From: trillos <trillos>
Date: Wed, 2 Dec 2009 13:14:16 +0000 (+0000)
Subject: Added transformer changes
X-Git-Tag: CREATOOLS.2-0-3~14
X-Git-Url: https://git.creatis.insa-lyon.fr/pubgit/?a=commitdiff_plain;h=74f4f8e7e7e9a04fd303a14c0135d98bd3017af1;p=creaRigidRegistration.git

Added transformer changes
---

diff --git a/lib/Transformer.cxx b/lib/Transformer.cxx
index e6e6c8b..47b3980 100644
--- a/lib/Transformer.cxx
+++ b/lib/Transformer.cxx
@@ -93,11 +93,15 @@ vtkTransform *Transformer::GetResult()
 */
 void Transformer::Run()
 {	
+	
 	_transform->Identity();
-	_transform->Translate(_centerPoint[0], _centerPoint[1], _centerPoint[2]);
+	_transform->PostMultiply();
+	_transform->Translate(-_centerPoint[0], -_centerPoint[1], -_centerPoint[2]);
 
 	_transform->RotateWXYZ(_angle, 0, 0, 1);
 	_transform->Scale(_scaleX, _scaleY,_scaleZ);
+	
 		
+	_transform->Inverse();
 	_transform->Update();
 }
diff --git a/lib/Transformer3D.cxx b/lib/Transformer3D.cxx
index 2cdbabb..36cb6a9 100644
--- a/lib/Transformer3D.cxx
+++ b/lib/Transformer3D.cxx
@@ -7,15 +7,18 @@
 */
 Transformer3D::Transformer3D() 
 {
-	std::vector<int> empty (3,0); 
-	_centerPoint=empty;	
 	//If the transform already exists, we delete it before we create a new transform 
 	//and set the matrix with the identity matrix
 	_transform= vtkTransform::New();
 	vtkMatrix4x4 *_matrix = vtkMatrix4x4::New();
 	_matrix->Identity();
 	_transform->SetMatrix(_matrix);
-	
+	_firstPoint[0] = 0;
+	_firstPoint[1] = 0;
+	_firstPoint[2] = 0;
+	_secondPoint[0] = 0;
+	_secondPoint[1] = 0;
+	_secondPoint[2] = 0;
 }
 
 /*
@@ -36,11 +39,59 @@ void Transformer3D::SetTransform(vtkTransform *transform)
 }
 
 /*
-	SETS CENTER POINT
+	SETS FIRST POINT
+*/
+void Transformer3D::SetFirstTranslation(double* first)
+{
+    _firstPoint[0]=first[0];
+	_firstPoint[1]=first[1];
+	_firstPoint[2]=first[2];
+}
+
+/*
+	SETS SECOND POINT
+*/
+void Transformer3D::SetSecondTranslation(double* second)
+{
+    _secondPoint[0]=second[0];
+	_secondPoint[1]=second[1];
+	_secondPoint[2]=second[2];
+}
+
+/*
+	SETS ROTATION AXIS
+*/
+void Transformer3D::SetRotationAxis(double* axis)
+{
+    _rotationAxis[0]=axis[0];
+	_rotationAxis[1]=axis[1];
+	_rotationAxis[2]=axis[2];
+}
+
+/*
+	SETS ROTATION AXIS
+*/
+void Transformer3D::SetSecondRotationAxis(double axis[3])
+{
+    _secondRotationAxis[0]=axis[0];
+	_secondRotationAxis[1]=axis[1];
+	_secondRotationAxis[2]=axis[2];
+}
+
+/*
+	SETS ROTATION ANGLE
 */
-void Transformer3D::SetCenterPoint(std::vector<int> point)
+void Transformer3D::SetAngle(double angle)
 {
-    _centerPoint=point;
+    _angle=angle;
+}
+
+/*
+	SETS SECOND ROTATION ANGLE
+*/
+void Transformer3D::SetSecondAngle(double angle)
+{
+    _secondAngle=angle;
 }
 
 
@@ -52,17 +103,45 @@ vtkTransform *Transformer3D::GetResult()
 	return _transform;
 }
 
+/*
+	GETS THE FIRST RESULTANT TRANSFORM (NTU: Useful for calculating the new position of the points before applying the second rotation)
+*/
+vtkTransform *Transformer3D::GetFirstResult()
+{
+	_transform->Identity();
+
+	_transform->Translate(-_firstPoint[0], -_firstPoint[1], -_firstPoint[2]);
+
+	_transform->RotateWXYZ(_angle, _rotationAxis[0], _rotationAxis[1], _rotationAxis[2]);
+
+	_transform->Translate(_secondPoint[0], _secondPoint[1], _secondPoint[2]);
+
+	
+	_transform->Update();	
+	return _transform;
+}
+
 /*
 	MAKES THE TRANSFORMATIONS
 */
 void Transformer3D::Run()
 {	
+	//Cleans the transformation matrix
 	_transform->Identity();
-	std::cout << "Center points transform 3D: " << "X: " << _centerPoint[0] << "Y: " << _centerPoint[1] << "Z: " << _centerPoint[2] << std::endl;
-	_transform->Translate(_centerPoint[0], _centerPoint[1], _centerPoint[2]);
 
-	//_transform->Scale(_scaleX, _scaleY,_scaleZ);
-	//_transform->RotateWXYZ(_angle, 0, 0, 1);
+	//Make all transformations in postmultiply mode
+	_transform->PostMultiply();
+
+	//Acomodate in 0,0,0 according to the first point of the second vector
+	_transform->Translate(-_secondPoint[0], -_secondPoint[1], -_secondPoint[2]);
+
+	_transform->RotateWXYZ(_angle, _rotationAxis[0], _rotationAxis[1], _rotationAxis[2]);
+
+	_transform->RotateWXYZ(_secondAngle, _secondRotationAxis[0], _secondRotationAxis[1], _secondRotationAxis[2]);
+
+	//Acommodate according to the first point of the first vector
+	_transform->Translate(_firstPoint[0], _firstPoint[1], _firstPoint[2]);	
 	
+	_transform->Inverse();
 	_transform->Update();
 }
diff --git a/lib/Transformer3D.h b/lib/Transformer3D.h
index 7f84d53..cd25fd4 100644
--- a/lib/Transformer3D.h
+++ b/lib/Transformer3D.h
@@ -10,12 +10,23 @@ public:
 	Transformer3D();
     ~Transformer3D();
 	void SetTransform(vtkTransform *transform);
-	void SetCenterPoint(std::vector<int> point);	
+	void SetRotationAxis(double* axis);
+	void SetFirstTranslation(double* first);
+	void SetSecondTranslation(double* second);
+	void SetSecondRotationAxis(double* axis);
+	void SetAngle(double angle);
+	void SetSecondAngle(double angle);
 	void Run();
 	
     vtkTransform *GetResult();
+	vtkTransform *GetFirstResult();
 private:
-	std::vector<int> _centerPoint;
+	double _rotationAxis[3];
+	double _secondRotationAxis[3];
+	double _firstPoint[3];
+	double _secondPoint[3];
+	double _angle;
+	double _secondAngle;
 	
 	vtkTransform *_transform;
 };