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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 itkv3Rigid3DTransform_h
#define itkv3Rigid3DTransform_h
#include <iostream>
#include "itkRigid3DTransform.h"
#include "itkVersor.h"
namespace itk
{
namespace v3
{
/** \class Rigid3DTransform
* \brief ITK3.x compatible Rigid3DTransform of a vector space (e.g. space coordinates)
*
* NOTE: In ITK4, the itkNewMacro() was removed from
* itk::Rigid3DTransform. This class, itkv3::Rigid3DTransform provides
* the ITK3.x functionality. The purpose of the class is provide ITKv3
* functionality with backward compatibility after ITK 5.0 removal of
* ITKV3_COMPATIBILITY support.
*
* Even though the name Rigid3DTransform is conceptually closer to
* what a user may expect, the VersorRigid3DTransform is often a
* much better transform to use during optimization procedures from
* both a speed perspective (lower dimensional parameter space), and
* stability standpoint (versors do not suffer from rotational gimble
* lock).
*
* This transform applies a rotation and translation in 3D space.
* The transform is specified as a rotation matrix around a arbitrary center
* and is followed by a translation.
*
* 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 9 parameters represents the rotation matrix in row-major order
* (where the column index varies the fastest). 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 in each dimension.
*
* \ingroup ITKTransform
*/
template <typename TParametersValueType = double>
class ITK_TEMPLATE_EXPORT Rigid3DTransform : public itk::Rigid3DTransform<TParametersValueType>
{
public:
ITK_DISALLOW_COPY_AND_MOVE(Rigid3DTransform);
/** Standard class type aliases. */
using Self = Rigid3DTransform;
using Superclass = itk::Rigid3DTransform<TParametersValueType>;
using Pointer = SmartPointer<Self>;
using ConstPointer = SmartPointer<const Self>;
/** \see LightObject::GetNameOfClass() */
itkOverrideGetNameOfClassMacro(Rigid3DTransform);
/** New macro for creation of through a Smart Pointer */
itkNewMacro(Self);
/** Dimension of the space. */
static constexpr unsigned int SpaceDimension = 3;
static constexpr unsigned int InputSpaceDimension = 3;
static constexpr unsigned int OutputSpaceDimension = 3;
static constexpr unsigned int ParametersDimension = 12;
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::InputVectorType;
using typename Superclass::OutputVectorType;
using typename Superclass::OutputVectorValueType;
using typename Superclass::InputCovariantVectorType;
using typename Superclass::OutputCovariantVectorType;
using typename Superclass::InputVnlVectorType;
using typename Superclass::OutputVnlVectorType;
using typename Superclass::InputPointType;
using typename Superclass::OutputPointType;
using typename Superclass::MatrixType;
using typename Superclass::InverseMatrixType;
using typename Superclass::MatrixValueType;
using typename Superclass::CenterType;
using typename Superclass::TranslationType;
using typename Superclass::OffsetType;
/** Base inverse transform type. This type should not be changed to the
* concrete inverse transform type or inheritance would be lost. */
using InverseTransformBaseType = typename Superclass::InverseTransformBaseType;
using InverseTransformBasePointer = typename InverseTransformBaseType::Pointer;
/** Get an inverse of this transform. */
bool
GetInverse(Self * inverse) const
{
return this->Superclass::GetInverse(inverse);
}
/** Return an inverse of this transform. */
InverseTransformBasePointer
GetInverseTransform() const override
{
return Superclass::InvertTransform(*this);
}
protected:
Rigid3DTransform() = default;
}; // class Rigid3DTransform
} // namespace v3
} // namespace itk
#if !defined(ITK_LEGACY_REMOVE)
# define itkv3 itk::v3
#endif
#endif /* itkv3Rigid3DTransform_h */
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