itkVersorRigid3DTransformOptimizer.cxx

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

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkVersorRigid3DTransformOptimizer.cxx,v $
  Language:  C++
  Date:      $Date: 2007-03-22 14:29:14 $
  Version:   $Revision: 1.2 $

  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 _itkVersorRigid3DTransformOptimizer_txx
#define _itkVersorRigid3DTransformOptimizer_txx

#include "itkVersorRigid3DTransformOptimizer.h"
#include "vnl/vnl_quaternion.h"
#include "itkEventObject.h"

namespace itk
{

void
VersorRigid3DTransformOptimizer
::StepAlongGradient( double factor, 
                     const DerivativeType & transformedGradient )
{ 


  const ParametersType & currentPosition = this->GetCurrentPosition();

  // The parameters are assumed to be the right part of the versor and the
  // components of the translation vector.
  // 
  VectorType rightPart;
  for(unsigned int i=0; i<3; i++)
    {
    rightPart[i] = currentPosition[i];
    }


  VersorType currentRotation;
  currentRotation.Set( rightPart );

  // The gradient indicate the contribution of each one 
  // of the axis to the direction of highest change in
  // the function
  VectorType   axis;
  axis[0] = transformedGradient[0];
  axis[1] = transformedGradient[1];
  axis[2] = transformedGradient[2];

  
  // gradientRotation is a rotation along the 
  // versor direction which maximize the 
  // variation of the cost function in question.
  // An additional Exponentiation produce a jump 
  // of a particular length along the versor gradient 
  // direction.

  VersorType gradientRotation;
  gradientRotation.Set( axis, factor * axis.GetNorm() );

  //
  // Composing the currentRotation with the gradientRotation 
  // produces the new Rotation versor 
  //
  VersorType newRotation = currentRotation * gradientRotation;

  ParametersType newParameters( SpaceDimension );

  newParameters[0] = newRotation.GetX();
  newParameters[1] = newRotation.GetY();
  newParameters[2] = newRotation.GetZ();


  // Now do the typical update for a Vector space.
  for(unsigned int k=3; k<6; k++)
    {
    newParameters[k] = currentPosition[k] + transformedGradient[k] * factor;
    }


  this->SetCurrentPosition( newParameters );

}

} // end namespace itk

#endif