freCenteredEuler3DTransformController.cxx

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

  Program:   F.R.E.E. - flexible registration evaluation engine
  Version:   v.1.0.0
  Date:      $Date: 2006/09/01 12:00:00 $
  Module:    $RCSfile: freCenteredEuler3DTransformController.cxx,v $
  Language:  C++



  Copyright (c) 2007 Ralf o Floca (Department of Medical Informatics,
  Institute for Medical Biometry and Informatics, University of Heidelberg,
  Germany). All rights reserved.
  See FREECopyright.txt or http://www.mi.med.uni-hd.de/free/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.

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

#include "freCenteredEuler3DTransformController.h"
#include "freTransformSetupAdaptor.h"
#include "freTransformInitializer.h"

namespace FREE
{


DefineParameterMacro(CenteredEuler3DTransformController, InitializeRotation, "InitializeRotation", "Indicates if rotation is initialized via point set (true) or set via ITV (false).");

CenteredEuler3DTransformController::
CenteredEuler3DTransformController()
{
  this->UpdateControllerID(ControllerID::CenteredEuler3DTransformController);
  this->m_Description = "A combination of rotation and translation in 3 dimensions.";
};

void
CenteredEuler3DTransformController::
GenerateProfile(CtrlProfile::ControllerProfile& profile, 
                const SessionComponentCache* pComponentCache,
                bool bRegardOldSetup) const
{
  Superclass::GenerateProfile(profile,pComponentCache,bRegardOldSetup);

  //Parameters
  profile.Parameters().AddParameter(cParam_InitialTransformValues,CtrlProfile::Parameter::PVTDouble,"1..3: rotation angel (in radian)\n4..6: x/y/z center\n7..9: x/y/z translation",9,"0");
  profile.Parameters().AddParameter(cParam_CurrentTransformValues,CtrlProfile::Parameter::PVTDouble,"1..3: rotation angel (in radian)\n4..6: x/y/z center\n7..9: x/y/z translation",9,"0");
  profile.Parameters().AddParameter(cParam_TransformScale,CtrlProfile::Parameter::PVTDouble,"1..3: rotation angel (in radian)\n4..6: x/y/z center\n7..9: x/y/z translation",9,"1",-1,true);
  profile.Parameters().AddParameter(cParam_InitializeRotation,CtrlProfile::Parameter::PVTBool,cParamDsc_InitializeRotation,1,"true");
  profile.Parameters().AddParameter("InitialRotationAxis",Parameter::PVTInteger,"Indicates the rotiation axis used for initialisation, if the reference initialisation is used. The order of rotation is always z y x. \n-1: z y x (smart)\n0: z y x.\n1: x\n2: y\n3: y x\n4: z\n5: z x\n6: z y",1,"0");
};

bool
CenteredEuler3DTransformController::
SetInitialTransformValues( ComponentType* pTransformComponent,
                           SessionComponentCache* pComponentCache,
                           SessionInfo* pSessionInfo,
                           const int& iInitializeByITV) const
{
  //let the transform be initialized by MatrixOffsetTransformController
  Superclass::SetInitialTransformValues( pTransformComponent, pComponentCache, pSessionInfo, iInitializeByITV);

  int iCenterType;
  bool bInitializeRotation;

  if (!pComponentCache->SetupIsAssigned()) throwCtrlExceptionMacro("","Cannot initialize transform values, transform setup is not assigned in cache.");
  ComponentSetup* pTransformSetup = pComponentCache->Setup();

  if (!pTransformSetup->Parameters().GetParameterValue(cParam_CenterInitializationType,iCenterType)) throwExceptionMacro("Missing parameter: " << "CenterType");
  if (!pTransformSetup->Parameters().GetParameterValue(cParam_InitializeRotation,bInitializeRotation)) throwExceptionMacro("Missing parameter: " << cParam_InitializeRotation);

  TransformSetupAdaptor adaptor(pTransformSetup);
  ParameterArrayType itv = adaptor.GetInitialTransformParameters();

  //set current transform values to initial transform values by default
  for (int iIndex=0; iIndex<itv.Size(); iIndex++)
  {
    pTransformSetup->Parameters().SetParameterValue(cParam_CurrentTransformValues,itv[iIndex],iIndex);
  };

  if (iCenterType>0)
  { //the center was initialized by controller and not defined
    //by ITV so copy translation to current transform values
    for (int iIndex=0; iIndex<3; iIndex++)
    {
      pTransformSetup->Parameters().SetParameterValue(cParam_CurrentTransformValues,pTransformComponent->GetCenter().GetElement(iIndex),iIndex+3);
    }
  }

  if (iCenterType>1)
  { //the translation was initialized by controller and not defined
    //by ITV so copy translation to current transform values
    for (int iIndex=0; iIndex<3; iIndex++)
    {
      pTransformSetup->Parameters().SetParameterValue(cParam_CurrentTransformValues,pTransformComponent->GetTranslation().GetElement(iIndex),iIndex+6);
    }
  }

  if (bInitializeRotation)
        { //Rotation should be calculated

    //TODO: old version insufficient initializer use VersorRigidTransform instead or freTensoInitializer
    ReferencePointsAccessor<3> pointsAccessor(pComponentCache);

          ParameterArrayType fixedCenter(3);
          ParameterArrayType movingCenter(3);

    //get fixed center and moving center from the transformation
          for (int iIndex=0; iIndex<3; iIndex++)
          {
            fixedCenter[iIndex] = pTransformComponent->GetCenter().GetElement(iIndex);
            movingCenter[iIndex] = pTransformComponent->GetTranslation().GetElement(iIndex) - pTransformComponent->GetCenter().GetElement(iIndex);
          };
      
    if (!pointsAccessor.MovingPointsExist()) throwCtrlExceptionMacro("","Cannot estimate rotation via reference points. No moving reference point set defined. Please check media linkage.");
    if (!pointsAccessor.FixedPointsExist()) throwCtrlExceptionMacro("","Cannot estimate rotation via via reference points. No fixed reference point set defined. Please check media linkage.");

          RotationInitializer<3> rotationInitializer;
          
          rotationInitializer.SetCenterPair(movingCenter,fixedCenter);

          //Add all references
          int iIndex = 0;
          if (iCenterType==0) iIndex = 1; //first reference is the center point;
          for (iIndex; iIndex<pointsAccessor.GetFixedPointsCount(); iIndex++)
          {
                rotationInitializer.AddReferencePair(pointsAccessor.GetMovingPointArray(iIndex),pointsAccessor.GetFixedPointArray(iIndex));
          };

          //set schedule
          int iInitialRotationAxis;
          if (!pTransformSetup->Parameters().GetParameterValue("InitialRotationAxis",iInitialRotationAxis)) throwExceptionMacro("Missing parameter: " << "InitialRotationAxis");

          rotationInitializer.ClearSchedule(false);
          if ((iInitialRotationAxis<1) | (4 == (iInitialRotationAxis & 4))) rotationInitializer.AddToSchedule(RA_Z);
          if ((iInitialRotationAxis<1) | (2 == (iInitialRotationAxis & 2))) rotationInitializer.AddToSchedule(RA_Y);
          if ((iInitialRotationAxis<1) | (1 == (iInitialRotationAxis & 1))) rotationInitializer.AddToSchedule(RA_X);

          rotationInitializer.SetUseRotationWeight(iInitialRotationAxis==-1);

          rotationInitializer.ComputeRotations();

          //add angel to the parameters. Angel must be inverted, because itk uses back transform
          //(fixed to moving) and the initial calculation uses forward transform to allow an intuitive
          //parameter setting
        pTransformSetup->Parameters().SetParameterValue(cParam_CurrentTransformValues,-1*rotationInitializer.GetRotation(RA_X),0);
          pTransformSetup->Parameters().SetParameterValue(cParam_CurrentTransformValues,-1*rotationInitializer.GetRotation(RA_Y),1);
          pTransformSetup->Parameters().SetParameterValue(cParam_CurrentTransformValues,-1*rotationInitializer.GetRotation(RA_Z),2);
  }

  return true;
};

} //end of namespace free

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