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/*========================================================================= |
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Program: Insight Segmentation & Registration Toolkit |
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Module: $RCSfile: itkRigid3DTransform.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 __itkRigid3DTransform_h |
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#define __itkRigid3DTransform_h |
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#include <iostream> |
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#include "itkMatrixOffsetTransformBase.h" |
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#include "itkExceptionObject.h" |
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#include "itkMatrix.h" |
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#include "itkVersor.h" |
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namespace itk |
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{ |
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/** \brief Rigid3DTransform 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 space |
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* |
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* \ingroup Transforms |
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*/ |
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template < class TScalarType=double > // type for scalars (float or double) |
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MCM |
class ITK_EXPORT Rigid3DTransform : |
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***public MatrixOffsetTransformBase< TScalarType, 3, 3> |
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{ |
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public: |
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/** Standard class typedefs. */ |
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typedef Rigid3DTransform Self; |
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typedef MatrixOffsetTransformBase< TScalarType, 3, 3 > 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( Rigid3DTransform, MatrixOffsetTransformBase ); |
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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 space. */ |
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itkStaticConstMacro(SpaceDimension, unsigned int, 3); |
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itkStaticConstMacro(InputSpaceDimension, unsigned int, 3); |
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itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3); |
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itkStaticConstMacro(ParametersDimension, unsigned int, 12); |
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typedef typename Superclass::ParametersType ParametersType; |
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typedef typename Superclass::JacobianType JacobianType; |
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typedef typename Superclass::ScalarType ScalarType; |
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typedef typename Superclass::InputVectorType InputVectorType; |
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typedef typename Superclass::OutputVectorType OutputVectorType; |
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typedef typename Superclass::InputCovariantVectorType |
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TDA,IND |
*****************************************************InputCovariantVectorType; |
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typedef typename Superclass::OutputCovariantVectorType |
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TDA,IND |
*****************************************************OutputCovariantVectorType; |
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typedef typename Superclass::InputVnlVectorType InputVnlVectorType; |
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typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType; |
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typedef typename Superclass::InputPointType InputPointType; |
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typedef typename Superclass::OutputPointType OutputPointType; |
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typedef typename Superclass::MatrixType MatrixType; |
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typedef typename Superclass::InverseMatrixType InverseMatrixType; |
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typedef typename Superclass::CenterType CenterType; |
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typedef typename Superclass::TranslationType TranslationType; |
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typedef typename Superclass::OffsetType OffsetType; |
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/** |
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* Get rotation Matrix from an Rigid3DTransform |
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* |
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* This method returns the value of the rotation of the |
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* Rigid3DTransform. |
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* |
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* \deprecated Use GetMatrix instead |
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**/ |
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***const MatrixType & GetRotationMatrix() |
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*****{ return this->GetMatrix(); } |
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/** |
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* Set the rotation Matrix of a Rigid3D Transform |
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* |
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* This method sets the 3x3 matrix representing a rotation |
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* in the transform. The Matrix is expected to be orthogonal |
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* with a certain tolerance. |
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* |
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* \deprecated Use SetMatrix instead |
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* |
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**/ |
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virtual void SetRotationMatrix(const MatrixType & matrix) |
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******{ this->SetMatrix(matrix); } |
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/** |
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* Compose the transformation with a translation |
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* |
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* This method modifies self to include a translation of the |
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* origin. The translation is precomposed with self if pre is |
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* true, and postcomposed otherwise. |
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**/ |
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void Translate(const OffsetType & offset, bool pre=false); |
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/** |
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* TransformCovariantVector can be simplified if the matrix is orthogonal |
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* as is the case for rigid transforms. |
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* |
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* This function call is specialization for rigid transforms. |
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**/ |
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OutputCovariantVectorType TransformCovariantVector( |
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const InputCovariantVectorType &vector) const; |
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/** |
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* Back transform by an affine transformation |
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* |
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* This method finds the point or vector that maps to a given |
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* point or vector under the affine transformation defined by |
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* self. If no such point exists, an exception is thrown. |
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* |
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* \deprecated Please use GetInverseTransform and then call the forward |
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* transform using the result. |
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* |
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**/ |
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inline InputPointType BackTransform(const OutputPointType |
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&point ) const; |
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inline InputVectorType BackTransform(const OutputVectorType |
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&vector) const; |
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inline InputVnlVectorType BackTransform( const OutputVnlVectorType |
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&vector) const; |
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inline InputCovariantVectorType BackTransform(const OutputCovariantVectorType |
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&vector) const; |
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protected: |
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Rigid3DTransform(unsigned int spaceDim, |
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unsigned int paramDim); |
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Rigid3DTransform(const MatrixType & matrix, |
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const OutputVectorType & offset); |
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Rigid3DTransform(); |
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~Rigid3DTransform(); |
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/** |
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* Print contents of an Rigid3DTransform |
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**/ |
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void PrintSelf(std::ostream &os, Indent indent) const; |
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private: |
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Rigid3DTransform(const Self&); //purposely not implemented |
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void operator=(const Self&); //purposely not implemented |
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}; //class Rigid3DTransform |
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} // namespace itk |
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#ifndef ITK_MANUAL_INSTANTIATION |
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#include "itkRigid3DTransform.txx" |
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#endif |
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#endif /* __itkRigid3DTransform_h */ |
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