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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 itkQuaternionRigidTransform_h
#define itkQuaternionRigidTransform_h
#include <iostream>
#include "itkRigid3DTransform.h"
#include "vnl/vnl_quaternion.h"
namespace itk
{
/** \class QuaternionRigidTransform
* \brief QuaternionRigidTransform of a vector space (e.g. space coordinates).
*
* This transform applies a rotation and translation to the space given
* a quaternion and a 3D translation. Rotation is about a user specified center.
*
* 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 7 elements.
* The first 4 elements are the components of the quaternion 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 ITKTransform
*/
template <typename TParametersValueType = double>
class ITK_TEMPLATE_EXPORT QuaternionRigidTransform : public Rigid3DTransform<TParametersValueType>
{
public:
ITK_DISALLOW_COPY_AND_MOVE(QuaternionRigidTransform);
/** Standard class type aliases. */
using Self = QuaternionRigidTransform;
using Superclass = Rigid3DTransform<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(QuaternionRigidTransform);
/** Dimension of parameters */
static constexpr unsigned int InputSpaceDimension = 3;
static constexpr unsigned int OutputSpaceDimension = 3;
static constexpr unsigned int SpaceDimension = 3;
static constexpr unsigned int ParametersDimension = 7;
/** Parameters Type */
using typename Superclass::ParametersType;
using typename Superclass::ParametersValueType;
using typename Superclass::FixedParametersType;
using typename Superclass::FixedParametersValueType;
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::OutputVectorValueType;
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;
/** VnlQuaternion type. */
using VnlQuaternionType = vnl_quaternion<TParametersValueType>;
/** Compute the Jacobian Matrix of the transformation at one point */
/** Set the rotation of the rigid transform.
* This method sets the rotation of a QuaternionRigidTransform to a
* value specified by the user. */
void
SetRotation(const VnlQuaternionType & rotation);
/** Get the rotation from an QuaternionRigidTransform.
* This method returns the value of the rotation of the
* QuaternionRigidTransform. */
const VnlQuaternionType &
GetRotation() const
{
return m_Rotation;
}
/** Set the parameters to the IdentityTransform */
void
SetIdentity() override;
/** Set the transformation from a container of parameters.
* This is typically used by optimizers.
* There are 7 parameters. The first four represents the
* quaternion and the last three represents the
* offset. */
void
SetParameters(const ParametersType & parameters) override;
const ParametersType &
GetParameters() const override;
/** Compute the Jacobian of the transformation.
* 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. */
void
ComputeJacobianWithRespectToParameters(const InputPointType & p, JacobianType & jacobian) const override;
protected:
QuaternionRigidTransform(const MatrixType & matrix, const OutputVectorType & offset);
QuaternionRigidTransform(unsigned int parametersDimension);
QuaternionRigidTransform();
~QuaternionRigidTransform() override = default;
void
ComputeMatrix() override;
void
ComputeMatrixParameters() override;
void
SetVarRotation(const VnlQuaternionType & rotation)
{
m_Rotation = rotation;
}
const InverseMatrixType &
GetInverseMatrix() const;
void
PrintSelf(std::ostream & os, Indent indent) const override;
private:
/** Rotation of the transformation. */
VnlQuaternionType m_Rotation{};
}; // class QuaternionRigidTransform
} // namespace itk
#ifndef ITK_MANUAL_INSTANTIATION
# include "itkQuaternionRigidTransform.hxx"
#endif
#endif /* itkQuaternionRigidTransform_h */
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