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/*=========================================================================
Program: Image Guided Surgery Software Toolkit
Module: $RCSfile: igstkPerspectiveTransform.h,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.
=========================================================================*/
#ifndef __igstkPerspectiveTransform_h
#define __igstkPerspectiveTransform_h
#include "igstkTransformBase.h"
#include "vtkMatrix4x4.h"
#include "vtkPerspectiveTransform.h"
#include "itkMatrix.h"
#include "igstkMacros.h"
namespace igstk
{
/** \class PerspectiveTransform
* \brief A class representing a 3D rigid transformation followed by a
* perspective projection.
*
* This class represents a perspective transform of points from 3D to 2D.
*
* All the set methods require an argument that defines the number of
* milliseconds for which the stored information is considered to be valid.
* The validity period will be counted from the moment the Set method was
* invoked.
*
* \sa TransformBase
*
* */
class PerspectiveTransform : public TransformBase
{
public:
/** Extrinsic perspective camera parameters [R,t]*/
typedef ::itk::Matrix<double, 3, 4> ExtrinsicMatrixType;
/** Intrinsic perspective camera parameters, upper triangular matrix*/
typedef ::itk::Matrix<double, 3, 3> IntrinsicMatrixType;
public:
/** Constructor and destructor */
PerspectiveTransform();
PerspectiveTransform( const PerspectiveTransform & t );
virtual ~PerspectiveTransform();
/** Assign the values of one transform to another */
const PerspectiveTransform & operator=(
const PerspectiveTransform & inputTransform );
/** Set perspective transformation. This transformation will override
* any previously set values. The information will be
* considered valid from the time of invocation of the method until that time
* plus the millisecondsToExpiration value. */
void SetTransform( const ExtrinsicMatrixType &extrinsic,
const IntrinsicMatrixType &intrinsic,
ErrorType errorValue,
TimePeriodType millisecondsToExpiration );
/** Export the content of the transformation into a vtkPerspective transform
* which represents the rigid transform followed by the perspective
* projection.
* Users must allocate the matrix first and then pass it by reference to this
* method. The current method will simply fill in the transform.
*/
void ExportTransform( vtkPerspectiveTransform &outMatrix ) const;
/** Export the extrinsic camera parameters. This is the rigid transformation
* between the camera and the reference frame relative to which it was
* calibrated.
*/
void ExportExtrinsicParameters( vtkMatrix4x4 & matrix ) const;
/** Export the intrinsic camera parameters. This is the perspective
* transformation associated with the internal camera parameters.
*/
void ExportIntrinsicParameters( vtkPerspectiveTransform &outMatrix ) const;
/** Method for printing the member variables of this class to an ostream */
void Print( std::ostream& os, itk::Indent indent ) const;
protected:
void PrintHeader( std::ostream& os, itk::Indent indent ) const;
void PrintTrailer( std::ostream& itkNotUsed(os),
itk::Indent itkNotUsed(indent) ) const;
/** Print the object information in a stream. */
virtual void PrintSelf( std::ostream& os, itk::Indent indent ) const;
private:
ExtrinsicMatrixType m_ExtrinsicTransform;
IntrinsicMatrixType m_IntrinsicTransform;
};
std::ostream& operator<<( std::ostream& os,
const igstk::PerspectiveTransform& o );
}
#endif
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