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00017 #ifndef __itkRigid3DPerspectiveTransform_h
00018 #define __itkRigid3DPerspectiveTransform_h
00019
00020 #include "itkExceptionObject.h"
00021 #include "vnl/vnl_quaternion.h"
00022 #include <iostream>
00023 #include "itkMatrix.h"
00024 #include "itkTransform.h"
00025 #include "itkVersor.h"
00026
00027 namespace itk
00028 {
00029
00038 template <
00039 class TScalarType=double>
00040 class ITK_EXPORT Rigid3DPerspectiveTransform :
00041 public Transform< TScalarType, 3, 2 >
00042 {
00043 public:
00045 itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
00046 itkStaticConstMacro(OutputSpaceDimension, unsigned int, 2);
00048
00050 itkStaticConstMacro(SpaceDimension, unsigned int, 3);
00051 itkStaticConstMacro(ParametersDimension, unsigned int, 6);
00053
00055 typedef Rigid3DPerspectiveTransform Self;
00056 typedef Transform< TScalarType,
00057 itkGetStaticConstMacro(InputSpaceDimension),
00058 itkGetStaticConstMacro(OutputSpaceDimension)> Superclass;
00060
00061 typedef SmartPointer<Self> Pointer;
00062 typedef SmartPointer<const Self> ConstPointer;
00063
00065 itkTypeMacro( Rigid3DPerspectiveTransform, Transform );
00066
00068 itkNewMacro( Self );
00069
00071 typedef typename Superclass::ScalarType ScalarType;
00072
00074 typedef typename Superclass::ParametersType ParametersType;
00075 typedef typename ParametersType::ValueType ParameterValueType;
00076
00078 typedef typename Superclass::JacobianType JacobianType;
00079
00081 typedef Matrix<TScalarType, itkGetStaticConstMacro(InputSpaceDimension), itkGetStaticConstMacro(InputSpaceDimension)> MatrixType;
00082
00084 typedef Vector<TScalarType, itkGetStaticConstMacro(InputSpaceDimension)> OffsetType;
00085 typedef typename OffsetType::ValueType OffsetValueType;
00086
00088 typedef Vector<TScalarType, itkGetStaticConstMacro(InputSpaceDimension)> InputVectorType;
00089 typedef Vector<TScalarType, itkGetStaticConstMacro(OutputSpaceDimension)> OutputVectorType;
00091
00093 typedef Point<TScalarType, itkGetStaticConstMacro(InputSpaceDimension)> InputPointType;
00094 typedef Point<TScalarType, itkGetStaticConstMacro(OutputSpaceDimension)> OutputPointType;
00096
00098 typedef vnl_quaternion<TScalarType> VnlQuaternionType;
00099
00101 typedef Versor<TScalarType> VersorType;
00102 typedef typename VersorType::VectorType AxisType;
00103 typedef typename VersorType::ValueType AngleType;
00104 typedef typename AxisType::ValueType AxisValueType;
00105
00109 const OffsetType & GetOffset() const
00110 { return m_Offset; }
00111
00115 const VersorType & GetRotation() const
00116 { return m_Versor; }
00117
00122 void SetParameters( const ParametersType & parameters );
00123 const ParametersType & GetParameters() const;
00125
00128 void SetOffset(const OffsetType &offset)
00129 { m_Offset = offset; return; }
00130
00133 void SetRotation(const VersorType &rotation);
00134
00139 void SetRotation(const Vector<TScalarType,3> &axis, double angle);
00140
00144 void SetFocalDistance( TScalarType focalDistance )
00145 { m_FocalDistance = focalDistance; }
00146
00148 double GetFocalDistance( void ) const
00149 { return m_FocalDistance; }
00150
00154 OutputPointType TransformPoint(const InputPointType &point ) const;
00155
00157 const MatrixType & GetRotationMatrix() const {return m_RotationMatrix;}
00158
00160 void ComputeMatrix(void);
00161
00163 virtual const JacobianType & GetJacobian(const InputPointType &point ) const;
00164
00166 itkGetConstReferenceMacro(FixedOffset,OffsetType);
00167 itkSetMacro(FixedOffset,OffsetType);
00169
00171 itkSetMacro(CenterOfRotation,InputPointType);
00172 itkGetConstReferenceMacro(CenterOfRotation,InputPointType);
00174
00175
00176 protected:
00177 Rigid3DPerspectiveTransform();
00178 ~Rigid3DPerspectiveTransform();
00179 void PrintSelf(std::ostream &os, Indent indent) const;
00180
00181 private:
00182 Rigid3DPerspectiveTransform(const Self&);
00183 void operator=(const Self&);
00184
00186 OffsetType m_Offset;
00187
00189 VersorType m_Versor;
00190
00192 TScalarType m_FocalDistance;
00193
00195 MatrixType m_RotationMatrix;
00196
00198 OffsetType m_FixedOffset;
00199
00201 InputPointType m_CenterOfRotation;
00202
00203 };
00204
00205 }
00206
00207
00208 #define ITK_TEMPLATE_Rigid3DPerspectiveTransform(_, EXPORT, x, y) namespace itk { \
00209 _(1(class EXPORT Rigid3DPerspectiveTransform< ITK_TEMPLATE_1 x >)) \
00210 namespace Templates { typedef Rigid3DPerspectiveTransform< ITK_TEMPLATE_1 x > \
00211 Rigid3DPerspectiveTransform##y; } \
00212 }
00213
00214 #if ITK_TEMPLATE_EXPLICIT
00215 # include "Templates/itkRigid3DPerspectiveTransform+-.h"
00216 #endif
00217
00218 #if ITK_TEMPLATE_TXX
00219 # include "itkRigid3DPerspectiveTransform.txx"
00220 #endif
00221
00222 #endif
00223