itkRigid3DTransform.txx

/*=========================================================================

  Program:   Insight Segmentation & Registration Toolkit
  Module:    itkRigid3DTransform.txx
  Language:  C++
  Date:      $Date$
  Version:   $Revision$

  Copyright (c) Insight Software Consortium. All rights reserved.
  See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.

     This software is distributed WITHOUT ANY WARRANTY; without even 
     the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 
     PURPOSE.  See the above copyright notices for more information.

=========================================================================*/
#ifndef __itkRigid3DTransform_txx
#define __itkRigid3DTransform_txx

#include "itkRigid3DTransform.h"


namespace itk
{

// Constructor with default arguments
template<class TScalarType>
Rigid3DTransform<TScalarType>::
Rigid3DTransform() :
  Superclass(OutputSpaceDimension, ParametersDimension)
{
}
 

// Constructor with default arguments
template<class TScalarType>
Rigid3DTransform<TScalarType>::
Rigid3DTransform(unsigned int spaceDim, 
                 unsigned int paramDim) :
  Superclass(spaceDim, paramDim)
{
}

// Constructor with default arguments
template<class TScalarType>
Rigid3DTransform<TScalarType>::
Rigid3DTransform(const MatrixType & matrix,
                 const OutputVectorType & offset) :
  Superclass(matrix, offset)
{
}
 
// Destructor
template<class TScalarType>
Rigid3DTransform<TScalarType>::
~Rigid3DTransform()
{
}


// Print self
template<class TScalarType>
void
Rigid3DTransform<TScalarType>::
PrintSelf(std::ostream &os, Indent indent) const
{
  Superclass::PrintSelf(os,indent);
}

// Check if input matrix is orthogonal to within tolerance
template<class TScalarType>
bool
Rigid3DTransform<TScalarType>
::MatrixIsOrthogonal( 
 const MatrixType & matrix,
 double tolerance )
{
  typename MatrixType::InternalMatrixType test =
    matrix.GetVnlMatrix() * matrix.GetTranspose();

  if( !test.is_identity( tolerance ) ) 
    {
    return false;
    }

  return true;
}


// Directly set the rotation matrix
template<class TScalarType>
void
Rigid3DTransform<TScalarType>
::SetMatrix( const MatrixType & matrix )
{
  const double tolerance = 1e-10;
  if( !this->MatrixIsOrthogonal( matrix, tolerance ) ) 
    {
    itkExceptionMacro( << "Attempting to set a non-orthogonal rotation matrix" );
    }

  this->Superclass::SetMatrix( matrix );
}


// Set optimizable parameters from array
template<class TScalarType>
void
Rigid3DTransform<TScalarType>
::SetParameters( const ParametersType & parameters )
{
  this->m_Parameters = parameters;

  unsigned int par = 0;
  MatrixType matrix;
  OutputVectorType translation;

  for(unsigned int row=0; row<3; row++) 
    {
    for(unsigned int col=0; col<3; col++) 
      {
      matrix[row][col] = this->m_Parameters[par];
      ++par;
      }
    }

  for( unsigned int dim = 0; dim < 3; dim++ )
    {
    translation[dim] = this->m_Parameters[par];
    ++par;
    }
  
  const double tolerance = 1e-10;
  if( !this->MatrixIsOrthogonal( matrix, tolerance ) ) 
    {
    itkExceptionMacro( << "Attempting to set a non-orthogonal rotation matrix" );
    }

  this->SetVarMatrix( matrix );
  this->SetVarTranslation( translation );

  // Update matrix and offset.
  // Technically ComputeMatrix() is not require as the parameters are
  // directly the elements of the matrix.
  this->ComputeMatrix();   
  this->ComputeOffset(); 

  this->Modified();
  
}

// Compose with a translation
template<class TScalarType>
void
Rigid3DTransform<TScalarType>::
Translate(const OffsetType &offset, bool)
{
  OutputVectorType newOffset = this->GetOffset();
  newOffset += offset;
  this->SetOffset(newOffset);
  this->ComputeTranslation();
}

// Get an inverse of this transform
template<class TScalarType>
bool
Rigid3DTransform<TScalarType>
::GetInverse(Self* inverse) const
{
  return this->Superclass::GetInverse(inverse);
}

// Return an inverse of this transform
template<class TScalarType>
typename Rigid3DTransform<TScalarType>::InverseTransformBasePointer
Rigid3DTransform<TScalarType>
::GetInverseTransform() const
{
  Pointer inv = New();
  return this->GetInverse(inv) ? inv.GetPointer() : NULL;
}

// Back transform a point
template<class TScalarType>
typename Rigid3DTransform<TScalarType>::InputPointType
Rigid3DTransform<TScalarType>::
BackTransform(const OutputPointType &point) const 
{
  itkWarningMacro(<< "BackTransform(): This method is slated to be removed from ITK."
                  << "Instead, please use GetInverse() to generate an inverse transform and then perform the transform using that inverted transform.");
  return this->GetInverseMatrix() * (point - this->GetOffset());
}

// Back transform a vector
template<class TScalarType>
typename Rigid3DTransform<TScalarType>::InputVectorType
Rigid3DTransform<TScalarType>::
BackTransform(const OutputVectorType &vect ) const 
{
  itkWarningMacro(<<"BackTransform(): This method is slated to be removed from ITK."
                  <<  "Instead, please use GetInverse() to generate an inverse transform and then perform the transform using that inverted transform.");
  return  this->GetInverseMatrix() * vect;
}

// Back transform a vnl_vector
template<class TScalarType>
typename Rigid3DTransform<TScalarType>::InputVnlVectorType
Rigid3DTransform<TScalarType>::
BackTransform(const OutputVnlVectorType &vect ) const 
{
  itkWarningMacro(<<"BackTransform(): This method is slated to be removed from ITK."
                  << " Instead, please use GetInverse() to generate an inverse transform and then perform the transform using that inverted transform.");
  return  this->GetInverseMatrix() * vect;
}


// Back Transform a CovariantVector
template<class TScalarType>
typename Rigid3DTransform<TScalarType>::InputCovariantVectorType
Rigid3DTransform<TScalarType>::
BackTransform(const OutputCovariantVectorType &vect) const 
{
  itkWarningMacro(<<"BackTransform(): This method is slated to be removed from ITK."
                  << " Instead, please use GetInverse() to generate an inverse transform and then perform the transform using that inverted transform.");
  return this->GetMatrix() * vect;
}

} // namespace

#endif