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ENH: Suppress "Bad Rotation Matrix" warnings #1697

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merged 2 commits into from
Mar 19, 2024
Merged

ENH: Suppress "Bad Rotation Matrix" warnings #1697

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a238f0a
ENH: Suppress "Bad Rotation Matrix" warnings
dzenanz Mar 12, 2024
6a9dbed
ENH: Check if the rotation matrix is bad
cookpa Mar 19, 2024
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45 changes: 43 additions & 2 deletions ImageRegistration/itkANTSCenteredAffine2DTransform.hxx
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
#define _itkANTSCenteredAffine2DTransform_hxx

// #include "itkRigid2DTransform.h"
#include "itkMath.h"
#include "vnl/algo/vnl_qr.h"

namespace itk
Expand Down Expand Up @@ -133,9 +134,49 @@ ANTSCenteredAffine2DTransform<TScalarType>::ComputeMatrixParameters(void)

this->ComputeMatrix();

if (static_cast<double>(this->GetMatrix()[1][0]) - static_cast<double>(std::sin(m_Angle)) > 0.000001)
if (this->GetDebug())
{
itkWarningMacro("Bad Rotation Matrix " << this->GetMatrix());
// check that the matrix computed from the parameters contains a valid rotation of m_Angle
const TMatrix U{ this->GetMatrix().GetVnlMatrix() };
vnl_qr<ScalarType> myqr_updated(U.as_matrix());

// Note switch of Q and R from vnl names here!
R = myqr_updated.Q(); // Q() is the rotation
Q = myqr_updated.R(); // R() is the upper triangluar

TMatrix dq_updated(itk::NumericTraits<TScalarType>::ZeroValue());
for (unsigned i = 0; i < 2; i++)
{
dq_updated(i, i) = (Q(i, i) >= 0) ? 1 : -1;
}

R = R * dq_updated;
Q = dq_updated * Q;

double angleCheck = static_cast<double>(std::acos(R[0][0]));

if (R[1][0] < itk::NumericTraits<TScalarType>::ZeroValue())
{
angleCheck = -angleCheck;
}

double tolerance = 1e-4;

if (std::abs(angleCheck - static_cast<double>(m_Angle)) > tolerance)
{
itkWarningMacro("Bad rotation in affine transform matrix " << this->GetMatrix() << std::endl
<< "Angle = " << angleCheck << std::endl
<< "acos(R[0][0]) = " << std::acos(R[0][0]) << std::endl
<< "cos(Angle) = " << std::cos(angleCheck) << std::endl
<< "R[0][0] = " << R[0][0]);
}
if (std::abs(static_cast<double>(R[1][0]) - static_cast<double>(std::sin(angleCheck))) > tolerance)
{
itkWarningMacro("Bad rotation in affine transform matrix " << this->GetMatrix() << std::endl
<< "Angle = " << angleCheck << std::endl
<< "sin(Angle) = " << std::sin(angleCheck) << std::endl
<< "R[1][0] = " << R[1][0]);
}
}
}

Expand Down