itkRigid3DPerspectiveTransform.h

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/*=========================================================================
 *
 *  Copyright NumFOCUS
 *
 *  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
 *
 *         https://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_MOVE(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>;

  itkOverrideGetNameOfClassMacro(Rigid3DPerspectiveTransform);

  itkNewMacro(Self);

  using typename Superclass::ScalarType;

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

  using typename Superclass::JacobianType;
  using typename Superclass::JacobianPositionType;
  using 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 typename Superclass::InputCovariantVectorType;
  using typename Superclass::OutputCovariantVectorType;

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

  using VnlQuaternionType = vnl_quaternion<TParametersValueType>;

  using typename Superclass::InputVnlVectorType;
  using 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;
  }

  void
  SetRotation(const VersorType & rotation);

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

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

  [[nodiscard]] double
  GetFocalDistance() const
  {
    return m_FocalDistance;
  }

  OutputPointType
  TransformPoint(const InputPointType & point) const override;

  using Superclass::TransformVector;
 
  OutputVectorType
  TransformVector(const InputVectorType &) const override
  {
    itkExceptionStringMacro(
      "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
  {
    itkExceptionStringMacro(
      "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 */