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<typename TParametersValueType=double>
class ITK_TEMPLATE_EXPORT Rigid3DPerspectiveTransform :
  public Transform<TParametersValueType, 3, 2>
{
public:
  ITK_DISALLOW_COPY_AND_ASSIGN(Rigid3DPerspectiveTransform);

  static constexpr unsigned int InputSpaceDimension = 3;
  static constexpr unsigned int OutputSpaceDimension = 2;

  static constexpr unsigned int SpaceDimension = 3;
  static constexpr unsigned int ParametersDimension = 6;

  using Self = Rigid3DPerspectiveTransform;
  using Superclass = Transform<TParametersValueType,
                    Self::InputSpaceDimension,
                    Self::OutputSpaceDimension>;

  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;

  itkTypeMacro(Rigid3DPerspectiveTransform, Transform);

  itkNewMacro(Self);

  using ScalarType = typename Superclass::ScalarType;

  using FixedParametersType = typename Superclass::FixedParametersType;
  using FixedParametersValueType = typename FixedParametersType::ValueType;
  using ParametersType = typename Superclass::ParametersType;
  using ParametersValueType = typename ParametersType::ValueType;

  using JacobianType = typename Superclass::JacobianType;
  using JacobianPositionType = typename Superclass::JacobianPositionType;
  using InverseJacobianPositionType = typename Superclass::InverseJacobianPositionType;

  using MatrixType = Matrix<TParametersValueType, Self::InputSpaceDimension,
                 Self::InputSpaceDimension>;

  using OffsetType = Vector<TParametersValueType, Self::InputSpaceDimension>;
  using OffsetValueType = typename OffsetType::ValueType;

  using InputVectorType = Vector<TParametersValueType, Self::InputSpaceDimension>;
  using OutputVectorType = Vector<TParametersValueType, Self::OutputSpaceDimension>;

  using InputCovariantVectorType = typename Superclass::InputCovariantVectorType;
  using OutputCovariantVectorType = typename Superclass::OutputCovariantVectorType;

  using InputPointType = Point<TParametersValueType, Self::InputSpaceDimension>;
  using OutputPointType = Point<TParametersValueType, Self::OutputSpaceDimension>;

  using VnlQuaternionType = vnl_quaternion<TParametersValueType>;

  using InputVnlVectorType = typename Superclass::InputVnlVectorType;
  using OutputVnlVectorType = typename Superclass::OutputVnlVectorType;

  using VersorType = Versor<TParametersValueType>;
  using AxisType = typename VersorType::VectorType;
  using AngleType = typename VersorType::ValueType;
  using AxisValueType = typename AxisType::ValueType;

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

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

  void SetParameters(const ParametersType & parameters) override;

  const ParametersType & GetParameters() const override;

  void SetFixedParameters(const FixedParametersType &) override
  {
  }

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

  void SetRotation(const VersorType & rotation);

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

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

  double GetFocalDistance() const
  {
    return m_FocalDistance;
  }

  OutputPointType  TransformPoint(const InputPointType  & point) const override;

  using Superclass::TransformVector;

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

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

  using Superclass::TransformCovariantVector;

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

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

  void ComputeMatrix();

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

  void ComputeJacobianWithRespectToPosition(const InputPointType &,
                                                    JacobianPositionType &) const override
  {
    itkExceptionMacro( "ComputeJacobianWithRespectToPosition not yet implemented "
                       "for " << this->GetNameOfClass() );
  }
  using Superclass::ComputeJacobianWithRespectToPosition;

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

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

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

private:
  OffsetType m_Offset;

  VersorType m_Versor;

  TParametersValueType 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 */