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added feature to lock rotation to one axis #94

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added feature to lock rotation to one axis #94

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86b3841
added rotation filter in rigid_registration.py
rejuce Sep 26, 2024
eb85ab4
fixed logic mistake in input chekcing logic
rejuce Sep 26, 2024
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31 changes: 30 additions & 1 deletion pycpd/rigid_registration.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,10 @@ class RigidRegistration(EMRegistration):
Utility array used to calculate the rotation matrix.
Defined in Fig. 2 of https://arxiv.org/pdf/0905.2635.pdf.

rotationFilter: single character
'x','y' or 'z'
If one of those values is set, only rotations areound this axis are allowed

"""
# Additional parameters used in this class, but not inputs.
# YPY: float
Expand All @@ -36,7 +40,7 @@ class RigidRegistration(EMRegistration):
# Defined in Fig. 2 of https://arxiv.org/pdf/0905.2635.pdf.


def __init__(self, R=None, t=None, s=None, scale=True, *args, **kwargs):
def __init__(self, R=None, t=None, s=None, rotationFilter=None, scale=True, *args, **kwargs):
super().__init__(*args, **kwargs)
if self.D != 2 and self.D != 3:
raise ValueError(
Expand All @@ -54,10 +58,15 @@ def __init__(self, R=None, t=None, s=None, scale=True, *args, **kwargs):
raise ValueError(
'The scale factor must be a positive number. Instead got: {}.'.format(s))

if rotationFilter is not None and ((rotationFilter != 'x') and (rotationFilter != 'y') and (rotationFilter != 'z')):
raise ValueError(
'Valid rotation filters are x,y or z. If one of those values is set, only rotations areound this axis are allowed. Instead got: {}.'.format(rotationFilter))

self.R = np.eye(self.D) if R is None else R
self.t = np.atleast_2d(np.zeros((1, self.D))) if t is None else t
self.s = 1 if s is None else s
self.scale = scale
self.rotationFilter = rotationFilter

def update_transform(self):
"""
Expand Down Expand Up @@ -88,6 +97,26 @@ def update_transform(self):

# Calculate the rotation matrix using Eq. 9 of https://arxiv.org/pdf/0905.2635.pdf.
self.R = np.transpose(np.dot(np.dot(U, np.diag(C)), V))

if self.rotationFilter is not None and self.rotationFilter == 'z':
self.R[0,2] = 0
self.R[1,2] = 0
self.R[2,0] = 0
self.R[2,1] = 0
self.R[2,2] = 1
elif self.rotationFilter is not None and self.rotationFilter == 'x':
self.R[0,0] = 1
self.R[0,1] = 0
self.R[0,2] = 0
self.R[1,0] = 0
self.R[2,0] = 0
elif self.rotationFilter is not None and self.rotationFilter == 'y':
self.R[0,1] = 0
self.R[1,0] = 0
self.R[2,1] = 0
self.R[1,2] = 0
self.R[1,1] = 1

# Update scale and translation using Fig. 2 of https://arxiv.org/pdf/0905.2635.pdf.
if self.scale is True:
self.s = np.trace(np.dot(np.transpose(self.A), np.transpose(self.R))) / self.YPY
Expand Down