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/*=========================================================================
Program: Insight Segmentation & Registration Toolkit
Module: $RCSfile: itkVersorRigid3DTransform.h,v $
Language: C++
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 __itkVersorRigid3DTransform_h
#define __itkVersorRigid3DTransform_h
#include <iostream>
#include "itkVersorTransform.h"
namespace itk
{
/** \class VersorRigid3DTransform
*
* \brief VersorRigid3DTransform 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.
*
*
* \ingroup Transforms
*/
template < class TScalarType=double >//Data type for scalars (float or double)
class ITK_EXPORT VersorRigid3DTransform :
public VersorTransform< TScalarType >
{
public:
/** Standard class typedefs. */
typedef VersorRigid3DTransform Self;
typedef VersorTransform< 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( VersorRigid3DTransform, VersorTransform );
/** 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 */
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;
/** Versor type. */
typedef typename Superclass::VersorType VersorType;
typedef typename Superclass::AxisType AxisType;
typedef typename Superclass::AngleType AngleType;
/** 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 );
virtual const ParametersType& GetParameters(void) const;
/** 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:
VersorRigid3DTransform(unsigned int outputSpaceDim,
unsigned int paramDim);
VersorRigid3DTransform(const MatrixType & matrix,
const OutputVectorType & offset);
VersorRigid3DTransform();
~VersorRigid3DTransform(){};
void PrintSelf(std::ostream &os, Indent indent) const;
/** This method must be made protected here because it is not a safe way of
* initializing the Versor */
virtual void SetRotationMatrix(const MatrixType & matrix)
{ this->Superclass::SetRotationMatrix( matrix ); }
private:
VersorRigid3DTransform(const Self&); //purposely not implemented
void operator=(const Self&); //purposely not implemented
}; //class VersorRigid3DTransform
} // namespace itk
// Define instantiation macro for this template.
#define ITK_TEMPLATE_VersorRigid3DTransform(_, EXPORT, x, y) namespace itk { \
_(1(class EXPORT VersorRigid3DTransform< ITK_TEMPLATE_1 x >)) \
namespace Templates { typedef VersorRigid3DTransform< ITK_TEMPLATE_1 x > VersorRigid3DTransform##y; } \
}
#if ITK_TEMPLATE_EXPLICIT
# include "Templates/itkVersorRigid3DTransform+-.h"
#endif
#if ITK_TEMPLATE_TXX
# include "itkVersorRigid3DTransform.txx"
#endif
#endif /* __itkVersorRigid3DTransform_h */
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