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/* |
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Program: Insight Segmentation & Registration Toolkit |
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Module: $RCSfile: itkMatrixOffsetTransformBase.h.html,v $ |
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Language: C++ |
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Date: $Date: 2006/01/17 19:15:41 $ |
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Version: $Revision: 1.4 $ |
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Copyright (c) Insight Software Consortium. All rights reserved. |
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See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details. |
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This software is distributed WITHOUT ANY WARRANTY; without even |
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the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR |
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PURPOSE. See the above copyright notices for more information. |
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=========================================================================*/ |
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#ifndef __itkMatrixOffsetTransformBase_h |
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#define __itkMatrixOffsetTransformBase_h |
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#include <iostream> |
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#include "itkMatrix.h" |
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#include "itkTransform.h" |
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#include "itkExceptionObject.h" |
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#include "itkMacro.h" |
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namespace itk |
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{ |
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/** |
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* Matrix and Offset transformation of a vector space (e.g. space coordinates) |
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* |
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* This class serves as a base class for transforms that can be expressed |
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* as a linear transformation plus a constant offset (e.g., affine, similarity |
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* and rigid transforms). This base class also provides the concept of |
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* using a center of rotation and a translation instead of an offset. |
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* |
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* As derived instances of this class are specializations of an affine |
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* transform, any two of these transformations may be composed and the result |
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* is an affine transformation. However, the order is important. |
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* Given two affine transformations T1 and T2, we will say that |
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* "precomposing T1 with T2" yields the transformation which applies |
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* T1 to the source, and then applies T2 to that result to obtain the |
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* target. Conversely, we will say that "postcomposing T1 with T2" |
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* yields the transformation which applies T2 to the source, and then |
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* applies T1 to that result to obtain the target. (Whether T1 or T2 |
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* comes first lexicographically depends on whether you choose to |
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* write mappings from right-to-left or vice versa; we avoid the whole |
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* problem by referring to the order of application rather than the |
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* textual order.) |
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* |
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* There are three template parameters for this class: |
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* |
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* ScalarT The type to be used for scalar numeric values. Either |
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* float or double. |
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* |
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* NInputDimensions The number of dimensions of the input vector space. |
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* |
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* NOutputDimensions The number of dimensions of the output vector space. |
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* |
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* This class provides several methods for setting the matrix and offset |
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* defining the transform. To support the registration framework, the |
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* transform parameters can also be set as an Array<double> of size |
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* (NInputDimension + 1) * NOutputDimension using method SetParameters(). |
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* The first (NOutputDimension x NInputDimension) parameters defines the |
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* matrix in column-major order (where the column index varies the fastest). |
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* The last NOutputDimension parameters defines the translation |
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* in each dimensions. |
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* |
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* \ingroup Transforms |
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* |
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*/ |
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template < |
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class TScalarType=double, // Data type for scalars |
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unsigned int NInputDimensions=3, // Number of dimensions in the input space |
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unsigned int NOutputDimensions=3> // Number of dimensions in the output space |
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class MatrixOffsetTransformBase |
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**: public Transform< TScalarType, NInputDimensions, NOutputDimensions > |
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{ |
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public: |
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/** Standard typedefs */ |
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typedef MatrixOffsetTransformBase Self; |
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typedef Transform< TScalarType, |
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NInputDimensions, |
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NOutputDimensions > Superclass; |
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typedef SmartPointer<Self> Pointer; |
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typedef SmartPointer<const Self> ConstPointer; |
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/** Run-time type information (and related methods). */ |
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itkTypeMacro( MatrixOffsetTransformBase, Transform ); |
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/** New macro for creation of through a Smart Pointer */ |
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itkNewMacro( Self ); |
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/** Dimension of the domain space. */ |
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itkStaticConstMacro(InputSpaceDimension, unsigned int, NInputDimensions); |
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itkStaticConstMacro(OutputSpaceDimension, unsigned int, NOutputDimensions); |
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itkStaticConstMacro(ParametersDimension, unsigned int, |
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NOutputDimensions*(NInputDimensions+1)); |
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/** Parameters Type */ |
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typedef typename Superclass::ParametersType ParametersType; |
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/** Jacobian Type */ |
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typedef typename Superclass::JacobianType JacobianType; |
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/** Standard scalar type for this class */ |
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typedef typename Superclass::ScalarType ScalarType; |
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/** Standard vector type for this class */ |
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typedef Vector<TScalarType, |
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itkGetStaticConstMacro(InputSpaceDimension)> InputVectorType; |
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typedef Vector<TScalarType, |
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itkGetStaticConstMacro(OutputSpaceDimension)> OutputVectorType; |
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/** Standard covariant vector type for this class */ |
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typedef CovariantVector<TScalarType, |
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itkGetStaticConstMacro(InputSpaceDimension)> |
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****************************************************InputCovariantVectorType; |
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typedef CovariantVector<TScalarType, |
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itkGetStaticConstMacro(OutputSpaceDimension)> |
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****************************************************OutputCovariantVectorType; |
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/** Standard vnl_vector type for this class */ |
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typedef vnl_vector_fixed<TScalarType, |
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itkGetStaticConstMacro(InputSpaceDimension)> |
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****************************************************InputVnlVectorType; |
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typedef vnl_vector_fixed<TScalarType, |
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itkGetStaticConstMacro(OutputSpaceDimension)> |
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****************************************************OutputVnlVectorType; |
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/** Standard coordinate point type for this class */ |
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typedef Point<TScalarType, |
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itkGetStaticConstMacro(InputSpaceDimension)> |
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****************************************************InputPointType; |
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typedef Point<TScalarType, |
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itkGetStaticConstMacro(OutputSpaceDimension)> |
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****************************************************OutputPointType; |
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/** Standard matrix type for this class */ |
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typedef Matrix<TScalarType, itkGetStaticConstMacro(OutputSpaceDimension), |
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itkGetStaticConstMacro(InputSpaceDimension)> |
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****************************************************MatrixType; |
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/** Standard inverse matrix type for this class */ |
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typedef Matrix<TScalarType, itkGetStaticConstMacro(InputSpaceDimension), |
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itkGetStaticConstMacro(OutputSpaceDimension)> |
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****************************************************InverseMatrixType; |
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typedef InputPointType CenterType; |
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typedef OutputVectorType OffsetType; |
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typedef OutputVectorType TranslationType; |
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/** Set the transformation to an Identity |
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* |
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* This sets the matrix to identity and the Offset to null. */ |
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virtual void SetIdentity( void ); |
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/** Set matrix of an MatrixOffsetTransformBase |
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* |
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* This method sets the matrix of an MatrixOffsetTransformBase to a |
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* value specified by the user. |
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* |
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* This updates the Offset wrt to current translation |
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* and center. See the warning regarding offset-versus-translation |
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* in the documentation for SetCenter. |
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* |
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* To define an affine transform, you must set the matrix, |
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* center, and translation OR the matrix and offset */ |
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virtual void SetMatrix(const MatrixType &matrix) |
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{ m_Matrix = matrix; this->ComputeOffset(); |
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******this->ComputeMatrixParameters(); |
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******m_MatrixMTime.Modified(); this->Modified(); return; } |
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/** Get matrix of an MatrixOffsetTransformBase |
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* |
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* This method returns the value of the matrix of the |
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* MatrixOffsetTransformBase. |
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* To define an affine transform, you must set the matrix, |
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* center, and translation OR the matrix and offset */ |
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const MatrixType & GetMatrix() const |
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******{ return m_Matrix; } |
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/** Set offset (origin) of an MatrixOffset TransformBase. |
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* |
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* This method sets the offset of an MatrixOffsetTransformBase to a |
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* value specified by the user. |
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* This updates Translation wrt current center. See the warning regarding |
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* offset-versus-translation in the documentation for SetCenter. |
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* To define an affine transform, you must set the matrix, |
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* center, and translation OR the matrix and offset */ |
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void SetOffset(const OutputVectorType &offset) |
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******{ m_Offset = offset; this->ComputeTranslation(); |
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********this->Modified(); return; } |
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/** Get offset of an MatrixOffsetTransformBase |
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* |
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* This method returns the offset value of the MatrixOffsetTransformBase. |
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* To define an affine transform, you must set the matrix, |
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* center, and translation OR the matrix and offset */ |
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const OutputVectorType & GetOffset(void) const |
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******{ return m_Offset; } |
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/** Set center of rotation of an MatrixOffsetTransformBase |
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* |
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* This method sets the center of rotation of an MatrixOffsetTransformBase |
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* to a fixed point - for most transforms derived from this class, |
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* this point is not a "parameter" of the transform - the exception is that |
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* "centered" transforms have center as a parameter during optimization. |
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* |
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* This method updates offset wrt to current translation and matrix. |
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* That is, changing the center changes the transform! |
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* |
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* WARNING: When using the Center, we strongly recommend only changing the |
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* matrix and translation to define a transform. Changing a transform's |
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* center, changes the mapping between spaces - specifically, translation is |
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* not changed with respect to that new center, and so the offset is updated |
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* to * maintain the consistency with translation. If a center is not used, |
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* or is set before the matrix and the offset, then it is safe to change the |
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* offset directly. |
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* As a rule of thumb, if you wish to set the center explicitly, set |
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* before Offset computations are done. |
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* |
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* To define an affine transform, you must set the matrix, |
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* center, and translation OR the matrix and offset */ |
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void SetCenter(const InputPointType & center) |
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******{ m_Center = center; this->ComputeOffset(); |
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********this->Modified(); return; } |
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/** Get center of rotation of the MatrixOffsetTransformBase |
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* |
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* This method returns the point used as the fixed |
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* center of rotation for the MatrixOffsetTransformBase. |
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* To define an affine transform, you must set the matrix, |
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* center, and translation OR the matrix and offset */ |
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const InputPointType & GetCenter() const |
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******{ return m_Center; } |
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/** Set translation of an MatrixOffsetTransformBase |
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* |
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* This method sets the translation of an MatrixOffsetTransformBase. |
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* This updates Offset to reflect current translation. |
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* To define an affine transform, you must set the matrix, |
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* center, and translation OR the matrix and offset */ |
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void SetTranslation(const OutputVectorType & translation) |
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******{ m_Translation = translation; this->ComputeOffset(); |
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********this->Modified(); return; } |
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/** Get translation component of the MatrixOffsetTransformBase |
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* |
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* This method returns the translation used after rotation |
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* about the center point. |
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* To define an affine transform, you must set the matrix, |
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* center, and translation OR the matrix and offset */ |
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const OutputVectorType & GetTranslation(void) const |
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******{ return m_Translation; } |
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/** Set the transformation from a container of parameters. |
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* The first (NOutputDimension x NInputDimension) parameters define the |
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* matrix and the last NOutputDimension parameters the translation. |
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* Offset is updated based on current center. */ |
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void SetParameters( const ParametersType & parameters ); |
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/** Get the Transformation Parameters. */ |
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const ParametersType& GetParameters(void) const; |
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/** Set the fixed parameters and update internal transformation. */ |
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virtual void SetFixedParameters( const ParametersType & ); |
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/** Get the Fixed Parameters. */ |
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virtual const ParametersType& GetFixedParameters(void) const; |
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/** Compose with another MatrixOffsetTransformBase |
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* |
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* This method composes self with another MatrixOffsetTransformBase of the |
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* same dimension, modifying self to be the composition of self |
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* and other. If the argument pre is true, then other is |
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* precomposed with self; that is, the resulting transformation |
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* consists of first applying other to the source, followed by |
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* self. If pre is false or omitted, then other is post-composed |
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* with self; that is the resulting transformation consists of |
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* first applying self to the source, followed by other. |
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* This updates the Translation based on current center. */ |
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void Compose(const Self * other, bool pre=0); |
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/** Transform by an affine transformation |
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* |
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* This method applies the affine transform given by self to a |
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* given point or vector, returning the transformed point or |
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* vector. The TransformPoint method transforms its argument as |
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* an affine point, whereas the TransformVector method transforms |
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* its argument as a vector. */ |
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OutputPointType TransformPoint(const InputPointType & point) const; |
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OutputVectorType TransformVector(const InputVectorType & vector) const; |
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OutputVnlVectorType TransformVector(const InputVnlVectorType & vector) const; |
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OutputCovariantVectorType TransformCovariantVector( |
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const InputCovariantVectorType &vector) const; |
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/** Compute the Jacobian of the transformation |
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* |
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* This method computes the Jacobian matrix of the transformation. |
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* given point or vector, returning the transformed point or |
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* vector. The rank of the Jacobian will also indicate if the transform |
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* is invertible at this point. */ |
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const JacobianType & GetJacobian(const InputPointType & point ) const; |
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/** Create inverse of an affine transformation |
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***** |
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***** This populates the parameters an affine transform such that |
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***** the transform is the inverse of self. If self is not invertible, |
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***** an exception is thrown. |
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***** Note that by default the inverese transform is centered at |
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***** the origin. If you need to compute the inverse centered at a point, p, |
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***** |
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***** \code |
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***** transform2->SetCenter( p ); |
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***** transform1->GetInverse( transform2 ); |
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***** \endcode |
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***** |
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***** transform2 will now contain the inverse of transform1 and will |
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***** with its center set to p. Flipping the two statements will produce an |
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***** incorrect transform. */ |
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bool GetInverse(Self * inverse) const; |
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/** \deprecated Use GetInverse instead. |
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* |
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* Method will eventually be made a protected member function */ |
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const InverseMatrixType & GetInverseMatrix( void ) const; |
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protected: |
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/** Construct an MatrixOffsetTransformBase object |
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* |
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* This method constructs a new MatrixOffsetTransformBase object and |
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* initializes the matrix and offset parts of the transformation |
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* to values specified by the caller. If the arguments are |
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* omitted, then the MatrixOffsetTransformBase is initialized to an identity |
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* transformation in the appropriate number of dimensions. **/ |
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MatrixOffsetTransformBase(const MatrixType &matrix, |
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const OutputVectorType &offset); |
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MatrixOffsetTransformBase(unsigned int outputDims, |
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unsigned int paramDims); |
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MatrixOffsetTransformBase(); |
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/** Destroy an MatrixOffsetTransformBase object **/ |
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virtual ~MatrixOffsetTransformBase(); |
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/** Print contents of an MatrixOffsetTransformBase */ |
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void PrintSelf(std::ostream &s, Indent indent) const; |
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InverseMatrixType GetVarInverseMatrix( void ) const |
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{ return m_InverseMatrix; }; |
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void SetVarInverseMatrix(const InverseMatrixType & matrix) const |
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{ m_InverseMatrix = matrix; m_InverseMatrixMTime.Modified(); }; |
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bool InverseMatrixIsOld(void) const |
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{ if(m_MatrixMTime != m_InverseMatrixMTime) |
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********{ return true; } else { return false; } }; |
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virtual void ComputeMatrixParameters(void); |
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virtual void ComputeMatrix(void); |
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void SetVarMatrix(const MatrixType & matrix) |
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{ m_Matrix = matrix; m_MatrixMTime.Modified(); }; |
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virtual void ComputeTranslation(void); |
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void SetVarTranslation(const OutputVectorType & translation) |
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{ m_Translation = translation; }; |
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virtual void ComputeOffset(void); |
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void SetVarOffset(const OutputVectorType & offset) |
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{ m_Offset = offset; }; |
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void SetVarCenter(const InputPointType & center) |
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{ m_Center = center; }; |
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private: |
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MatrixOffsetTransformBase(const Self & other); |
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const Self & operator=( const Self & ); |
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MatrixType m_Matrix; // Matrix of the transformation |
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OutputVectorType m_Offset; // Offset of the transformation |
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mutable InverseMatrixType m_InverseMatrix; // Inverse of the matrix |
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mutable bool m_Singular; // Is m_Inverse singular? |
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InputPointType m_Center; |
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OutputVectorType m_Translation; |
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/** To avoid recomputation of the inverse if not needed */ |
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TimeStamp m_MatrixMTime; |
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mutable TimeStamp m_InverseMatrixMTime; |
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}; //class MatrixOffsetTransformBase |
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} // namespace itk |
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#ifndef ITK_MANUAL_INSTANTIATION |
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#include "itkMatrixOffsetTransformBase.txx" |
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#endif |
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#endif /* __itkMatrixOffsetTransformBase_h */ |
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EOF |
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