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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: itkAdvancedVersorRigid3DTransform.h,v $
Date: $Date: 2006-08-09 04:35:32 $
Version: $Revision: 1.27 $
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 itkAdvancedVersorRigid3DTransform_h
#define itkAdvancedVersorRigid3DTransform_h
#include <iostream>
#include "itkAdvancedVersorTransform.h"
namespace itk
{
/** \class AdvancedVersorRigid3DTransform
*
* \brief AdvancedVersorRigid3DTransform of a vector space (e.g. space coordinates)
*
* This transform applies a rotation and translation to the space
* 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 6 elements.
* The first 3 elements are the components of the versor representation
* of 3D rotation. 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.
*
* NB: SK: this class is just to have the AdvancedSimilarity3DTransform. It is not complete.
*
* \ingroup Transforms
*/
template <class TScalarType = double>
// Data type for scalars (float or double)
class ITK_TEMPLATE_EXPORT AdvancedVersorRigid3DTransform : public AdvancedVersorTransform<TScalarType>
{
public:
ITK_DISALLOW_COPY_AND_MOVE(AdvancedVersorRigid3DTransform);
/** Standard class typedefs. */
using Self = AdvancedVersorRigid3DTransform;
using Superclass = AdvancedVersorTransform<TScalarType>;
using Pointer = SmartPointer<Self>;
using ConstPointer = SmartPointer<const Self>;
/** New macro for creation of through a Smart Pointer. */
itkNewMacro(Self);
/** Run-time type information (and related methods). */
itkTypeMacro(AdvancedVersorRigid3DTransform, AdvancedVersorTransform);
/** Dimension of parameters. */
itkStaticConstMacro(SpaceDimension, unsigned int, 3);
itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
itkStaticConstMacro(ParametersDimension, unsigned int, 6);
/** Parameters Type */
using typename Superclass::ParametersType;
using typename Superclass::NumberOfParametersType;
using typename Superclass::JacobianType;
using typename Superclass::ScalarType;
using typename Superclass::InputPointType;
using typename Superclass::OutputPointType;
using typename Superclass::InputVectorType;
using typename Superclass::OutputVectorType;
using typename Superclass::InputVnlVectorType;
using typename Superclass::OutputVnlVectorType;
using typename Superclass::InputCovariantVectorType;
using typename Superclass::OutputCovariantVectorType;
using typename Superclass::MatrixType;
using typename Superclass::InverseMatrixType;
using typename Superclass::CenterType;
using typename Superclass::OffsetType;
using typename Superclass::TranslationType;
/** Versor type. */
using typename Superclass::VersorType;
using typename Superclass::AxisType;
using typename Superclass::AngleType;
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 6 parameters. The first three represent the
* versor, the last three represent the translation. */
void
SetParameters(const ParametersType & parameters) override;
const ParametersType &
GetParameters() const override;
/** This method computes the Jacobian matrix of the transformation. */
void
GetJacobian(const InputPointType &, JacobianType &, NonZeroJacobianIndicesType &) const override;
protected:
explicit AdvancedVersorRigid3DTransform(unsigned int paramDim);
AdvancedVersorRigid3DTransform(const MatrixType & matrix, const OutputVectorType & offset);
AdvancedVersorRigid3DTransform();
~AdvancedVersorRigid3DTransform() override = default;
using Superclass::PrintSelf;
};
// class AdvancedVersorRigid3DTransform
} // namespace itk
#ifndef ITK_MANUAL_INSTANTIATION
# include "itkAdvancedVersorRigid3DTransform.hxx"
#endif
#endif /* itkAdvancedVersorRigid3DTransform_h */
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