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/*=========================================================================
Program: Image Guided Surgery Software Toolkit
Module: $RCSfile: igstkPerspectiveTransform.cxx,v $
Language: C++
Date: $Date: 2009-06-15 19:56:58 $
Version: $Revision: 1.2 $
Copyright (c) ISC Insight Software Consortium. All rights reserved.
See IGSTKCopyright.txt or http://www.igstk.org/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.
=========================================================================*/
#include "igstkPerspectiveTransform.h"
namespace igstk
{
PerspectiveTransform
::PerspectiveTransform() : TransformBase()
{
}
PerspectiveTransform
::PerspectiveTransform( const PerspectiveTransform & inputTransform ) :
TransformBase( inputTransform )
{
this->m_ExtrinsicTransform = inputTransform.m_ExtrinsicTransform;
this->m_IntrinsicTransform = inputTransform.m_IntrinsicTransform;
}
PerspectiveTransform
::~PerspectiveTransform()
{
}
const PerspectiveTransform &
PerspectiveTransform
::operator=( const PerspectiveTransform & inputTransform )
{
this->m_ExtrinsicTransform = inputTransform.m_ExtrinsicTransform;
this->m_IntrinsicTransform = inputTransform.m_IntrinsicTransform;
this->m_Error = inputTransform.m_Error;
this->m_TimeStamp = inputTransform.m_TimeStamp;
return *this;
}
void
PerspectiveTransform
::SetTransform( const ExtrinsicMatrixType &extrinsic,
const IntrinsicMatrixType &intrinsic,
ErrorType errorValue,
TimePeriodType millisecondsToExpiration )
{
this->m_TimeStamp.SetStartTimeNowAndExpireAfter( millisecondsToExpiration );
this->m_Error = errorValue;
this->m_ExtrinsicTransform = extrinsic;
this->m_IntrinsicTransform = intrinsic;
}
void
PerspectiveTransform
::ExportTransform( vtkPerspectiveTransform &outMatrix ) const
{
//the 3x4 concatenated transformation matrix
ExtrinsicMatrixType::InternalMatrixType T =
this->m_IntrinsicTransform.GetVnlMatrix()*
this->m_ExtrinsicTransform.GetVnlMatrix();
//constructor initializes vtkMatrix4x4 to identity
vtkMatrix4x4 *vtkT = vtkMatrix4x4::New();
for(unsigned int i=0; i<3; i++ )
{
for(unsigned int j=0; j<4; j++ )
{
vtkT->SetElement(i,j,T(i,j));
}
}
outMatrix.SetMatrix( vtkT );
vtkT->Delete();
}
void
PerspectiveTransform
::ExportExtrinsicParameters( ::vtkMatrix4x4 & outmatrix ) const
{
outmatrix.SetElement(3,0,0);
outmatrix.SetElement(3,1,0);
outmatrix.SetElement(3,2,0);
outmatrix.SetElement(3,3,1);
for(unsigned int i=0; i<3; i++ )
{
for(unsigned int j=0; j<4; j++ )
{
outmatrix.SetElement(i,j,this->m_ExtrinsicTransform(i,j));
}
}
}
void
PerspectiveTransform
::ExportIntrinsicParameters( vtkPerspectiveTransform &outMatrix ) const
{
//constructor initializes vtkMatrix4x4 to identity
vtkMatrix4x4 *vtkT = vtkMatrix4x4::New();
for(unsigned int i=0; i<3; i++ )
{
for(unsigned int j=0; j<3; j++ )
{
vtkT->SetElement(i,j,this->m_IntrinsicTransform(i,j));
}
}
outMatrix.SetMatrix( vtkT );
vtkT->Delete();
}
void
PerspectiveTransform
::Print( std::ostream& os, itk::Indent indent ) const
{
this->PrintHeader( os, indent );
this->PrintSelf( os, indent.GetNextIndent() );
this->PrintTrailer( os, indent );
}
/**
* Define a default print header for all objects.
*/
void
PerspectiveTransform
::PrintHeader( std::ostream& os, itk::Indent indent ) const
{
os << indent << "Perspective Transform" << " (" << this << ")\n";
}
/**
* Define a default print trailer for all objects.
*/
void
PerspectiveTransform
::PrintTrailer( std::ostream& itkNotUsed(os),
itk::Indent itkNotUsed(indent) ) const
{
}
/**
* This operator allows all subclasses of LightObject to be printed via <<.
* It in turn invokes the Print method, which in turn will invoke the
* PrintSelf method that all objects should define, if they have anything
* interesting to print out.
*/
std::ostream& operator<<( std::ostream& os, const PerspectiveTransform& o )
{
o.Print(os, 0);
return os;
}
/** Print object information */
void PerspectiveTransform::PrintSelf( std::ostream& os, itk::Indent indent )
const
{
os << indent << "RTTI typeinfo: " << typeid( *this ).name() << std::endl;
this->m_TimeStamp.Print( os, indent ); // Get the right indenting.
os << indent << this->m_Error << std::endl;
os << indent << this->m_IntrinsicTransform << std::endl;
os << indent << this->m_ExtrinsicTransform << std::endl;
}
} // end namespace igstk
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