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/*=========================================================================
*
* Copyright UMC Utrecht and contributors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0.txt
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*=========================================================================*/
/*=========================================================================
Program: Insight Segmentation & Registration Toolkit
Module: $RCSfile: itkAdvancedRigid3DTransform.h,v $
Date: $Date: 2007-02-13 21:46:04 $
Version: $Revision: 1.38 $
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 itkAdvancedRigid3DTransform_h
#define itkAdvancedRigid3DTransform_h
#include <iostream>
#include "itkAdvancedMatrixOffsetTransformBase.h"
#include "itkMacro.h"
#include "itkMatrix.h"
#include "itkVersor.h"
namespace itk
{
/** \brief AdvancedRigid3DTransform of a vector space (e.g. space coordinates)
*
* This transform applies a rotation and translation in 3D space.
* The transform is specified as a rotation matrix around a arbitrary center
* and is followed by a translation.
*
* The parameters for this transform can be set either using individual Set
* methods or in serialized form using SetParameters() and SetFixedParameters().
*
* The serialization of the optimizable parameters is an array of 12 elements.
* The first 9 parameters represents the rotation matrix in column-major order
* (where the column index varies the fastest). The last 3 parameters defines
* the translation in each dimension.
*
* The serialization of the fixed parameters is an array of 3 elements defining
* the center of rotation in each dimension.
*
* \ingroup Transforms
*/
template <class TScalarType = double>
// type for scalars (float or double)
class ITK_TEMPLATE_EXPORT AdvancedRigid3DTransform : public AdvancedMatrixOffsetTransformBase<TScalarType, 3, 3>
{
public:
ITK_DISALLOW_COPY_AND_MOVE(AdvancedRigid3DTransform);
/** Standard class typedefs. */
using Self = AdvancedRigid3DTransform;
using Superclass = AdvancedMatrixOffsetTransformBase<TScalarType, 3, 3>;
using Pointer = SmartPointer<Self>;
using ConstPointer = SmartPointer<const Self>;
/** Run-time type information (and related methods). */
itkTypeMacro(AdvancedRigid3DTransform, AdvancedMatrixOffsetTransformBase);
/** New macro for creation of through a Smart Pointer */
itkNewMacro(Self);
/** Dimension of the space. */
itkStaticConstMacro(SpaceDimension, unsigned int, 3);
itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
itkStaticConstMacro(ParametersDimension, unsigned int, 12);
using typename Superclass::ParametersType;
using typename Superclass::NumberOfParametersType;
using typename Superclass::JacobianType;
using typename Superclass::ScalarType;
using typename Superclass::InputVectorType;
using typename Superclass::OutputVectorType;
using typename Superclass::InputCovariantVectorType;
using typename Superclass::OutputCovariantVectorType;
using typename Superclass::InputVnlVectorType;
using typename Superclass::OutputVnlVectorType;
using typename Superclass::InputPointType;
using typename Superclass::OutputPointType;
using typename Superclass::MatrixType;
using typename Superclass::InverseMatrixType;
using typename Superclass::CenterType;
using typename Superclass::TranslationType;
using typename Superclass::OffsetType;
using typename Superclass::NonZeroJacobianIndicesType;
using typename Superclass::SpatialJacobianType;
using typename Superclass::JacobianOfSpatialJacobianType;
using typename Superclass::SpatialHessianType;
using typename Superclass::JacobianOfSpatialHessianType;
using typename Superclass::InternalMatrixType;
/** Set the transformation from a container of parameters
* This is typically used by optimizers.
* There are 12 parameters. The first 9 represents the rotation
* matrix is column-major order and the last 3 represents the translation.
*
* \warning The rotation matrix must be orthogonal to within a specified tolerance,
* else an exception is thrown.
*
* \sa Transform::SetParameters()
* \sa Transform::SetFixedParameters() */
void
SetParameters(const ParametersType & parameters) override;
/** Directly set the rotation matrix of the transform.
* \warning The input matrix must be orthogonal to within a specified tolerance,
* else an exception is thrown.
*
* \sa AdvancedMatrixOffsetTransformBase::SetMatrix() */
void
SetMatrix(const MatrixType & matrix) override;
/**
* Utility function to test if a matrix is orthogonal within a specified
* tolerance
*/
bool
MatrixIsOrthogonal(const MatrixType & matrix, double tol = 1e-10);
protected:
explicit AdvancedRigid3DTransform(unsigned int paramDim);
AdvancedRigid3DTransform();
~AdvancedRigid3DTransform() override = default;
using Superclass::PrintSelf;
};
} // namespace itk
#ifndef ITK_MANUAL_INSTANTIATION
# include "itkAdvancedRigid3DTransform.hxx"
#endif
#endif /* itkAdvancedRigid3DTransform_h */
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