][1];
double y = -this->GetMatrix()[0][1];
m_AngleZ = std::atan2(y, x);
}
}
else
{
m_AngleX = std::asin(this->GetMatrix()[2][1]);
double A = std::cos(m_AngleX);
if (itk::Math::abs(A) > 0.00005)
{
double x = this->GetMatrix()[2][2] / A;
double y = -this->GetMatrix()[2][0] / A;
m_AngleY = std::atan2(y, x);
x = this->GetMatrix()[1][1] / A;
y = -this->GetMatrix()[0][1] / A;
m_AngleZ = std::atan2(y, x);
}
else
{
m_AngleZ = NumericTraits<ScalarType>::ZeroValue();
double x = this->GetMatrix()[0][0];
double y = this->GetMatrix()[1][0];
m_AngleY = std::atan2(y, x);
}
}
this->ComputeMatrix();
}
template <typename TParametersValueType>
void
Euler3DTransform<TParametersValueType>::ComputeMatrix()
{
// need to check if angles are in the right order
const ScalarType cx = std::cos(m_AngleX);
const ScalarType sx = std::sin(m_AngleX);
const ScalarType cy = std::cos(m_AngleY);
const ScalarType sy = std::sin(m_AngleY);
const ScalarType cz = std::cos(m_AngleZ);
const ScalarType sz = std::sin(m_AngleZ);
const ScalarType one = NumericTraits<ScalarType>::OneValue();
const ScalarType zero = NumericTraits<ScalarType>::ZeroValue();
Matrix<TParametersValueType, 3, 3> RotationX;
RotationX[0][0] = one;
RotationX[0][1] = zero;
RotationX[0][2] = zero;
RotationX[1][0] = zero;
RotationX[1][1] = cx;
RotationX[1][2] = -sx;
RotationX[2][0] = zero;
RotationX[2][1] = sx;
RotationX[2][2] = cx;
Matrix<TParametersValueType, 3, 3> RotationY;
RotationY[0][0] = cy;
RotationY[0][1] = zero;
RotationY[0][2] = sy;
RotationY[1][0] = zero;
RotationY[1][1] = one;
RotationY[1][2] = zero;
RotationY[2][0] = -sy;
RotationY[2][1] = zero;
RotationY[2][2] = cy;
Matrix<TParametersValueType, 3, 3> RotationZ;
RotationZ[0][0] = cz;
RotationZ[0][1] = -sz;
RotationZ[0][2] = zero;
RotationZ[1][0] = sz;
RotationZ[1][1] = cz;
RotationZ[1][2] = zero;
RotationZ[2][0] = zero;
RotationZ[2][1] = zero;
RotationZ[2][2] = one;
// Apply the rotation first around Y then X then Z
if (m_ComputeZYX)
{
this->SetVarMatrix(RotationZ * RotationY * RotationX);
}
else
{
// Like VTK transformation order
this->SetVarMatrix(RotationZ * RotationX * RotationY);
}
}
template <typename TParametersValueType>
void
Euler3DTransform<TParametersValueType>::ComputeJacobianWithRespectToParameters(const InputPointType & p,
JacobianType & jacobian) const
{
// need to check if angles are in the right order
const double cx = std::cos(m_AngleX);
const double sx = std::sin(m_AngleX);
const double cy = std::cos(m_AngleY);
const double sy = std::sin(m_AngleY);
const double cz = std::cos(m_AngleZ);
const double sz = std::sin(m_AngleZ);
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 (m_ComputeZYX)
{
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 translation part
unsigned int blockOffset = 3;
for (unsigned int dim = 0; dim < SpaceDimension; ++dim)
{
jacobian[dim][blockOffset + dim] = 1.0;
}
}
template <typename TParametersValueType>
void
Euler3DTransform<TParametersValueType>::SetComputeZYX(const bool flag)
{
if (this->m_ComputeZYX != flag)
{
this->m_ComputeZYX = flag;
this->ComputeMatrix();
this->ComputeOffset();
// The meaning of the parameters has changed so the transform
// has been modified even if the parameter values have not.
this->Modified();
}
}
template <typename TParametersValueType>
void
Euler3DTransform<TParametersValueType>::PrintSelf(std::ostream & os, Indent indent) const
{
Superclass::PrintSelf(os, indent);
os << indent << "AngleX: " << static_cast<typename NumericTraits<ScalarType>::PrintType>(m_AngleX) << std::endl;
os << indent << "AngleY: " << static_cast<typename NumericTraits<ScalarType>::PrintType>(m_AngleY) << std::endl;
os << indent << "AngleZ: " << static_cast<typename NumericTraits<ScalarType>::PrintType>(m_AngleZ) << std::endl;
os << indent << "ComputeZYX: " << (m_ComputeZYX ? "On" : "Off") << std::endl;
}
} // namespace itk
#endif