Go to the documentation of this file.00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017 #ifndef __itkAdvancedRigid3DTransform_h
00018 #define __itkAdvancedRigid3DTransform_h
00019
00020 #include <iostream>
00021 #include "itkAdvancedMatrixOffsetTransformBase.h"
00022 #include "itkExceptionObject.h"
00023 #include "itkMatrix.h"
00024 #include "itkVersor.h"
00025
00026 namespace itk
00027 {
00028
00048 template < class TScalarType=double >
00049 class ITK_EXPORT AdvancedRigid3DTransform :
00050 public AdvancedMatrixOffsetTransformBase< TScalarType, 3, 3>
00051 {
00052 public:
00054 typedef AdvancedRigid3DTransform Self;
00055 typedef AdvancedMatrixOffsetTransformBase< TScalarType, 3, 3 > Superclass;
00056 typedef SmartPointer<Self> Pointer;
00057 typedef SmartPointer<const Self> ConstPointer;
00058
00060 itkTypeMacro( AdvancedRigid3DTransform, AdvancedMatrixOffsetTransformBase );
00061
00063 itkNewMacro( Self );
00064
00066 itkStaticConstMacro(SpaceDimension, unsigned int, 3);
00067 itkStaticConstMacro(InputSpaceDimension, unsigned int, 3);
00068 itkStaticConstMacro(OutputSpaceDimension, unsigned int, 3);
00069 itkStaticConstMacro(ParametersDimension, unsigned int, 12);
00070
00071 typedef typename Superclass::ParametersType ParametersType;
00072 typedef typename Superclass::JacobianType JacobianType;
00073 typedef typename Superclass::ScalarType ScalarType;
00074 typedef typename Superclass::InputVectorType InputVectorType;
00075 typedef typename Superclass::OutputVectorType OutputVectorType;
00076 typedef typename Superclass::InputCovariantVectorType
00077 InputCovariantVectorType;
00078 typedef typename Superclass::OutputCovariantVectorType
00079 OutputCovariantVectorType;
00080 typedef typename Superclass::InputVnlVectorType InputVnlVectorType;
00081 typedef typename Superclass::OutputVnlVectorType OutputVnlVectorType;
00082 typedef typename Superclass::InputPointType InputPointType;
00083 typedef typename Superclass::OutputPointType OutputPointType;
00084 typedef typename Superclass::MatrixType MatrixType;
00085 typedef typename Superclass::InverseMatrixType InverseMatrixType;
00086 typedef typename Superclass::CenterType CenterType;
00087 typedef typename Superclass::TranslationType TranslationType;
00088 typedef typename Superclass::OffsetType OffsetType;
00089
00090 typedef typename Superclass
00091 ::NonZeroJacobianIndicesType NonZeroJacobianIndicesType;
00092 typedef typename Superclass::SpatialJacobianType SpatialJacobianType;
00093 typedef typename Superclass
00094 ::JacobianOfSpatialJacobianType JacobianOfSpatialJacobianType;
00095 typedef typename Superclass::SpatialHessianType SpatialHessianType;
00096 typedef typename Superclass
00097 ::JacobianOfSpatialHessianType JacobianOfSpatialHessianType;
00098 typedef typename Superclass::InternalMatrixType InternalMatrixType;
00099
00110 virtual void SetParameters( const ParametersType & parameters );
00111
00117 virtual void SetMatrix(const MatrixType &matrix);
00118
00127 const MatrixType & GetRotationMatrix()
00128 { return this->GetMatrix(); }
00129
00140 virtual void SetRotationMatrix(const MatrixType & matrix)
00141 { this->SetMatrix(matrix); }
00142
00150 void Translate(const OffsetType & offset, bool pre=false);
00151
00163 InputPointType BackTransform(const OutputPointType
00164 &point ) const;
00165 InputVectorType BackTransform(const OutputVectorType
00166 &vector) const;
00167 InputVnlVectorType BackTransform( const OutputVnlVectorType
00168 &vector) const;
00169 InputCovariantVectorType BackTransform(const OutputCovariantVectorType
00170 &vector) const;
00171
00176 bool MatrixIsOrthogonal( const MatrixType & matrix, double tol = 1e-10 );
00177
00178 protected:
00179 AdvancedRigid3DTransform(unsigned int spaceDim,
00180 unsigned int paramDim);
00181 AdvancedRigid3DTransform(const MatrixType & matrix,
00182 const OutputVectorType & offset);
00183 AdvancedRigid3DTransform();
00184 ~AdvancedRigid3DTransform();
00185
00189 void PrintSelf(std::ostream &os, Indent indent) const;
00190
00191 private:
00192 AdvancedRigid3DTransform(const Self&);
00193 void operator=(const Self&);
00194
00195 };
00196
00197
00198 }
00199
00200
00201 #define ITK_TEMPLATE_AdvancedRigid3DTransform(_, EXPORT, x, y) namespace itk { \
00202 _(1(class EXPORT AdvancedRigid3DTransform< ITK_TEMPLATE_1 x >)) \
00203 namespace Templates { typedef AdvancedRigid3DTransform< ITK_TEMPLATE_1 x > AdvancedRigid3DTransform##y; } \
00204 }
00205
00206 #if ITK_TEMPLATE_EXPLICIT
00207 # include "Templates/itkAdvancedRigid3DTransform+-.h"
00208 #endif
00209
00210 #if ITK_TEMPLATE_TXX
00211 # include "itkAdvancedRigid3DTransform.txx"
00212 #endif
00213
00214 #endif