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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 itkSimilarity3DTransform_h
#define itkSimilarity3DTransform_h
#include <iostream>
#include "itkVersorRigid3DTransform.h"
namespace itk
{
/** \class Similarity3DTransform
* \brief Similarity3DTransform of a vector space (e.g. space coordinates)
*
* This transform applies a rotation, translation and isotropic scaling 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 7 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 last parameter defines the isotropic scaling.
*
* The serialization of the fixed parameters is an array of 3 elements defining
* the center of rotation.
*
*
* \sa VersorRigid3DTransform
* \ingroup ITKTransform
*/
template <typename TParametersValueType = double>
class ITK_TEMPLATE_EXPORT Similarity3DTransform : public VersorRigid3DTransform<TParametersValueType>
{
public:
ITK_DISALLOW_COPY_AND_MOVE(Similarity3DTransform);
/** Standard class type aliases. */
using Self = Similarity3DTransform;
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(Similarity3DTransform);
/** Dimension of parameters. */
static constexpr unsigned int SpaceDimension = 3;
static constexpr unsigned int InputSpaceDimension = 3;
static constexpr unsigned int OutputSpaceDimension = 3;
static constexpr unsigned int ParametersDimension = 7;
/** 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;
/** Versor type. */
using typename Superclass::VersorType;
using typename Superclass::AxisType;
using typename Superclass::AngleType;
using ScaleType = TParametersValueType;
/** Set the parameters to the IdentityTransform */
void
SetIdentity() override;
/** Directly set the rotation matrix of the transform.
*
* \warning The input matrix must be orthogonal with isotropic scaling
* to within a specified tolerance, else an exception is thrown.
*
* \sa MatrixOffsetTransformBase::SetMatrix() */
void
SetMatrix(const MatrixType & matrix) override;
/** Directly set the rotation matrix of the transform.
*
* \warning The input matrix must be orthogonal with isotropic scaling
* to within the specified tolerance, else an exception is thrown.
*
* \sa MatrixOffsetTransformBase::SetMatrix() */
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 7 parameters. The first three represent the
* versor, the next three represent the translation and the last one
* represents the scaling factor. */
void
SetParameters(const ParametersType & parameters) override;
const ParametersType &
GetParameters() const override;
/** Set/Get the value of the isotropic scaling factor */
void
SetScale(ScaleType scale);
itkGetConstReferenceMacro(Scale, ScaleType);
/** 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:
Similarity3DTransform(const MatrixType & matrix, const OutputVectorType & offset);
Similarity3DTransform(unsigned int paramDim);
Similarity3DTransform();
~Similarity3DTransform() override = default;
void
PrintSelf(std::ostream & os, Indent indent) const override;
/** Recomputes the matrix by calling the Superclass::ComputeMatrix() and then
* applying the scale factor. */
void
ComputeMatrix() override;
/** Computes the parameters from an input matrix. */
void
ComputeMatrixParameters() override;
private:
ScaleType m_Scale{};
}; // class Similarity3DTransform
} // namespace itk
#ifndef ITK_MANUAL_INSTANTIATION
# include "itkSimilarity3DTransform.hxx"
#endif
#endif /* itkSimilarity3DTransform_h */
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