/usr/include/ITK-4.9/itkRigid3DTransform.h is in libinsighttoolkit4-dev 4.9.0-4ubuntu1.
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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 itkRigid3DTransform_h
#define itkRigid3DTransform_h
#include <iostream>
#include "itkMatrixOffsetTransformBase.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.
*
* The Rigid3DTransform is intended to be a base class that
* defines a consistent family of transform types that respect
* rigid transformations. Only classes that derive from Rigid3DTransform
* should be used.
*
* \sa Euler3DTransform
* \sa QuaternionRigidTransform
* \sa VersorTransform
*
* \ingroup ITKTransform
*/
template<typename TParametersValueType=double>
class Rigid3DTransform:
public MatrixOffsetTransformBase<TParametersValueType, 3, 3>
{
public:
/** Standard class typedefs. */
typedef Rigid3DTransform Self;
typedef MatrixOffsetTransformBase<TParametersValueType, 3, 3> Superclass;
typedef SmartPointer<Self> Pointer;
typedef SmartPointer<const Self> ConstPointer;
#ifdef ITKV3_COMPATIBILITY
/** Run-time type information (and related methods). */
itkNewMacro(Self);
#endif
/** Run-time type information (and related methods). */
itkTypeMacro(Rigid3DTransform, MatrixOffsetTransformBase);
/** 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::FixedParametersType FixedParametersType;
typedef typename Superclass::FixedParametersValueType FixedParametersValueType;
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) ITK_OVERRIDE;
/** 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) ITK_OVERRIDE;
/** Directly set the rotation matrix of the transform.
* \warning The input matrix must be orthogonal to within the specified tolerance,
* else an exception is thrown.
*
* \sa MatrixOffsetTransformBase::SetMatrix() */
virtual void SetMatrix(const MatrixType & matrix, const TParametersValueType tolerance );
/**
* 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);
/**
* Utility function to test if a matrix is orthogonal within a specified
* tolerance
*/
bool MatrixIsOrthogonal(const MatrixType & matrix,
const TParametersValueType tolerance =
MatrixOrthogonalityTolerance<TParametersValueType>::GetTolerance());
#ifdef ITKV3_COMPATIBILITY
/** Get an inverse of this transform. */
//NOTE: itkLegacyRemove can not be used for GetInverse
// because in itkV3 mode these functions
// must be traversed when calling the child classes
// member functions
// (with no real effect) for backwards compatibility.
// In ITKv4 mode only the super class is needed
bool GetInverse(Self *inverse) const;
/** Return an inverse of this transform. */
//NOTE: itkLegacyRemove can not be used for GetInverseTransform
// because in itkV3 mode these functions
// must be traversed when calling the child classes
// member functions
// (with no real effect) for backwards compatibility.
// In ITKv4 mode only the super class is needed
virtual InverseTransformBasePointer GetInverseTransform() const;
/**
* Get rotation Matrix from an Rigid3DTransform
*
* This method returns the value of the rotation of the
* Rigid3DTransform.
*
* \deprecated Use GetMatrix instead
*/
itkLegacyMacro(const MatrixType & GetRotationMatrix() const);
/**
* 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
*
*/
itkLegacyMacro(virtual void SetRotationMatrix(const MatrixType & matrix) );
#endif
/**
* 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.
*
*/
itkLegacyMacro(InputPointType BackTransform(const OutputPointType & point) const);
itkLegacyMacro(InputVectorType BackTransform(const OutputVectorType & vector) const);
itkLegacyMacro(InputVnlVectorType BackTransform(const OutputVnlVectorType & vector) const);
itkLegacyMacro(InputCovariantVectorType BackTransform(const OutputCovariantVectorType & vector) const);
protected:
Rigid3DTransform(const MatrixType & matrix,
const OutputVectorType & offset);
Rigid3DTransform(unsigned int paramDim);
Rigid3DTransform();
~Rigid3DTransform();
/**
* Print contents of an Rigid3DTransform
*/
void PrintSelf(std::ostream & os, Indent indent) const ITK_OVERRIDE;
private:
Rigid3DTransform(const Self &) ITK_DELETE_FUNCTION;
void operator=(const Self &) ITK_DELETE_FUNCTION;
}; //class Rigid3DTransform
} // namespace itk
#ifndef ITK_MANUAL_INSTANTIATION
#include "itkRigid3DTransform.hxx"
#endif
#endif /* itkRigid3DTransform_h */
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