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/*========================================================================= |
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Program: Insight Segmentation & Registration Toolkit |
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Module: $RCSfile: itkVersorTransform.h.html,v $ |
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Language: C++ |
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Date: $Date: 2006/01/17 19:15:49 $ |
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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 __itkVersorTransform_h |
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#define __itkVersorTransform_h |
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#include <iostream> |
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#include "itkRigid3DTransform.h" |
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#include "vnl/vnl_quaternion.h" |
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#include "itkVersor.h" |
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namespace itk |
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{ |
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/** |
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* |
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* VersorTransform of a vector space (e.g. space coordinates) |
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* |
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* This transform applies a rotation to the space. |
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* |
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* \ingroup Transforms |
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* |
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**/ |
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template < class TScalarType=double > // Data type for scalars (float or double) |
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class ITK_EXPORT VersorTransform : |
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**public Rigid3DTransform< TScalarType > |
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{ |
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public: |
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****/** Standard Self Typedef */ |
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****typedef VersorTransform Self; |
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****typedef Rigid3DTransform< TScalarType > 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( VersorTransform, Rigid3DTransform ); |
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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 parameters */ |
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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, 3); |
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****/** Parameters Type */ |
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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::InputPointType InputPointType; |
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****typedef typename Superclass::OutputPointType OutputPointType; |
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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::InputVnlVectorType InputVnlVectorType; |
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****typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType; |
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****typedef typename Superclass::InputCovariantVectorType |
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******************************************************InputCovariantVectorType; |
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****typedef typename Superclass::OutputCovariantVectorType |
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******************************************************OutputCovariantVectorType; |
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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::OffsetType OffsetType; |
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****/** |
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****** VnlQuaternion Type |
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******/ |
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****typedef vnl_quaternion<TScalarType> VnlQuaternionType; |
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****/** |
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****** Versor Type |
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******/ |
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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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****/** |
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****** Set the transformation from a container of parameters |
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****** This is typically used by optimizers. |
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****** |
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****** There are 3 parameters. They represent the components |
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****** of the right part of the versor. This can be seen |
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****** as the components of the vector parallel to the rotation |
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****** axis and multiplied by sin( angle / 2 ). |
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****** |
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*******/ |
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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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****/** |
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****** Set the rotational part of the transform |
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*******/ |
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****void SetRotation( const VersorType & versor ); |
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****void SetRotation( const AxisType & axis, AngleType angle ); |
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****itkGetConstReferenceMacro(Versor, VersorType); |
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****/** Set the parameters to the IdentityTransform */ |
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****virtual void SetIdentity(void); |
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****/** |
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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 |
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****** transform is invertible at this point. |
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******/ |
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****const JacobianType & GetJacobian(const InputPointType &point ) const; |
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*protected: |
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****/** |
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****** Construct an VersorTransform object |
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****** |
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*******/ |
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****VersorTransform(const MatrixType &matrix, |
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const OutputVectorType &offset); |
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****VersorTransform(unsigned int outputDims, |
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unsigned int paramDims); |
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****VersorTransform(); |
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****/** |
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****** Destroy an VersorTransform object |
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*******/ |
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****~VersorTransform(){}; |
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****/** This method must be made protected here because it is not a safe way of |
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****** initializing the Versor */ |
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****virtual void SetRotationMatrix(const MatrixType & matrix) |
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******{ this->Superclass::SetRotationMatrix( matrix ); } |
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****void SetVarVersor(const VersorType & newVersor) |
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******{ m_Versor = newVersor; } |
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****/** |
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****** Print contents of a VersorTransform |
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*******/ |
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****void PrintSelf(std::ostream &os, Indent indent) const; |
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****/** |
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****** Compute Matrix |
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****** Compute the components of the rotation matrix in the superclass |
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*******/ |
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****void ComputeMatrix(void); |
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****void ComputeMatrixParameters(void); |
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private: |
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****/** |
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****** Copy a VersorTransform object |
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*******/ |
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****VersorTransform(const Self & other); // Not implemented |
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****/** |
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****** Assignment operator |
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*******/ |
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****const Self & operator=( const Self & ); // Not implemented |
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****/** |
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****** Versor containing the rotation |
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******/ |
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****VersorType m_Versor; |
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}; //class VersorTransform |
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} // namespace itk |
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#ifndef ITK_MANUAL_INSTANTIATION |
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#include "itkVersorTransform.txx" |
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#endif |
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#endif /* __itkVersorTransform_h */ |
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