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import Constants from 'vtk.js/Sources/Common/Transform/LandmarkTransform/Constants';
import macro from 'vtk.js/Sources/macros';
import * as vtkMath from 'vtk.js/Sources/Common/Core/Math';
const { Mode } = Constants;
// ----------------------------------------------------------------------------
// vtkLandmarkTransform methods
// ----------------------------------------------------------------------------
function vtkLandmarkTransform(publicAPI, model) {
// Set our className
model.classHierarchy.push('vtkLandmarkTransform');
function update() {
mat4.identity(model.matrix);
const N_PTS = model.sourceLandmark.getNumberOfPoints();
Iif (
model.targetLandmark.getNumberOfPoints() !== N_PTS ||
model.sourceLandmark === null ||
model.targetLandmark === null ||
N_PTS === 0
) {
console.error('Error : Bad inputs of vtkLandmarkTransform');
return model.matrix;
}
// -- find the centroid of each set --
const sourceCentroid = [0, 0, 0];
const targetCentroid = [0, 0, 0];
const p = [0, 0, 0];
for (let i = 0; i < N_PTS; i++) {
model.sourceLandmark.getPoint(i, p);
sourceCentroid[0] += p[0];
sourceCentroid[1] += p[1];
sourceCentroid[2] += p[2];
model.targetLandmark.getPoint(i, p);
targetCentroid[0] += p[0];
targetCentroid[1] += p[1];
targetCentroid[2] += p[2];
}
sourceCentroid[0] /= N_PTS;
sourceCentroid[1] /= N_PTS;
sourceCentroid[2] /= N_PTS;
targetCentroid[0] /= N_PTS;
targetCentroid[1] /= N_PTS;
targetCentroid[2] /= N_PTS;
// -- if only one point, stop right here
if (N_PTS === 1) {
mat4.identity(model.matrix);
model.matrix[12] = targetCentroid[0] - sourceCentroid[0];
model.matrix[13] = targetCentroid[1] - sourceCentroid[1];
model.matrix[14] = targetCentroid[2] - sourceCentroid[2];
return model.matrix;
}
// -- build the 3x3 matrix M --
const M = new Float64Array(9);
const AAT = new Float64Array(9);
const a = [0, 0, 0];
const b = [0, 0, 0];
let sa = 0.0;
let sb = 0.0;
for (let pt = 0; pt < N_PTS; pt++) {
// get the origin-centred point (a) in the source set
model.sourceLandmark.getPoint(pt, a);
a[0] -= sourceCentroid[0];
a[1] -= sourceCentroid[1];
a[2] -= sourceCentroid[2];
// get the origin-centred point (b) in the target set
model.targetLandmark.getPoint(pt, b);
b[0] -= targetCentroid[0];
b[1] -= targetCentroid[1];
b[2] -= targetCentroid[2];
// accumulate the products a*T(b) into the matrix M
for (let i = 0; i < 3; i++) {
M[3 * 0 + i] += a[i] * b[0];
M[3 * 1 + i] += a[i] * b[1];
M[3 * 2 + i] += a[i] * b[2];
// for the affine transform, compute ((a.a^t)^-1 . a.b^t)^t.
// a.b^t is already in M. here we put a.a^t in AAT.
Iif (model.mode === Mode.AFFINE) {
AAT[3 * 0 + i] += a[i] * a[0];
AAT[3 * 1 + i] += a[i] * a[1];
AAT[3 * 2 + i] += a[i] * a[2];
}
}
// accumulate scale factors (if desired)
sa += a[0] * a[0] + a[1] * a[1] + a[2] * a[2];
sb += b[0] * b[0] + b[1] * b[1] + b[2] * b[2];
}
Iif (model.mode === Mode.AFFINE) {
// AAT = (a.a^t)^-1
mat3.invert(AAT, AAT);
// M = (a.a^t)^-1 . a.b^t
mat3.multiply(M, AAT, M);
// this->Matrix = M^t
for (let i = 0; i < 3; ++i) {
for (let j = 0; j < 3; ++j) {
model.matrix[4 * j + i] = M[4 * i + j];
}
}
} else {
const scale = Math.sqrt(sb / sa);
// -- build the 4x4 matrix N --
const N = new Float64Array(16);
// on-diagonal elements
N[0] = M[0] + M[4] + M[8];
N[5] = M[0] - M[4] - M[8];
N[10] = -M[0] + M[4] - M[8];
N[15] = -M[0] - M[4] + M[8];
// off-diagonal elements
/* eslint-disable no-multi-assign */
N[4] = N[1] = M[7] - M[5];
N[8] = N[2] = M[2] - M[6];
N[12] = N[3] = M[3] - M[1];
N[9] = N[6] = M[3] + M[1];
N[13] = N[7] = M[2] + M[6];
N[14] = N[11] = M[7] + M[5];
/* eslint-enable no-multi-assign */
// -- eigen-decompose N (is symmetric) --
// prettier-ignore
const eigenVectors = [
0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0,
];
const eigenValues = [0.0, 0.0, 0.0, 0.0];
vtkMath.jacobiN(N, 4, eigenValues, eigenVectors);
// The eigenvector with the largest eigenvalue is the quaternion we want
// (they are sorted in decreasing order for us by JacobiN)
let w;
let x;
let y;
let z;
// first; if points are collinear, choose the quaternion that
// results in the smallest rotation
Iif (eigenValues[0] === eigenValues[1] || N_PTS === 2) {
const s0 = [0, 0, 0];
const t0 = [0, 0, 0];
const s1 = [0, 0, 0];
const t1 = [0, 0, 0];
model.sourceLandmark.getPoint(0, s0);
model.targetLandmark.getPoint(0, t0);
model.sourceLandmark.getPoint(1, s1);
model.targetLandmark.getPoint(1, t1);
const ds = [0, 0, 0];
const dt = [0, 0, 0];
let rs = 0;
let rt = 0;
for (let i = 0; i < 3; i++) {
ds[i] = s1[i] - s0[i]; // vector between points
rs = ds[i] * ds[i] + rs;
dt[i] = t1[i] - t0[i];
rt = dt[i] * dt[i] + rt;
}
// normalize the two vectors
rs = Math.sqrt(rs);
ds[0] /= rs;
ds[1] /= rs;
ds[2] /= rs;
rt = Math.sqrt(rt);
dt[0] /= rt;
dt[1] /= rt;
dt[2] /= rt;
// take dot & cross product
w = ds[0] * dt[0] + ds[1] * dt[1] + ds[2] * dt[2];
x = ds[1] * dt[2] - ds[2] * dt[1];
y = ds[2] * dt[0] - ds[0] * dt[2];
z = ds[0] * dt[1] - ds[1] * dt[0];
let r = Math.sqrt(x * x + y * y + z * z);
const theta = Math.atan2(r, w);
// construct quaternion
w = Math.cos(theta / 2);
if (r !== 0) {
r = Math.sin(theta / 2) / r;
x *= r;
y *= r;
z *= r;
} else {
// rotation by 180 degrees : special case
// Rotate around a vector perpendicular to ds
vtkMath.perpendiculars(ds, dt, 0, 0);
r = Math.sin(theta / 2);
x = dt[0] * r;
y = dt[1] * r;
z = dt[2] * r;
}
} else {
// points are not collinear
w = eigenVectors[0];
x = eigenVectors[4];
y = eigenVectors[8];
z = eigenVectors[12];
}
// convert quaternion to a rotation matrix
const ww = w * w;
const wx = w * x;
const wy = w * y;
const wz = w * z;
const xx = x * x;
const yy = y * y;
const zz = z * z;
const xy = x * y;
const xz = x * z;
const yz = y * z;
model.matrix[0] = ww + xx - yy - zz;
model.matrix[1] = 2.0 * (wz + xy);
model.matrix[2] = 2.0 * (-wy + xz);
model.matrix[4] = 2.0 * (-wz + xy);
model.matrix[5] = ww - xx + yy - zz;
model.matrix[6] = 2.0 * (wx + yz);
model.matrix[8] = 2.0 * (wy + xz);
model.matrix[9] = 2.0 * (-wx + yz);
model.matrix[10] = ww - xx - yy + zz;
// add in the scale factor (if desired)
if (model.mode !== Mode.RIGID_BODY) {
for (let i = 0; i < 3; i++) {
model.matrix[4 * 0 + i] = model.matrix[4 * 0 + i] * scale;
model.matrix[4 * 1 + i] = model.matrix[4 * 1 + i] * scale;
model.matrix[4 * 2 + i] = model.matrix[4 * 2 + i] * scale;
}
}
}
// the translation is given by the difference in the transformed source
// centroid and the target centroid
const sx =
model.matrix[0] * sourceCentroid[0] +
model.matrix[4] * sourceCentroid[1] +
model.matrix[8] * sourceCentroid[2];
const sy =
model.matrix[1] * sourceCentroid[0] +
model.matrix[5] * sourceCentroid[1] +
model.matrix[9] * sourceCentroid[2];
const sz =
model.matrix[2] * sourceCentroid[0] +
model.matrix[6] * sourceCentroid[1] +
model.matrix[10] * sourceCentroid[2];
model.matrix[12] = targetCentroid[0] - sx;
model.matrix[13] = targetCentroid[1] - sy;
model.matrix[14] = targetCentroid[2] - sz;
// fill the bottom row of the 4x4 matrix
model.matrix[3] = 0.0;
model.matrix[7] = 0.0;
model.matrix[11] = 0.0;
model.matrix[15] = 1.0;
return model.matrix;
}
// Expose method
publicAPI.update = update;
}
// ----------------------------------------------------------------------------
// Object factory
// ----------------------------------------------------------------------------
const DEFAULT_VALUES = {
mode: Mode.SIMILARITY,
};
// ----------------------------------------------------------------------------
export function extend(publicAPI, model, initialValues = {}) {
Object.assign(model, DEFAULT_VALUES, initialValues);
macro.obj(publicAPI, model);
// Internal objects initialization
model.matrix = mat4.identity(new Float64Array(16));
macro.setGet(publicAPI, model, ['sourceLandmark', 'targetLandmark', 'mode']);
macro.get(publicAPI, model, ['matrix']);
vtkLandmarkTransform(publicAPI, model);
}
// ----------------------------------------------------------------------------
export const newInstance = macro.newInstance(extend, 'vtkLandmarkTransform');
// ----------------------------------------------------------------------------
export default { newInstance, extend, ...Constants };
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