itkRigid3DPerspectiveTransform.h

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/*=========================================================================
 *
 *  Copyright Insight Software Consortium
 *
 *  Licensed under the Apache License, Version 2.0 (the "License");
 *  you may not use this file except in compliance with the License.
 *  You may obtain a copy of the License at
 *
 *         http://www.apache.org/licenses/LICENSE-2.0.txt
 *
 *  Unless required by applicable law or agreed to in writing, software
 *  distributed under the License is distributed on an "AS IS" BASIS,
 *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 *  See the License for the specific language governing permissions and
 *  limitations under the License.
 *
 *=========================================================================*/
#ifndef __itkRigid3DPerspectiveTransform_h
#define __itkRigid3DPerspectiveTransform_h

#include "itkMacro.h"
#include "vnl/vnl_quaternion.h"
#include <iostream>
#include "itkTransform.h"
#include "itkVersor.h"

namespace itk
{
template <
  class TScalarType = double>
// Data type for scalars (float or double)
class ITK_EXPORT Rigid3DPerspectiveTransform :
  public Transform<TScalarType, 3, 2>
{
public:
  itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
  itkStaticConstMacro(OutputSpaceDimension, unsigned int, 2);

  itkStaticConstMacro(SpaceDimension, unsigned int, 3);
  itkStaticConstMacro(ParametersDimension, unsigned int, 6);

  typedef Rigid3DPerspectiveTransform Self;
  typedef Transform<TScalarType,
                    itkGetStaticConstMacro(InputSpaceDimension),
                    itkGetStaticConstMacro(OutputSpaceDimension)> Superclass;

  typedef SmartPointer<Self>       Pointer;
  typedef SmartPointer<const Self> ConstPointer;

  itkTypeMacro(Rigid3DPerspectiveTransform, Transform);

  itkNewMacro(Self);

  typedef typename Superclass::ScalarType ScalarType;

  typedef typename Superclass::ParametersType ParametersType;
  typedef typename ParametersType::ValueType  ParameterValueType;

  typedef typename Superclass::JacobianType JacobianType;

  typedef Matrix<TScalarType, itkGetStaticConstMacro(InputSpaceDimension),
                 itkGetStaticConstMacro(InputSpaceDimension)> MatrixType;

  typedef Vector<TScalarType, itkGetStaticConstMacro(InputSpaceDimension)> OffsetType;
  typedef typename OffsetType::ValueType                                   OffsetValueType;

  typedef Vector<TScalarType, itkGetStaticConstMacro(InputSpaceDimension)>  InputVectorType;
  typedef Vector<TScalarType, itkGetStaticConstMacro(OutputSpaceDimension)> OutputVectorType;

  typedef typename Superclass::InputCovariantVectorType  InputCovariantVectorType;
  typedef typename Superclass::OutputCovariantVectorType OutputCovariantVectorType;

  typedef Point<TScalarType, itkGetStaticConstMacro(InputSpaceDimension)>  InputPointType;
  typedef Point<TScalarType, itkGetStaticConstMacro(OutputSpaceDimension)> OutputPointType;

  typedef vnl_quaternion<TScalarType> VnlQuaternionType;

  typedef typename Superclass::InputVnlVectorType  InputVnlVectorType;
  typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType;

  typedef Versor<TScalarType>             VersorType;
  typedef typename VersorType::VectorType AxisType;
  typedef typename VersorType::ValueType  AngleType;
  typedef typename AxisType::ValueType    AxisValueType;

  const OffsetType & GetOffset() const
  {
    return m_Offset;
  }

  const VersorType & GetRotation() const
  {
    return m_Versor;
  }

  void SetParameters(const ParametersType & parameters);

  const ParametersType & GetParameters() const;

  virtual void SetFixedParameters(const ParametersType &)
  {
  }

  void SetOffset(const OffsetType & offset)
  {
    m_Offset = offset; return;
  }

  void SetRotation(const VersorType & rotation);

  void SetRotation(const Vector<TScalarType, 3> & axis, double angle);

  void SetFocalDistance(TScalarType focalDistance)
  {
    m_FocalDistance = focalDistance;
  }

  double GetFocalDistance(void) const
  {
    return m_FocalDistance;
  }

  OutputPointType  TransformPoint(const InputPointType  & point) const;

  using Superclass::TransformVector;

  virtual OutputVectorType TransformVector(const InputVectorType &) const
  {
    itkExceptionMacro(
      << "TransformVector(const InputVectorType &) is not implemented for Rigid3DPerspectiveTransform");
  }

  virtual OutputVnlVectorType TransformVector(const InputVnlVectorType &) const
  {
    itkExceptionMacro(
      << "TransformVector(const InputVnlVectorType &) is not implemented for Rigid3DPerspectiveTransform");
  }

  using Superclass::TransformCovariantVector;

  virtual OutputCovariantVectorType TransformCovariantVector(const InputCovariantVectorType &) const
  {
    itkExceptionMacro(
      <<
      "TransformCovariantVector(const InputCovariantVectorType &) is not implemented for Rigid3DPerspectiveTransform");
  }

  const MatrixType & GetRotationMatrix() const
  {
    return m_RotationMatrix;
  }

  void ComputeMatrix(void);

  virtual void ComputeJacobianWithRespectToParameters( const InputPointType  & p, JacobianType & jacobian) const;

  virtual void ComputeJacobianWithRespectToPosition(const InputPointType &,
                                                    JacobianType &) const
  {
    itkExceptionMacro( "ComputeJacobianWithRespectToPosition not yet implemented "
                       "for " << this->GetNameOfClass() );
  }

  itkGetConstReferenceMacro(FixedOffset, OffsetType);
  itkSetMacro(FixedOffset, OffsetType);

  itkSetMacro(CenterOfRotation, InputPointType);
  itkGetConstReferenceMacro(CenterOfRotation, InputPointType);

protected:
  Rigid3DPerspectiveTransform();
  ~Rigid3DPerspectiveTransform();
  void PrintSelf(std::ostream & os, Indent indent) const;

private:
  Rigid3DPerspectiveTransform(const Self &); // purposely not implemented
  void operator=(const Self &);              // purposely not implemented

  OffsetType m_Offset;

  VersorType m_Versor;

  TScalarType m_FocalDistance;

  MatrixType m_RotationMatrix;

  OffsetType m_FixedOffset;

  InputPointType m_CenterOfRotation;
}; // class Rigid3DPerspectiveTransform:
}  // namespace itk

#ifndef ITK_MANUAL_INSTANTIATION
#include "itkRigid3DPerspectiveTransform.hxx"
#endif

#endif /* __itkRigid3DPerspectiveTransform_h */