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vimt3d_transform_3d Class Reference

#include <vimt3d_transform_3d.h>

List of all members.

Detailed Description

A class to define and apply a 3D transform.

The transform which can be up to an affine transformation. In order of complexity the transform can be

One useful special case of Affine involves anisotropic scaling, followed by rotation, then translation.

The transform types Translation, ZoomOnly, RigidBody and Similarity have a defined order in which scaling, rotation and translation components are applied, and the components are thus separable. Other transformations (e.g. translation followed by rotation) can be obtained by composing multiple transforms. The resulting transform will in general be termed affine.

The transformation can be represented by a 4x4 matrix of homogeneous co-ordinates. 

   ( xx xy xz xt )
   ( yx yy yz yt )
   ( zx zy zz zt )
   ( tx ty tz tt )
For efficiency the elements are stored explicitly, rather than in a vnl_matrix<double>, to avoid lots of copying of matrices with all the attendant memory allocation.

Definition at line 46 of file vimt3d_transform_3d.h.

Public Types

enum  Form {
  Identity, Translation, ZoomOnly, RigidBody,
  Similarity, Affine
}
 Defines form of transformation. More...

Public Member Functions

 vimt3d_transform_3d ()
 Construct as identity transform.
 ~vimt3d_transform_3d ()
 Destructor.
bool is_identity () const
 True if identity.
Form form () const
 Form of transformation.
vnl_matrix< double > matrix () const
 Gets 4x4 Matrix representing transformation.
void matrix (vnl_matrix< double > &M) const
 Gets 4x4 Matrix representing transformation.
void params (vnl_vector< double > &v) const
 Fills v with parameters.
void set (const vnl_vector< double > &v, Form)
 Sets transform using v.
void set_identity ()
 Sets transform to identity.
void set_translation (double t_x, double t_y, double t_z)
 Sets the transformation to be a translation.
void set_zoom_only (double s_x, double s_y, double s_z, double t_x, double t_y, double t_z)
 Sets the transformation to be anisotropic scaling, followed by translation.
void set_zoom_only (double s, double t_x, double t_y, double t_z)
 Sets the transformation to be isotropic scaling, followed by translation.
void set_rigid_body (double r_x, double r_y, double r_z, double t_x, double t_y, double t_z)
 Sets the transformation to be rotation, followed by translation.
void set_similarity (double s, double r_x, double r_y, double r_z, double t_x, double t_y, double t_z)
 Sets the transformation to be isotropic scaling, followed by rotation, then translation.
void set_affine (double s_x, double s_y, double s_z, double r_x, double r_y, double r_z, double t_x, double t_y, double t_z)
 Sets the transformation to be a special case of Affine: anisotropic scaling, followed by rotation, then translation.
void set_affine (const vgl_point_3d< double > &p, const vgl_vector_3d< double > &u, const vgl_vector_3d< double > &v, const vgl_vector_3d< double > &w)
 Sets the transformation to be a special case of Affine.
vgl_point_3d< double > origin () const
 Returns the coordinates of the origin.
void set_origin (const vgl_point_3d< double > &)
 Modifies the transformation so that origin == p.
vgl_point_3d< double > operator() (double x, double y, double z) const
 Applies transformation to (x,y,z).
vgl_point_3d< double > operator() (vgl_point_3d< double > p) const
 Applies transformation to point p.
vimt3d_transform_3d inverse () const
 Returns the inverse of the current transform.
vgl_vector_3d< double > delta (vgl_point_3d< double >, vgl_vector_3d< double > dp) const
 Returns change in transformed point when original point moved by dp.
void print_summary (vcl_ostream &os) const
 Print class to os.
void print_all (vcl_ostream &os) const
 Print class to os.
void config (vcl_istream &is)
 Set transformation from stream;.
void b_write (vsl_b_ostream &bfs) const
 Save class to binary file stream.
void b_read (vsl_b_istream &bfs)
 Load class from binary file stream.
bool operator== (const vimt3d_transform_3d &) const
 True if t is the same as this.

Protected Member Functions

void calcInverse () const
void setCheck (int n1, int n2, const char *str) const
void angles (double &phi_x, double &phi_y, double &phi_z) const
void setRotMat (double r_x, double r_y, double r_z)

Protected Attributes

double xx_
double xy_
double xz_
double xt_
double yx_
double yy_
double yz_
double yt_
double zx_
double zy_
double zz_
double zt_
double tx_
double ty_
double tz_
double tt_
Form form_
double xx2_
double xy2_
double xz2_
double xt2_
double yx2_
double yy2_
double yz2_
double yt2_
double zx2_
double zy2_
double zz2_
double zt2_
double tx2_
double ty2_
double tz2_
double tt2_
bool inv_uptodate_

Friends

vimt3d_transform_3d operator * (const vimt3d_transform_3d &L, const vimt3d_transform_3d &R)
 Calculates the product LR.

Member Enumeration Documentation

enum vimt3d_transform_3d::Form
 

Defines form of transformation.

Enumerator:
Identity 
Translation 
ZoomOnly  Scaling, followed by translation.
RigidBody  Rotation, followed by translation.
Similarity  Isotropic scaling, followed by rotation, then translation.
Affine 

Definition at line 51 of file vimt3d_transform_3d.h.

Constructor & Destructor Documentation

vimt3d_transform_3d::vimt3d_transform_3d (   )  [inline]
 

Construct as identity transform.

Definition at line 59 of file vimt3d_transform_3d.h.

vimt3d_transform_3d::~vimt3d_transform_3d (   )  [inline]
 

Destructor.

Definition at line 70 of file vimt3d_transform_3d.h.

Member Function Documentation

void vimt3d_transform_3d::angles (  double &  phi_x,
double &  phi_y,
double &  phi_z
)  const [protected]
 

Definition at line 47 of file vimt3d_transform_3d.cxx.

void vimt3d_transform_3d::b_read (  vsl_b_istream &  bfs  ) 
 

Load class from binary file stream.

Definition at line 898 of file vimt3d_transform_3d.cxx.

void vimt3d_transform_3d::b_write (  vsl_b_ostream &  bfs  )  const
 

Save class to binary file stream.

Definition at line 885 of file vimt3d_transform_3d.cxx.

void vimt3d_transform_3d::calcInverse (   )  const [protected]
 

Definition at line 505 of file vimt3d_transform_3d.cxx.

void vimt3d_transform_3d::config (  vcl_istream &  is  ) 
 

Set transformation from stream;.

You can specify the vector as used in the set() operation. 

   form: rigidbody
   vector: { 0.1 0.1 0.1 2 2 2 }
or with explicit parameter names from the set_...() methods. 
   form: rigidbody
   r_x: 0.1
   r_y: 0.1
   r_z: 0.1
   t_x: 2
   t_y: 2
   t_z: 2

Definition at line 791 of file vimt3d_transform_3d.cxx.

vgl_vector_3d<double> vimt3d_transform_3d::delta (  vgl_point_3d< double >  ,
vgl_vector_3d< double >  dp
)  const [inline]
 

Returns change in transformed point when original point moved by dp.

Parameters:
p point
dp movement from point
Returns:
T(p+dp)-T(p)

Definition at line 230 of file vimt3d_transform_3d.h.

Form vimt3d_transform_3d::form (   )  const [inline]
 

Form of transformation.

Definition at line 76 of file vimt3d_transform_3d.h.

vimt3d_transform_3d vimt3d_transform_3d::inverse (   )  const
 

Returns the inverse of the current transform.

Returns:
inverse of current transform.

Definition at line 481 of file vimt3d_transform_3d.cxx.

bool vimt3d_transform_3d::is_identity (   )  const [inline]
 

True if identity.

Definition at line 73 of file vimt3d_transform_3d.h.

void vimt3d_transform_3d::matrix (  vnl_matrix< double > &  M  )  const
 

Gets 4x4 Matrix representing transformation.

Return values:
M a 4x4 Matrix representing transformation

Definition at line 32 of file vimt3d_transform_3d.cxx.

vnl_matrix< double > vimt3d_transform_3d::matrix (   )  const
 

Gets 4x4 Matrix representing transformation.

Definition at line 23 of file vimt3d_transform_3d.cxx.

vgl_point_3d<double> vimt3d_transform_3d::operator() (  vgl_point_3d< double >  p  )  const [inline]
 

Applies transformation to point p.

Parameters:
p Point
Returns:
Point = T(p)

Definition at line 219 of file vimt3d_transform_3d.h.

vgl_point_3d<double> vimt3d_transform_3d::operator() (  double  x,
double  y,
double  z
)  const [inline]
 

Applies transformation to (x,y,z).

Parameters:
x x coordinate
y y co-ord
z z co-ord ret: Point = T(x,y,z)

Definition at line 194 of file vimt3d_transform_3d.h.

bool vimt3d_transform_3d::operator== (  const vimt3d_transform_3d &   )  const
 

True if t is the same as this.

Note:
All underlying parameters xx_, xy_, etc are required to be equal, but the declared Form (etc RigidBody) need not be equal.

Definition at line 578 of file vimt3d_transform_3d.cxx.

vgl_point_3d<double> vimt3d_transform_3d::origin (   )  const [inline]
 

Returns the coordinates of the origin.

Definition at line 178 of file vimt3d_transform_3d.h.

void vimt3d_transform_3d::params (  vnl_vector< double > &  v  )  const
 

Fills v with parameters.

Definition at line 130 of file vimt3d_transform_3d.cxx.

void vimt3d_transform_3d::print_all (  vcl_ostream &  os  )  const
 

Print class to os.

This function prints the actual parameters xx_,xy_,xz_,xt_, yx_,yy_,yz_,yt_, zx_,zy_,zz_,zt_, tx_,ty_,tz_,tt_

Definition at line 750 of file vimt3d_transform_3d.cxx.

void vimt3d_transform_3d::print_summary (  vcl_ostream &  os  )  const
 

Print class to os.

This function prints the extracted params.

See also:
params()

set()

Definition at line 689 of file vimt3d_transform_3d.cxx.

void vimt3d_transform_3d::set (  const vnl_vector< double > &  v,
Form 
) 
 

Sets transform using v.

Definition at line 191 of file vimt3d_transform_3d.cxx.

void vimt3d_transform_3d::set_affine (  const vgl_point_3d< double > &  p,
const vgl_vector_3d< double > &  u,
const vgl_vector_3d< double > &  v,
const vgl_vector_3d< double > &  w
) 
 

Sets the transformation to be a special case of Affine.

T(x,y,z) = p +x.u +y.v + z.w

Parameters:
p Origin point
u Vector to which the x-axis is mapped. The length of u indicates scaling in x.
v Vector to which the y-axis is mapped. The length of v indicates scaling in y.
w Vector to which the z-axis is mapped. The length of w indicates scaling in z.
Note:
Currently, the implementation assumes that u,v,w are orthogonal and form a right-handed system. There are asserts for this condition.

This creates a special case of Affine. Although this special case is separable, in general Affine transformations are not separable.

Definition at line 441 of file vimt3d_transform_3d.cxx.

void vimt3d_transform_3d::set_affine (  double  s_x,
double  s_y,
double  s_z,
double  r_x,
double  r_y,
double  r_z,
double  t_x,
double  t_y,
double  t_z
) 
 

Sets the transformation to be a special case of Affine: anisotropic scaling, followed by rotation, then translation.

Parameters:
s_x Scaling factor in x
s_y Scaling factor in y
s_z Scaling factor in z
r_x Angle of rotation in x
r_y Angle of rotation in y
r_z Angle of rotation in z
t_x Translation in x
t_y Translation in y
t_z Translation in z
Note:
This creates a special case of Affine. Although this special case is separable, in general Affine transformations are not separable.

Definition at line 414 of file vimt3d_transform_3d.cxx.

void vimt3d_transform_3d::set_identity (   ) 
 

Sets transform to identity.

Definition at line 278 of file vimt3d_transform_3d.cxx.

void vimt3d_transform_3d::set_origin (  const vgl_point_3d< double > &   ) 
 

Modifies the transformation so that origin == p.

Modifies the transformation so that operator()(vgl_point_3d<double> (0,0)) == p. The rest of the transformation is unaffected. If the transformation was previously the identity, it becomes a translation.

Definition at line 265 of file vimt3d_transform_3d.cxx.

void vimt3d_transform_3d::set_rigid_body (  double  r_x,
double  r_y,
double  r_z,
double  t_x,
double  t_y,
double  t_z
) 
 

Sets the transformation to be rotation, followed by translation.

The transformation is separable affine.

Parameters:
r_x Angle of rotation in x
r_y Angle of rotation in y
r_z Angle of rotation in z
t_x Translation in x
t_y Translation in y
t_z Translation in z

Definition at line 342 of file vimt3d_transform_3d.cxx.

void vimt3d_transform_3d::set_similarity (  double  s,
double  r_x,
double  r_y,
double  r_z,
double  t_x,
double  t_y,
double  t_z
) 
 

Sets the transformation to be isotropic scaling, followed by rotation, then translation.

The transformation is separable affine.

Parameters:
s Scaling factor
r_x Angle of rotation in x
r_y Angle of rotation in y
r_z Angle of rotation in z
t_x Translation in x
t_y Translation in y
t_z Translation in z

Definition at line 370 of file vimt3d_transform_3d.cxx.

void vimt3d_transform_3d::set_translation (  double  t_x,
double  t_y,
double  t_z
) 
 

Sets the transformation to be a translation.

Parameters:
t_x Translation in x
t_y Translation in y
t_z Translation in z

Definition at line 293 of file vimt3d_transform_3d.cxx.

void vimt3d_transform_3d::set_zoom_only (  double  s,
double  t_x,
double  t_y,
double  t_z
)  [inline]
 

Sets the transformation to be isotropic scaling, followed by translation.

The transformation is separable affine. x' = s.x + t_x, y' = s.y + t_y, z' = s.z + t_z

Parameters:
s Scaling in x, y and z
t_x Translation in x
t_y Translation in y
t_z Translation in z

Definition at line 119 of file vimt3d_transform_3d.h.

void vimt3d_transform_3d::set_zoom_only (  double  s_x,
double  s_y,
double  s_z,
double  t_x,
double  t_y,
double  t_z
) 
 

Sets the transformation to be anisotropic scaling, followed by translation.

The transformation is separable affine. x' = s_x.x + t_x, y' = s_y.y + t_y, z' = s_z.z + t_z

Parameters:
s_x Scaling in x
s_y Scaling in y
s_z Scaling in z
t_x Translation in x
t_y Translation in y
t_z Translation in z

Definition at line 317 of file vimt3d_transform_3d.cxx.

void vimt3d_transform_3d::setCheck (  int  n1,
int  n2,
const char *  str
)  const [protected]
 

Definition at line 180 of file vimt3d_transform_3d.cxx.

void vimt3d_transform_3d::setRotMat (  double  r_x,
double  r_y,
double  r_z
)  [protected]
 

Definition at line 242 of file vimt3d_transform_3d.cxx.

Friends And Related Function Documentation

vimt3d_transform_3d operator * (  const vimt3d_transform_3d &  L,
const vimt3d_transform_3d &  R
)  [friend]
 

Calculates the product LR.

Parameters:
L Transform
R Transform
Returns:
Transform LR = R followed by L

Definition at line 604 of file vimt3d_transform_3d.cxx.

Member Data Documentation

Form vimt3d_transform_3d::form_ [protected]
 

Definition at line 300 of file vimt3d_transform_3d.h.

bool vimt3d_transform_3d::inv_uptodate_ [mutable, protected]
 

Definition at line 305 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::tt2_ [mutable, protected]
 

Definition at line 304 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::tt_ [protected]
 

Definition at line 299 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::tx2_ [mutable, protected]
 

Definition at line 304 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::tx_ [protected]
 

Definition at line 299 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::ty2_ [mutable, protected]
 

Definition at line 304 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::ty_ [protected]
 

Definition at line 299 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::tz2_ [mutable, protected]
 

Definition at line 304 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::tz_ [protected]
 

Definition at line 299 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::xt2_ [mutable, protected]
 

Definition at line 304 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::xt_ [protected]
 

Definition at line 299 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::xx2_ [mutable, protected]
 

Definition at line 304 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::xx_ [protected]
 

Definition at line 299 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::xy2_ [mutable, protected]
 

Definition at line 304 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::xy_ [protected]
 

Definition at line 299 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::xz2_ [mutable, protected]
 

Definition at line 304 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::xz_ [protected]
 

Definition at line 299 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::yt2_ [mutable, protected]
 

Definition at line 304 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::yt_ [protected]
 

Definition at line 299 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::yx2_ [mutable, protected]
 

Definition at line 304 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::yx_ [protected]
 

Definition at line 299 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::yy2_ [mutable, protected]
 

Definition at line 304 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::yy_ [protected]
 

Definition at line 299 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::yz2_ [mutable, protected]
 

Definition at line 304 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::yz_ [protected]
 

Definition at line 299 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::zt2_ [mutable, protected]
 

Definition at line 304 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::zt_ [protected]
 

Definition at line 299 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::zx2_ [mutable, protected]
 

Definition at line 304 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::zx_ [protected]
 

Definition at line 299 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::zy2_ [mutable, protected]
 

Definition at line 304 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::zy_ [protected]
 

Definition at line 299 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::zz2_ [mutable, protected]
 

Definition at line 304 of file vimt3d_transform_3d.h.

double vimt3d_transform_3d::zz_ [protected]
 

Definition at line 299 of file vimt3d_transform_3d.h.

The documentation for this class was generated from the following files:
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