/usr/include/InsightToolkit/Common/itkRigid3DTransform.h is in libinsighttoolkit3-dev 3.20.1-1.
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Program: Insight Segmentation & Registration Toolkit
Module: itkRigid3DTransform.h
Language: C++
Date: $Date$
Version: $Revision$
Copyright (c) Insight Software Consortium. All rights reserved.
See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the above copyright notices for more information.
=========================================================================*/
#ifndef __itkRigid3DTransform_h
#define __itkRigid3DTransform_h
#include <iostream>
#include "itkMatrixOffsetTransformBase.h"
#include "itkExceptionObject.h"
#include "itkMatrix.h"
#include "itkVersor.h"
namespace itk
{
/** \class Rigid3DTransform
* \brief Rigid3DTransform of a vector space (e.g. space coordinates)
*
* 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 Transforms
*/
template < class TScalarType=double > // type for scalars (float or double)
class ITK_EXPORT Rigid3DTransform :
public MatrixOffsetTransformBase< TScalarType, 3, 3>
{
public:
/** Standard class typedefs. */
typedef Rigid3DTransform Self;
typedef MatrixOffsetTransformBase< TScalarType, 3, 3 > Superclass;
typedef SmartPointer<Self> Pointer;
typedef SmartPointer<const Self> ConstPointer;
/** Run-time type information (and related methods). */
itkTypeMacro( Rigid3DTransform, MatrixOffsetTransformBase );
/** New macro for creation of through a Smart Pointer */
itkNewMacro( Self );
/** Dimension of the space. */
itkStaticConstMacro(SpaceDimension, unsigned int, 3);
itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
itkStaticConstMacro(ParametersDimension, unsigned int, 12);
typedef typename Superclass::ParametersType ParametersType;
typedef typename Superclass::ParametersValueType ParametersValueType;
typedef typename Superclass::JacobianType JacobianType;
typedef typename Superclass::ScalarType ScalarType;
typedef typename Superclass::InputVectorType InputVectorType;
typedef typename Superclass::OutputVectorType OutputVectorType;
typedef typename Superclass::OutputVectorValueType OutputVectorValueType;
typedef typename Superclass::InputCovariantVectorType
InputCovariantVectorType;
typedef typename Superclass::OutputCovariantVectorType
OutputCovariantVectorType;
typedef typename Superclass::InputVnlVectorType InputVnlVectorType;
typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType;
typedef typename Superclass::InputPointType InputPointType;
typedef typename Superclass::OutputPointType OutputPointType;
typedef typename Superclass::MatrixType MatrixType;
typedef typename Superclass::InverseMatrixType InverseMatrixType;
typedef typename Superclass::MatrixValueType MatrixValueType;
typedef typename Superclass::CenterType CenterType;
typedef typename Superclass::TranslationType TranslationType;
typedef typename Superclass::OffsetType OffsetType;
/** Base inverse transform type. This type should not be changed to the
* concrete inverse transform type or inheritance would be lost. */
typedef typename Superclass::InverseTransformBaseType InverseTransformBaseType;
typedef typename InverseTransformBaseType::Pointer InverseTransformBasePointer;
/** Set the transformation from a container of parameters
* This is typically used by optimizers.
* There are 12 parameters. The first 9 represents the rotation
* matrix is row-major order and the last 3 represents the translation.
*
* \warning The rotation matrix must be orthogonal to within a specified tolerance,
* else an exception is thrown.
*
* \sa Transform::SetParameters()
* \sa Transform::SetFixedParameters() */
virtual void SetParameters( const ParametersType & parameters );
/** Directly set the rotation matrix of the transform.
* \warning The input matrix must be orthogonal to within a specified tolerance,
* else an exception is thrown.
*
* \sa MatrixOffsetTransformBase::SetMatrix() */
virtual void SetMatrix(const MatrixType &matrix);
/**
* Get rotation Matrix from an Rigid3DTransform
*
* This method returns the value of the rotation of the
* Rigid3DTransform.
*
* \deprecated Use GetMatrix instead
*/
const MatrixType & GetRotationMatrix()
{ return this->GetMatrix(); }
/**
* Set the rotation Matrix of a Rigid3D Transform
*
* This method sets the 3x3 matrix representing a rotation
* in the transform. The Matrix is expected to be orthogonal
* with a certain tolerance.
*
* \deprecated Use SetMatrix instead
*
*/
virtual void SetRotationMatrix(const MatrixType & matrix)
{ this->SetMatrix(matrix); }
/**
* Compose the transformation with a translation
*
* This method modifies self to include a translation of the
* origin. The translation is precomposed with self if pre is
* true, and postcomposed otherwise.
*/
void Translate(const OffsetType & offset, bool pre=false);
/** Get an inverse of this transform. */
bool GetInverse(Self* inverse) const;
/** Return an inverse of this transform. */
virtual InverseTransformBasePointer GetInverseTransform() const;
/**
* Back transform by an affine transformation
*
* This method finds the point or vector that maps to a given
* point or vector under the affine transformation defined by
* self. If no such point exists, an exception is thrown.
*
* \deprecated Please use GetInverseTransform and then call the forward
* transform using the result.
*
*/
InputPointType BackTransform(const OutputPointType
&point ) const;
InputVectorType BackTransform(const OutputVectorType
&vector) const;
InputVnlVectorType BackTransform( const OutputVnlVectorType
&vector) const;
InputCovariantVectorType BackTransform(const OutputCovariantVectorType
&vector) const;
/**
* Utility function to test if a matrix is orthogonal within a specified
* tolerance
*/
bool MatrixIsOrthogonal( const MatrixType & matrix, double tol = 1e-10 );
protected:
Rigid3DTransform(unsigned int spaceDim,
unsigned int paramDim);
Rigid3DTransform(const MatrixType & matrix,
const OutputVectorType & offset);
Rigid3DTransform();
~Rigid3DTransform();
/**
* Print contents of an Rigid3DTransform
*/
void PrintSelf(std::ostream &os, Indent indent) const;
private:
Rigid3DTransform(const Self&); //purposely not implemented
void operator=(const Self&); //purposely not implemented
}; //class Rigid3DTransform
} // namespace itk
// Define instantiation macro for this template.
#define ITK_TEMPLATE_Rigid3DTransform(_, EXPORT, x, y) namespace itk { \
_(1(class EXPORT Rigid3DTransform< ITK_TEMPLATE_1 x >)) \
namespace Templates { typedef Rigid3DTransform< ITK_TEMPLATE_1 x > Rigid3DTransform##y; } \
}
#if ITK_TEMPLATE_EXPLICIT
# include "Templates/itkRigid3DTransform+-.h"
#endif
#if ITK_TEMPLATE_TXX
# include "itkRigid3DTransform.txx"
#endif
#endif /* __itkRigid3DTransform_h */
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