/usr/include/ITK-4.5/itkv3Rigid3DTransform.h is in libinsighttoolkit4-dev 4.5.0-3.
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*
* Copyright Insight Software Consortium
*
* 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
*
* http://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 itkv3
{
/** \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 while allowing the user to turn off
* ITKV3_COMPATIBILITY.
*
* 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 proceedures 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 TScalar = double >
// type for scalars (float or double)
class Rigid3DTransform:
public itk::Rigid3DTransform< TScalar >
{
public:
/** Standard class typedefs. */
typedef Rigid3DTransform Self;
typedef itk::Rigid3DTransform< TScalar > Superclass;
typedef itk::SmartPointer< Self > Pointer;
typedef itk::SmartPointer< const Self > ConstPointer;
/** Run-time type information (and related methods). */
itkTypeMacro(Rigid3DTransform, itk::Rigid3DTransform);
/** 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;
/** Get an inverse of this transform. */
bool GetInverse(Self *inverse) const
{
return this->Superclass::GetInverse(inverse);
}
/** Return an inverse of this transform. */
virtual InverseTransformBasePointer GetInverseTransform() const
{
Pointer inv = New();
return this->GetInverse(inv) ? inv.GetPointer() : NULL;
}
protected:
Rigid3DTransform()
{
}
private:
Rigid3DTransform(const Self &); //purposely not implemented
void operator=(const Self &); //purposely not implemented
}; //class Rigid3DTransform
} // namespace itkv3
#endif /* __itkv3Rigid3DTransform_h */
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