1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
|
/*=========================================================================
Program: Insight Segmentation & Registration Toolkit
Module: $RCSfile: itkScaleSkewVersor3DTransform.h,v $
Language: C++
Date: $Date: 2007-06-10 12:02:30 $
Version: $Revision: 1.13 $
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 __itkScaleSkewVersor3DTransform_h
#define __itkScaleSkewVersor3DTransform_h
#include <iostream>
#include "itkVersorRigid3DTransform.h"
namespace itk
{
/** \brief ScaleSkewVersor3DTransform of a vector space (e.g. space coordinates)
*
* This transform applies a versor rotation and translation & scale/skew
* 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 15 elements.
* The first 3 elements are the components of the versor representation
* of 3D rotation. The next 3 parameters defines the translation in each
* dimension. The next 3 parameters defines scaling in each dimension.
* The last 6 parameters defines the skew.
*
* The serialization of the fixed parameters is an array of 3 elements defining
* the center of rotation.
*
*
* \ingroup Transforms
*/
template < class TScalarType=double > // Data type for scalars:float or double
class ITK_EXPORT ScaleSkewVersor3DTransform :
public VersorRigid3DTransform< TScalarType >
{
public:
/** Standard class typedefs. */
typedef ScaleSkewVersor3DTransform Self;
typedef VersorRigid3DTransform< TScalarType > Superclass;
typedef SmartPointer<Self> Pointer;
typedef SmartPointer<const Self> ConstPointer;
/** New macro for creation of through a Smart Pointer. */
itkNewMacro( Self );
/** Run-time type information (and related methods). */
itkTypeMacro( ScaleSkewVersor3DTransform, VersorRigid3DTransform );
/** Dimension of parameters. */
itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
itkStaticConstMacro(ParametersDimension, unsigned int, 15);
/** Parameters Type */
typedef typename Superclass::ParametersType ParametersType;
typedef typename Superclass::JacobianType JacobianType;
typedef typename Superclass::ScalarType ScalarType;
typedef typename Superclass::InputPointType InputPointType;
typedef typename Superclass::OutputPointType OutputPointType;
typedef typename Superclass::InputVectorType InputVectorType;
typedef typename Superclass::OutputVectorType OutputVectorType;
typedef typename Superclass::InputVnlVectorType InputVnlVectorType;
typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType;
typedef typename Superclass::InputCovariantVectorType
InputCovariantVectorType;
typedef typename Superclass::OutputCovariantVectorType
OutputCovariantVectorType;
typedef typename Superclass::MatrixType MatrixType;
typedef typename Superclass::InverseMatrixType InverseMatrixType;
typedef typename Superclass::CenterType CenterType;
typedef typename Superclass::OffsetType OffsetType;
typedef typename Superclass::TranslationType TranslationType;
typedef typename Superclass::VersorType VersorType;
typedef typename Superclass::AxisType AxisType;
typedef typename Superclass::AngleType AngleType;
/** Scale & Skew Vector Type. */
typedef Vector<TScalarType, 3>
ScaleVectorType;
typedef Vector<TScalarType, 6 > SkewVectorType;
/** Directly set the matrix of the transform.
*
* \sa MatrixOffsetTransformBase::SetMatrix() */
virtual void SetMatrix(const MatrixType &matrix);
/** Set the transformation from a container of parameters
* This is typically used by optimizers.
* There are 15 parameters:
* 0-2 versor
* 3-5 translation
* 6-8 Scale
* 9-14 Skew
** */
virtual void SetParameters( const ParametersType & parameters );
virtual const ParametersType& GetParameters(void) const;
void SetScale( const ScaleVectorType & scale );
itkGetConstReferenceMacro( Scale, ScaleVectorType );
void SetSkew( const SkewVectorType & skew );
itkGetConstReferenceMacro( Skew, SkewVectorType );
void SetIdentity();
/** This method computes the Jacobian matrix of the transformation.
* given point or vector, returning the transformed point or
* vector. The rank of the Jacobian will also indicate if the
* transform is invertible at this point. */
const JacobianType & GetJacobian(const InputPointType &point ) const;
protected:
ScaleSkewVersor3DTransform();
ScaleSkewVersor3DTransform(const MatrixType &matrix,
const OutputVectorType &offset);
ScaleSkewVersor3DTransform(unsigned int outputDims,
unsigned int paramDims);
~ScaleSkewVersor3DTransform(){};
void PrintSelf(std::ostream &os, Indent indent) const;
void SetVarScale(const ScaleVectorType & scale)
{ m_Scale = scale; };
void SetVarSkew(const SkewVectorType & skew)
{ m_Skew = skew; };
/** Compute the components of the rotation matrix in the superclass. */
void ComputeMatrix(void);
void ComputeMatrixParameters(void);
private:
ScaleSkewVersor3DTransform(const Self&); //purposely not implemented
void operator=(const Self&); //purposely not implemented
/** Vector containing the scale. */
ScaleVectorType m_Scale;
/** Vector containing the skew */
SkewVectorType m_Skew;
}; //class ScaleSkewVersor3DTransform
} // namespace itk
// Define instantiation macro for this template.
#define ITK_TEMPLATE_ScaleSkewVersor3DTransform(_, EXPORT, x, y) namespace itk { \
_(1(class EXPORT ScaleSkewVersor3DTransform< ITK_TEMPLATE_1 x >)) \
namespace Templates { typedef ScaleSkewVersor3DTransform< ITK_TEMPLATE_1 x > \
ScaleSkewVersor3DTransform##y; } \
}
#if ITK_TEMPLATE_EXPLICIT
# include "Templates/itkScaleSkewVersor3DTransform+-.h"
#endif
#if ITK_TEMPLATE_TXX
# include "itkScaleSkewVersor3DTransform.txx"
#endif
#endif /* __ScaleSkewVersor3DTransform_h */
|
