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/*========================================================================= |
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Program: Insight Segmentation & Registration Toolkit |
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Module: $RCSfile: itkRigid3DPerspectiveTransform.h.html,v $ |
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Language: C++ |
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Date: $Date: 2006/01/17 19:15:47 $ |
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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 __itkRigid3DPerspectiveTransform_h |
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#define __itkRigid3DPerspectiveTransform_h |
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#include "itkExceptionObject.h" |
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#include "vnl/vnl_quaternion.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 "itkVersor.h" |
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namespace itk |
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{ |
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/** \brief Rigid3DTramsform of a vector space (e.g. space coordinates) |
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* |
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* This transform applies a rotation and translation to the 3D space |
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* followed by a projection to 2D space along the Z axis. |
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* |
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* \ingroup Transforms |
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*/ |
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template < |
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class TScalarType=double> // Data type for scalars (float or double) |
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class ITK_EXPORT Rigid3DPerspectiveTransform : |
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IND |
********public Transform< TScalarType, 3, 2 > |
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{ |
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public: |
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/** Dimension of the domain space. */ |
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itkStaticConstMacro(InputSpaceDimension, unsigned int, 3); |
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itkStaticConstMacro(OutputSpaceDimension, unsigned int, 2); |
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/** Dimension of parameters. */ |
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itkStaticConstMacro(SpaceDimension, unsigned int, 3); |
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itkStaticConstMacro(ParametersDimension, unsigned int, 6); |
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/** Standard class typedefs. */ |
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typedef Rigid3DPerspectiveTransform Self; |
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typedef Transform< TScalarType, |
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itkGetStaticConstMacro(InputSpaceDimension), |
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TDA |
itkGetStaticConstMacro(OutputSpaceDimension)> 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( Rigid3DPerspectiveTransform, Transform ); |
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/** New macro for creation of through a Smart Pointer. */ |
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itkNewMacro( Self ); |
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/** Scalar type. */ |
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typedef typename Superclass::ScalarType ScalarType; |
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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 matrix type for this class. */ |
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typedef Matrix<TScalarType, itkGetStaticConstMacro(InputSpaceDimension), itkGetStaticConstMacro(InputSpaceDimension)> MatrixType; |
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/** Standard vector type for this class. */ |
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typedef Vector<TScalarType, itkGetStaticConstMacro(InputSpaceDimension)> OffsetType; |
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/** Standard vector type for this class. */ |
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typedef Vector<TScalarType, itkGetStaticConstMacro(InputSpaceDimension)> InputVectorType; |
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typedef Vector<TScalarType, itkGetStaticConstMacro(OutputSpaceDimension)> OutputVectorType; |
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/** Standard coordinate point type for this class. */ |
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typedef Point<TScalarType, itkGetStaticConstMacro(InputSpaceDimension)> InputPointType; |
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typedef Point<TScalarType, itkGetStaticConstMacro(OutputSpaceDimension)> OutputPointType; |
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/** Standard vnl_quaternion type. */ |
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typedef vnl_quaternion<TScalarType> VnlQuaternionType; |
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/** Versor type. */ |
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typedef Versor<TScalarType> VersorType; |
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typedef typename VersorType::VectorType AxisType; |
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typedef typename VersorType::ValueType AngleType; |
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/** Get offset of an Rigid3DPerspectiveTransform |
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* This method returns the value of the offset of the |
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* Rigid3DPerspectiveTransform. */ |
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const OffsetType & GetOffset() const |
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{ return m_Offset; } |
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/** Get rotation from an Rigid3DPerspectiveTransform. |
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* This method returns the value of the rotation of the |
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* Rigid3DPerspectiveTransform. */ |
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const VersorType & GetRotation() const |
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{ return m_Versor; } |
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/** Set/Get the transformation from a container of parameters. |
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* This is typically used by optimizers. |
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* There are 6 parameters. The first three represent the |
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* versor and the last three represents the offset. */ |
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void SetParameters( const ParametersType & parameters ); |
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const ParametersType & GetParameters() const; |
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/** This method sets the offset of an Rigid3DPerspectiveTransform to a |
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* value specified by the user. */ |
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void SetOffset(const OffsetType &offset) |
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{ m_Offset = offset; return; } |
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/** This method sets the rotation of an Rigid3DPerspectiveTransform to a |
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* value specified by the user. */ |
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void SetRotation(const VersorType &rotation); |
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/** Set Rotation of the Rigid transform. |
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* This method sets the rotation of an Rigid3DTransform to a |
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* value specified by the user using the axis of rotation an |
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* the angle. */ |
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void SetRotation(const Vector<TScalarType,3> &axis, double angle); |
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/** Set the Focal Distance of the projection |
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* This method sets the focal distance for the perspective |
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* projection to a value specified by the user. */ |
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void SetFocalDistance( TScalarType focalDistance ) |
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{ m_FocalDistance = focalDistance; } |
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/** Return the Focal Distance */ |
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double GetFocalDistance( void ) const |
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{ return m_FocalDistance; } |
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/** Transform by a Rigid3DPerspectiveTransform. This method |
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* applies the transform given by self to a |
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* given point, returning the transformed point. */ |
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OutputPointType TransformPoint(const InputPointType &point ) const; |
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/** Return the rotation matrix */ |
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const MatrixType & GetRotationMatrix() const {return m_RotationMatrix;} |
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/** Compute the matrix. */ |
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void ComputeMatrix(void); |
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/** Compute the Jacobian Matrix of the transformation at one point */ |
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virtual const JacobianType & GetJacobian(const InputPointType &point ) const; |
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/** Set a fixed offset: this allow to center the object to be transformed */ |
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itkGetConstReferenceMacro(FixedOffset,OffsetType); |
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itkSetMacro(FixedOffset,OffsetType); |
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/** Set the center of Rotation */ |
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itkSetMacro(CenterOfRotation,InputPointType); |
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itkGetConstReferenceMacro(CenterOfRotation,InputPointType); |
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protected: |
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****Rigid3DPerspectiveTransform(); |
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****~Rigid3DPerspectiveTransform(); |
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****void PrintSelf(std::ostream &os, Indent indent) const; |
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private: |
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Rigid3DPerspectiveTransform(const Self&); //purposely not implemented |
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void operator=(const Self&); //purposely not implemented |
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/** Offset of the transformation. */ |
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OffsetType m_Offset; |
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/** Rotation of the transformation. */ |
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VersorType m_Versor; |
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/** Set Focal distance of the projection. */ |
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TScalarType m_FocalDistance; |
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/** Matrix representation of the rotation. */ |
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MatrixType m_RotationMatrix; |
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/** Fixed offset*/ |
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OffsetType m_FixedOffset; |
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/** Center of rotation */ |
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InputPointType m_CenterOfRotation; |
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}; //class Rigid3DPerspectiveTransform: |
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EML |
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} // namespace itk |
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#ifndef ITK_MANUAL_INSTANTIATION |
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#include "itkRigid3DPerspectiveTransform.txx" |
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#endif |
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#endif /* __itkRigid3DPerspectiveTransform_h */ |
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