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/*=========================================================================
*
* Copyright NumFOCUS
*
* 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
*
* https://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.
*
*=========================================================================*/
#ifndef itkComposeScaleSkewVersor3DTransform_h
#define itkComposeScaleSkewVersor3DTransform_h
#include <iostream>
#include "itkVersorRigid3DTransform.h"
namespace itk
{
/** \class ComposeScaleSkewVersor3DTransform
* \brief ComposeScaleSkewVersor3DTransform of a vector space (space coords)
*
* 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 12 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 3 parameters defines the skew.
*
* The serialization of the fixed parameters is an array of 3 elements defining
* the center of rotation.
*
*The transform can be described as:
* \f$ (\textbf{R}_v * \textbf{S} * \textbf{K})\textbf{x} \f$
* where \f$\textbf{R}_v\f$ is the rotation matrix given the versor,
* where \f$\textbf{S}\f$ is the diagonal scale matrix.
* where \f$\textbf{K}\f$ is the upper triangle skew (shear) matrix.
*
* \ingroup ITKTransform
*/
template <typename TParametersValueType = double>
class ITK_TEMPLATE_EXPORT ComposeScaleSkewVersor3DTransform : public VersorRigid3DTransform<TParametersValueType>
{
public:
ITK_DISALLOW_COPY_AND_MOVE(ComposeScaleSkewVersor3DTransform);
/** Standard class type aliases. */
using Self = ComposeScaleSkewVersor3DTransform;
using Superclass = VersorRigid3DTransform<TParametersValueType>;
using Pointer = SmartPointer<Self>;
using ConstPointer = SmartPointer<const Self>;
/** New macro for creation of through a Smart Pointer. */
itkNewMacro(Self);
/** \see LightObject::GetNameOfClass() */
itkOverrideGetNameOfClassMacro(ComposeScaleSkewVersor3DTransform);
/** Dimension of parameters. */
static constexpr unsigned int InputSpaceDimension = 3;
static constexpr unsigned int OutputSpaceDimension = 3;
static constexpr unsigned int ParametersDimension = 12;
/** Parameters Type */
using typename Superclass::ParametersType;
using typename Superclass::FixedParametersType;
using typename Superclass::JacobianType;
using typename Superclass::JacobianPositionType;
using typename Superclass::InverseJacobianPositionType;
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;
using typename Superclass::VersorType;
using typename Superclass::AxisType;
using typename Superclass::AngleType;
/** Scale & Skew Vector Type. */
using ScaleVectorType = Vector<TParametersValueType, 3>;
using SkewVectorType = Vector<TParametersValueType, 3>;
using ScaleVectorValueType = typename ScaleVectorType::ValueType;
using SkewVectorValueType = typename SkewVectorType::ValueType;
using TranslationValueType = typename TranslationType::ValueType;
using typename Superclass::AxisValueType;
using typename Superclass::ParametersValueType;
/** Directly set the matrix of the transform.
*
* Orthogonality testing is bypassed in this case.
*
* \sa MatrixOffsetTransformBase::SetMatrix() */
void
SetMatrix(const MatrixType & matrix) override;
void
SetMatrix(const MatrixType & matrix, const TParametersValueType tolerance) override;
/** Set the transformation from a container of parameters
* This is typically used by optimizers.
* There are 12 parameters:
* 0-2 versor (right part)
* 3-5 translation
* 6-8 Scale
* 9-11 Skew
** */
void
SetParameters(const ParametersType & parameters) override;
const ParametersType &
GetParameters() const override;
void
SetScale(const ScaleVectorType & scale);
itkGetConstReferenceMacro(Scale, ScaleVectorType);
void
SetSkew(const SkewVectorType & skew);
itkGetConstReferenceMacro(Skew, SkewVectorType);
void
SetIdentity() override;
/* This function is not implemented for this transform. An exception
* is thrown if this function is called. */
void
ComputeJacobianWithRespectToParameters(const InputPointType & p, JacobianType & jacobian) const override;
protected:
ComposeScaleSkewVersor3DTransform();
ComposeScaleSkewVersor3DTransform(const MatrixType & matrix, const OutputVectorType & offset);
ComposeScaleSkewVersor3DTransform(unsigned int parametersDimension);
~ComposeScaleSkewVersor3DTransform() override = default;
void
PrintSelf(std::ostream & os, Indent indent) const override;
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() override;
void
ComputeMatrixParameters() override;
private:
/** Vector containing the scale. */
ScaleVectorType m_Scale{};
/** Vector containing the skew */
SkewVectorType m_Skew{};
}; // class ComposeScaleSkewVersor3DTransform
} // namespace itk
#ifndef ITK_MANUAL_INSTANTIATION
# include "itkComposeScaleSkewVersor3DTransform.hxx"
#endif
#endif /* __ComposeScaleSkewVersor3DTransform_h */
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