File: itkComposeScaleSkewVersor3DTransform.h

package info (click to toggle)
insighttoolkit5 5.4.3-5
  • links: PTS, VCS
  • area: main
  • in suites: forky, sid, trixie
  • size: 704,384 kB
  • sloc: cpp: 783,592; ansic: 628,724; xml: 44,704; fortran: 34,250; python: 22,874; sh: 4,078; pascal: 2,636; lisp: 2,158; makefile: 464; yacc: 328; asm: 205; perl: 203; lex: 146; tcl: 132; javascript: 98; csh: 81
file content (194 lines) | stat: -rw-r--r-- 6,641 bytes parent folder | download
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
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
/*=========================================================================
 *
 *  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 */