private static Matrix CalcRotateMatrixFromOrthogonalBasis(Vector3D xAxis, Vector3D yAxis, Vector3D zAxis)
{
const float zeroTolerance = 1e-4f;
Platform.CheckForNullReference(xAxis, "xAxis");
Platform.CheckForNullReference(yAxis, "yAxis");
Platform.CheckForNullReference(zAxis, "zAxis");
Platform.CheckFalse(xAxis.IsNull || yAxis.IsNull || zAxis.IsNull, "Input must be an orthogonal set of basis vectors (i.e. non-trivial vectors).");
Platform.CheckTrue(FloatComparer.AreEqual(xAxis.Dot(yAxis), 0, zeroTolerance)
&& FloatComparer.AreEqual(xAxis.Dot(zAxis), 0, zeroTolerance)
&& FloatComparer.AreEqual(yAxis.Dot(zAxis), 0, zeroTolerance), "Input must be an orthogonal set of basis vectors (i.e. mutually perpendicular).");
xAxis = xAxis.Normalize();
yAxis = yAxis.Normalize();
zAxis = zAxis.Normalize();
//TODO (CR Sept 2010): is this a rotation matrix, or the definition of a coordinate system?
var basis = new Matrix(4, 4);
basis.SetRow(0, xAxis.X, xAxis.Y, xAxis.Z, 0);
basis.SetRow(1, yAxis.X, yAxis.Y, yAxis.Z, 0);
basis.SetRow(2, zAxis.X, zAxis.Y, zAxis.Z, 0);
basis.SetRow(3, 0, 0, 0, 1);
return basis;
}
public Vector3D ConvertToPatient(Vector3D volumePosition)
{
Platform.CheckForNullReference(volumePosition, "volumePosition");
// Set orientation transform
var volumePatientTransform = _volumeOrientationPatient.Augment();
// Set origin translation
volumePatientTransform.SetRow(3, VolumePositionPatient.X, VolumePositionPatient.Y, VolumePositionPatient.Z, 1);
// Transform volume position to patient position
var imagePositionMatrix = new Matrix(1, 4);
imagePositionMatrix.SetRow(0, volumePosition.X, volumePosition.Y, volumePosition.Z, 1F);
var patientPositionMatrix = imagePositionMatrix*volumePatientTransform;
var patientPosition = new Vector3D(patientPositionMatrix[0, 0], patientPositionMatrix[0, 1], patientPositionMatrix[0, 2]);
return patientPosition;
}
public Vector3D ConvertToVolume(Vector3D patientPosition)
{
Platform.CheckForNullReference(patientPosition, "patientPosition");
// Set orientation transform
var patientVolumeTransform = _volumeOrientationPatient.Augment(true);
// Set origin translation
var rotatedOrigin = RotateToVolumeOrientation(VolumePositionPatient);
patientVolumeTransform.SetRow(3, -rotatedOrigin.X, -rotatedOrigin.Y, -rotatedOrigin.Z, 1);
// Transform patient position to volume position
var patientPositionMatrix = new Matrix(1, 4);
patientPositionMatrix.SetRow(0, patientPosition.X, patientPosition.Y, patientPosition.Z, 1F);
var imagePositionMatrix = patientPositionMatrix*patientVolumeTransform;
var imagePosition = new Vector3D(imagePositionMatrix[0, 0], imagePositionMatrix[0, 1], imagePositionMatrix[0, 2]);
return imagePosition;
}
public Vector3D RotateToVolumeOrientation(Vector3D patientVec)
{
Matrix patientPos = new Matrix(1, 4);
patientPos.SetRow(0, patientVec.X, patientVec.Y, patientVec.Z, 1F);
Matrix volumePos = patientPos*OrientationPatientMatrix.Transpose();
return new Vector3D(volumePos[0, 0], volumePos[0, 1], volumePos[0, 2]);
}
public Vector3D RotateToPatientOrientation(Vector3D volumeVec)
{
Matrix volumePos = new Matrix(1, 4);
volumePos.SetRow(0, volumeVec.X, volumeVec.Y, volumeVec.Z, 1F);
Matrix patientPos = volumePos*OrientationPatientMatrix;
return new Vector3D(patientPos[0, 0], patientPos[0, 1], patientPos[0, 2]);
}
public Vector3D ConvertToVolume(Vector3D patientPosition)
{
// Set orientation transform
Matrix patientVolumeTransform = new Matrix(OrientationPatientMatrix.Transpose());
// Set origin translation
Vector3D rotatedOrigin = RotateToVolumeOrientation(OriginPatient);
patientVolumeTransform.SetRow(3, -rotatedOrigin.X, -rotatedOrigin.Y, -rotatedOrigin.Z, 1);
// Transform patient position to volume position
Matrix patientPositionMatrix = new Matrix(1, 4);
patientPositionMatrix.SetRow(0, patientPosition.X, patientPosition.Y, patientPosition.Z, 1F);
Matrix imagePositionMatrix = patientPositionMatrix*patientVolumeTransform;
Vector3D imagePosition = new Vector3D(imagePositionMatrix[0, 0], imagePositionMatrix[0, 1],
imagePositionMatrix[0, 2]);
return imagePosition;
}
public Vector3D ConvertToPatient(Vector3D volumePosition)
{
// Set orientation transform
Matrix volumePatientTransform = new Matrix(OrientationPatientMatrix);
// Set origin translation
volumePatientTransform.SetRow(3, OriginPatient.X, OriginPatient.Y, OriginPatient.Z, 1);
// Transform volume position to patient position
Matrix imagePositionMatrix = new Matrix(1, 4);
imagePositionMatrix.SetRow(0, volumePosition.X, volumePosition.Y, volumePosition.Z, 1F);
Matrix patientPositionMatrix = imagePositionMatrix*volumePatientTransform;
Vector3D patientPosition = new Vector3D(patientPositionMatrix[0, 0], patientPositionMatrix[0, 1],
patientPositionMatrix[0, 2]);
return patientPosition;
}
/// <summary>
/// Gets a rotation matrix that, when multiplied by a column matrix representing a
/// position vector in patient coordinates, will rotate the position vector
/// into a coordinate system matching that of the image plane.
/// </summary>
/// <returns>The rotation matrix, or null if the <see cref="Frame"/>'s position information is invalid.</returns>
private Matrix GetRotationMatrix()
{
if (_rotationMatrix == null)
{
if (ImageOrientationPatient.IsNull)
return null;
Vector3D normal = GetNormalVector();
if (normal == null || normal.IsNull)
return null;
_rotationMatrix = new Matrix(3, 3);
_rotationMatrix.SetRow(0, (float)ImageOrientationPatient.RowX, (float)ImageOrientationPatient.RowY, (float)ImageOrientationPatient.RowZ);
_rotationMatrix.SetRow(1, (float)ImageOrientationPatient.ColumnX, (float)ImageOrientationPatient.ColumnY, (float)ImageOrientationPatient.ColumnZ);
_rotationMatrix.SetRow(2, normal.X, normal.Y, normal.Z);
}
return _rotationMatrix;
}