#2810 crea RigidRegistration Bug New Normal - update Transform3D3PointsBox

[creaRigidRegistration.git] / lib / Transformer3D.cxx

diff --git a/lib/Transformer3D.cxx b/lib/Transformer3D.cxx
index 2cdbabbc5c137a472b752a6ab033e6e0a2ee0402..f948f7ddf94392c185a2fa4b5170c4255ddeeca8 100644 (file)
--- a/lib/Transformer3D.cxx
+++ b/lib/Transformer3D.cxx
@@ -1,3 +1,29 @@
+/*
+# ---------------------------------------------------------------------
+#
+# Copyright (c) CREATIS (Centre de Recherche en Acquisition et Traitement de l'Image 
+#                        pour la Santé)
+# Authors : Eduardo Davila, Frederic Cervenansky, Claire Mouton
+# Previous Authors : Laurent Guigues, Jean-Pierre Roux
+# CreaTools website : www.creatis.insa-lyon.fr/site/fr/creatools_accueil
+#
+#  This software is governed by the CeCILL-B license under French law and 
+#  abiding by the rules of distribution of free software. You can  use, 
+#  modify and/ or redistribute the software under the terms of the CeCILL-B 
+#  license as circulated by CEA, CNRS and INRIA at the following URL 
+#  http://www.cecill.info/licences/Licence_CeCILL-B_V1-en.html 
+#  or in the file LICENSE.txt.
+#
+#  As a counterpart to the access to the source code and  rights to copy,
+#  modify and redistribute granted by the license, users are provided only
+#  with a limited warranty  and the software's author,  the holder of the
+#  economic rights,  and the successive licensors  have only  limited
+#  liability. 
+#
+#  The fact that you are presently reading this means that you have had
+#  knowledge of the CeCILL-B license and that you accept its terms.
+# ------------------------------------------------------------------------      */                                                                    
+
 
 #include "Transformer3D.h"
 #include "vtkMatrix4x4.h"
@@ -7,15 +33,18 @@
 */
 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;
 }
 
 /*
@@ -36,14 +65,70 @@ 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::SetAngle(double angle)
+{
+    _angle=angle;
+}
+
+/*
+       SETS SECOND ROTATION ANGLE
 */
-void Transformer3D::SetCenterPoint(std::vector<int> point)
+void Transformer3D::SetSecondAngle(double angle)
 {
-    _centerPoint=point;
+    _secondAngle=angle;
 }
 
 
+void Transformer3D::SetScale(double scale)
+{
+    _scale=scale;
+}
+
+
+
+
 /*
        GETS THE RESULTANT TRANSFORM
 */
@@ -52,17 +137,37 @@ 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]);
+printf("EED Transformer3D::Run %f %f\n", _angle, _secondAngle);
+       _transform->Scale(_scale,_scale,_scale);
+       //Acommodate according to the first point of the first vector
+       _transform->Translate(_firstPoint[0], _firstPoint[1], _firstPoint[2]);  
+       _transform->Inverse();
        _transform->Update();
 }
+