mirtk::HomogeneousTransformation Class Reference

#include <HomogeneousTransformation.h>

Inheritance diagram for mirtk::HomogeneousTransformation:

Collaboration diagram for mirtk::HomogeneousTransformation:

Public Member Functions
virtual void	Add (const DOFValue *)
virtual double	Approximate (const ImageAttributes &, double *, double *, double *, int=1, double=.0)
virtual double	Approximate (const double *, const double *, const double *, double *, double *, double *, int, int=1, double=.0)
virtual double	Approximate (const double *, const double *, const double *, const double *, double *, double *, double *, int, int=1, double=.0)
virtual double	Approximate (const Matrix &)
	Approximate given homogeneous coordinate transformation matrix.
virtual double	ApproximateAsNew (const Matrix &)
	Approximate given homogeneous coordinate transformation matrix.
virtual void	ApproximateDOFs (const double *, const double *, const double *, const double *, const double *, const double *, const double *, int)
virtual bool	CopyFrom (const Transformation *)
const Matrix &	GetInverseMatrix () const
	Gets the inverse transformation matrix.
const Matrix &	GetMatrix () const
	Gets the transformation matrix.
virtual void	GlobalInverse (double &, double &, double &, double=0, double=-1) const
	Transforms a single point using the inverse of the global transformation only.
virtual void	GlobalJacobian (Matrix &, double, double, double, double=0, double=-1) const
	Calculates the Jacobian of the global transformation w.r.t world coordinates.
virtual void	GlobalTransform (double &, double &, double &, double=0, double=-1) const
	Transforms a single point using the global transformation component only.
	HomogeneousTransformation ()
	Default constructor.
	HomogeneousTransformation (const Matrix &)
	Construct from 4x4 transformation matrix (without checks)
	HomogeneousTransformation (const HomogeneousTransformation &)
	Copy Constructor.
virtual bool	Inverse (double &, double &, double &, double=0, double=-1) const
	Transforms a single point using the inverse of the transformation.
void	Invert ()
	Inverts the transformation.
virtual bool	IsIdentity () const
	Checks whether transformation is an identity mapping.
virtual void	Jacobian (Matrix &, double, double, double, double=0, double=-1) const
	Calculates the Jacobian of the transformation w.r.t world coordinates.
virtual bool	LocalInverse (double &, double &, double &, double=0, double=-1) const
	Transforms a single point using the inverse of the local transformation only.
virtual void	LocalJacobian (Matrix &, double, double, double, double=0, double=-1) const
	Calculates the Jacobian of the local transformation w.r.t world coordinates.
virtual void	LocalTransform (double &, double &, double &, double=0, double=-1) const
	Transforms a single point using the local transformation component only.
virtual void	Print (ostream &, Indent=0) const
	Prints the parameters of the transformation.
virtual void	Put (int, DOFValue)
	Puts a transformation parameter.
virtual void	Put (const DOFValue *)
	Puts transformation parameters.
void	PutMatrix (const Matrix &)
virtual void	Reset ()
	Reset transformation.
virtual void	Transform (double &, double &, double &, double=0, double=-1) const
	Transforms a single point.
virtual double	Update (const DOFValue *)
void	UpdateParameter ()
virtual	~HomogeneousTransformation ()
	Destructor.
Public Member Functions inherited from mirtk::Transformation
virtual double	Approximate (const ImageAttributes &, const Transformation *, int=1, double=.0)
	Approximate another transformation and return approximation error.
virtual double	Approximate (GenericImage< double > &, int=1, double=.0)
virtual double	ApproximateAsNew (const ImageAttributes &, const Transformation *, int=1, double=.0)
	Approximate another transformation and return approximation error.
virtual double	ApproximateAsNew (GenericImage< double > &, int=1, double=.0)
virtual double	ApproximateAsNew (const ImageAttributes &, double *, double *, double *, int=1, double=.0)
virtual double	ApproximateAsNew (const double *, const double *, const double *, double *, double *, double *, int, int=1, double=.0)
virtual double	ApproximateAsNew (const double *, const double *, const double *, const double *, double *, double *, double *, int, int=1, double=.0)
virtual void	ApproximateDOFsGradient (const double *, const double *, const double *, const double *, const double *, const double *, const double *, int, double *, double=1.0) const
virtual void	ApproximateGradient (const ImageAttributes &, const double *, const double *, const double *, double *, double=1.0) const
virtual void	ApproximateGradient (const double *, const double *, const double *, const double *, const double *, const double *, int, double *, double=1.0) const
virtual void	ApproximateGradient (const double *, const double *, const double *, const double *, const double *, const double *, const double *, int, double *, double=1.0) const
virtual bool	CanModifyDisplacement (int=-1) const
virtual bool	CanRead (TransformationType) const
	Whether this transformation can read a file of specified type (i.e. format)
virtual void	DeriveJacobianWrtDOF (Matrix &, int, double, double, double, double=0, double=NaN) const
	Calculates the derivative of the Jacobian of the transformation (w.r.t. world coordinates) w.r.t. a transformation parameter.
virtual void	Displacement (double &, double &, double &, double=0, double=NaN) const
	Calculates the displacement of a single point.
virtual void	Displacement (const ImageAttributes &, double *, double *, double *) const
virtual void	Displacement (GenericImage< double > &, double=NaN, const WorldCoordsImage *=NULL) const
	Calculates the displacement vectors for a whole image domain.
virtual void	Displacement (GenericImage< float > &, double=NaN, const WorldCoordsImage *=NULL) const
	Calculates the displacement vectors for a whole image domain.
virtual void	Displacement (GenericImage< double > &, double, double, const WorldCoordsImage *=NULL) const
virtual void	Displacement (GenericImage< float > &, double, double, const WorldCoordsImage *=NULL) const
virtual void	DisplacementAfterDOFChange (int dof, double dv, GenericImage< double > &dx, double t, double t0=NaN, const WorldCoordsImage *i2w=NULL) const
virtual bool	DOFBoundingBox (const Image *, int, int &, int &, int &, int &, int &, int &, double=1) const
virtual double	DOFGradientNorm (const double *) const
	Get norm of the gradient vector.
double	EvaluateRMSError (const ImageAttributes &, const Transformation *) const
	Evaluates RMS error of transformation compared to another.
double	EvaluateRMSError (const ImageAttributes &, double *, double *) const
double	EvaluateRMSError (const ImageAttributes &, double *, double *, double *) const
double	EvaluateRMSError (const double *, const double *, const double *, double, double *, double *, double *, int no) const
	Evaluates RMS error of transformation compared to displacement field.
double	EvaluateRMSError (const double *, const double *, const double *, const double *, double *, double *, double *, int no) const
	Evaluates RMS error of transformation compared to given displacement field.
virtual double	Get (int) const
	Get value of transformation parameter.
virtual void	Get (DOFValue *) const
	Get values of transformation parameters.
virtual DOFStatus	GetStatus (int) const
	Get status of transformation parameter.
virtual void	GlobalDisplacement (double &, double &, double &, double=0, double=NaN) const
	Calculates the displacement of a single point using the global transformation component only.
virtual void	GlobalHessian (Matrix [3], double, double, double, double=0, double=NaN) const
	Calculates the Hessian for each component of the global transformation w.r.t world coordinates.
virtual void	GlobalInverseDisplacement (double &, double &, double &, double=0, double=NaN) const
	Calculates the displacement of a single point using the inverse of the global transformation only.
virtual double	GlobalJacobian (double, double, double, double=0, double=NaN) const
	Calculates the determinant of the Jacobian of the global transformation w.r.t world coordinates.
virtual bool	HasSameDOFsAs (const Transformation *) const
	Checks whether transformation depends on the same vector of parameters.
virtual void	Hessian (Matrix [3], double, double, double, double=0, double=NaN) const
	Calculates the Hessian for each component of the transformation w.r.t world coordinates.
virtual bool	Inverse (Point &, double=0, double=NaN) const
	Transforms a single point using the inverse of the transformation.
virtual int	Inverse (PointSet &, double=0, double=NaN) const
virtual bool	InverseDisplacement (double &, double &, double &, double=0, double=NaN) const
	Calculates the displacement of a single point using the inverse of the transformation.
virtual int	InverseDisplacement (const ImageAttributes &, double *, double *, double *) const
virtual int	InverseDisplacement (GenericImage< double > &, double=NaN, const WorldCoordsImage *=NULL) const
virtual int	InverseDisplacement (GenericImage< float > &, double=NaN, const WorldCoordsImage *=NULL) const
virtual int	InverseDisplacement (GenericImage< double > &, double, double, const WorldCoordsImage *=NULL) const
virtual int	InverseDisplacement (GenericImage< float > &, double, double, const WorldCoordsImage *=NULL) const
virtual double	Jacobian (double, double, double, double=0, double=NaN) const
	Calculates the determinant of the Jacobian of the transformation w.r.t world coordinates.
virtual void	JacobianDOFs (double [3], int, double, double, double, double=0, double=NaN) const
	Calculates the Jacobian of the transformation w.r.t a transformation parameter.
virtual void	LocalDisplacement (double &, double &, double &, double=0, double=NaN) const
	Calculates the displacement of a single point using the local transformation component only.
virtual void	LocalHessian (Matrix [3], double, double, double, double=0, double=NaN) const
	Calculates the Hessian for each component of the local transformation w.r.t world coordinates.
virtual bool	LocalInverseDisplacement (double &, double &, double &, double=0, double=NaN) const
	Calculates the displacement of a single point using the inverse of the local transformation only.
virtual double	LocalJacobian (double, double, double, double=0, double=NaN) const
	Calculates the determinant of the Jacobian of the local transformation w.r.t world coordinates.
int	NumberOfActiveDOFs () const
	Get number of active transformation parameters.
virtual int	NumberOfDOFs () const
	Get number of transformation parameters.
int	NumberOfPassiveDOFs () const
	Get number of passive transformation parameters.
virtual ParameterList	Parameter () const
	Get (non-DoF) parameters as key/value as string map.
virtual void	ParametricGradient (const GenericImage< double > *, double *, const WorldCoordsImage *, const WorldCoordsImage *, double=NaN, double=1) const
void	ParametricGradient (const GenericImage< double > *, double *, const WorldCoordsImage *, double=NaN, double=1) const
void	ParametricGradient (const GenericImage< double > *, double *, double=NaN, double=1) const
virtual void	ParametricGradient (const GenericImage< double > **, int, double *, const WorldCoordsImage *, const WorldCoordsImage *, const double *=NULL, double=1) const
void	ParametricGradient (const GenericImage< double > **, int, double *, const WorldCoordsImage *, const double *=NULL, double=1) const
void	ParametricGradient (const GenericImage< double > **, int, double *, const double *=NULL, double=1) const
virtual void	ParametricGradient (const PointSet &, const Vector3D< double > *, double *, double=0, double=NaN, double=1) const
void	Print (Indent=0) const
	Prints information about the transformation.
virtual void	PutStatus (int, DOFStatus)
	Put status of transformation parameter.
virtual void	Read (const char *)
	Reads a transformation from a file.
virtual Cifstream &	Read (Cifstream &)
	Reads a transformation from a file stream.
virtual bool	RequiresCachingOfDisplacements () const
virtual bool	Set (const char *, const char *)
	Set named (non-DoF) parameter from value as string.
virtual void	Transform (Point &, double=0, double=NaN) const
	Transforms a single point.
virtual void	Transform (PointSet &, double=0, double=NaN) const
	Transforms a set of points.
virtual void	Transform (int, double *, double *, double *, double=0, double=NaN) const
	Transforms a set of points.
virtual void	Transform (int, double *, double *, double *, const double *, double=NaN) const
	Transforms a set of points.
virtual void	Transform (WorldCoordsImage &, double=NaN) const
	Transforms world coordinates of image voxels.
virtual TransformationType	TypeOfClass () const
	Returns type ID of the instantiated transformation class.
virtual void	Verify ()
virtual void	Write (const char *) const
	Writes a transformation to a file.
virtual Cofstream &	Write (Cofstream &) const
	Writes a transformation to a file stream.
virtual	~Transformation ()
	Default destructor.
Public Member Functions inherited from mirtk::Observable
void	AddObserver (Observer &)
	Add observer.
void	Broadcast (Event, const void *=NULL)
	Broadcast event to observers.
void	ClearObservers ()
	Delete all observers.
void	DeleteObserver (Observer &)
	Delete observer.
void	NotifyObservers (Event, const void *=NULL)
	Notify all observers about given event if this object has changed.
int	NumberOfObservers () const
	Number of current observers.
virtual	~Observable ()
	Destructor.
Public Member Functions inherited from mirtk::Object
virtual const char *	NameOfClass () const =0
	Get name of class, which this object is an instance of.
bool	Parameter (const ParameterList &)
	Set parameters from name/value pairs.
virtual	~Object ()
	Destructor.

Protected Member Functions
	HomogeneousTransformation (int)
	Default constructor with given number of parameters.
	HomogeneousTransformation (const HomogeneousTransformation &, int)
	Copy constructor with given number of parameters.
virtual Cifstream &	ReadDOFs (Cifstream &, TransformationType)
	Reads transformation parameters from a file stream.
void	Update (AttributeSelector)
	Update transformation parameters and/or matrices.
virtual void	UpdateDOFs ()
	Updates transformation parameters after change of matrix.
virtual void	UpdateMatrix ()
	Updates transformation matrix after change of parameter.
Protected Member Functions inherited from mirtk::Transformation
void	InitializeDOFs (int)
	Initialize transformation parameters.
void	InitializeDOFs (const Transformation &, int=-1)
	Copy transformation parameters (DoFs) and their status.
	Transformation (int=0)
	Default constructor.
	Transformation (const Transformation &)
	Copy constructor.
	Transformation (const Transformation &, int)
	Copy constructor.
virtual Cofstream &	WriteDOFs (Cofstream &) const
	Writes transformation parameters to a file stream.
Protected Member Functions inherited from mirtk::Observable
	Observable ()
	Default constructor.
	Observable (const Observable &)
	Copy constructor.
Observable &	operator= (const Observable &)
	Assignment operator.
Protected Member Functions inherited from mirtk::Object
template<typename... Args>
void	Throw (ErrorType err, const char *func, Args... args) const

Protected Attributes
Matrix	_inverse
	Inverse 4x4 transformation matrix for homogeneous coordinates.
Matrix	_matrix
	4x4 transformation matrix for homogeneous coordinates
Protected Attributes inherited from mirtk::Transformation
int	_NumberOfDOFs
	Number of transformation parameters.
DOFValue *	_Param
	Value of each transformation parameter.
DOFStatus *	_Status
	Status of each transformation parameter (Active or Passive)

Additional Inherited Members
Public Types inherited from mirtk::Transformation
typedef Status	DOFStatus
	Type of transforamtion parameter status.
typedef double	DOFValue
	Type of transformation parameter value.
Static Public Member Functions inherited from mirtk::Transformation
static bool	CheckHeader (const char *)
	Whether magic number in header of given file.
static Transformation *	New (TransformationType)
static Transformation *	New (const Transformation *)
static Transformation *	New (const char *)
static TransformationType	TypeOfClass (const char *)
	Returns type ID corresponding to transformations of the named class.
Static Public Member Functions inherited from mirtk::Object
static const char *	NameOfType ()
	Get name of this class type.
Static Protected Member Functions inherited from mirtk::Object
template<typename... Args>
static void	ThrowStatic (ErrorType err, const char *cls, const char *func, Args... args)

Detailed Description

Base class for homogeneous transformations.

This class defines and implements homogeneous transformations which can be represented by a 4 x 4 transformation matrix. The transformation of a point is implemented by post multiplying the transformation matrix with the point in homogeneous coordinates. The transformation is parameterized by twelve degrees of freedom.

Definition at line 54 of file HomogeneousTransformation.h.

Member Function Documentation

Add()

void mirtk::HomogeneousTransformation::Add ( const DOFValue *  dx )

inlinevirtual

Add change to transformation parameters

Note

Also passive parameters are modified by this function.

Reimplemented from mirtk::Transformation.

Definition at line 312 of file HomogeneousTransformation.h.

Approximate() [1/3]

virtual double mirtk::HomogeneousTransformation::Approximate ( const ImageAttributes &  , double *  , double *  , double *  , int  = 1, double  = .0  )

virtual

Approximate displacements: This function takes a set of points and a set of displacements and finds a transformation which approximates these displacements. After approximation, the displacements are replaced by the residual displacement errors at the points.

Reimplemented from mirtk::Transformation.

Approximate() [2/3]

virtual double mirtk::HomogeneousTransformation::Approximate ( const double *  , const double *  , const double *  , double *  , double *  , double *  , int  , int  = 1, double  = .0  )

virtual

Approximate displacements: This function takes a set of points and a set of displacements and finds a transformation which approximates these displacements. After approximation, the displacements are replaced by the residual displacement errors at the points.

Reimplemented from mirtk::Transformation.

Approximate() [3/3]

virtual double mirtk::HomogeneousTransformation::Approximate ( const double *  , const double *  , const double *  , const double *  , double *  , double *  , double *  , int  , int  = 1, double  = .0  )

virtual

Approximate displacements: This function takes a set of points and a set of displacements and finds a transformation which approximates these displacements. After approximation, the displacements are replaced by the residual displacement errors at the points.

Reimplemented from mirtk::Transformation.

ApproximateDOFs()

virtual void mirtk::HomogeneousTransformation::ApproximateDOFs ( const double *  , const double *  , const double *  , const double *  , const double *  , const double *  , const double *  , int    )

virtual

Approximate displacements: This function takes a set of points and a set of displacements and finds !new! parameters such that the resulting transformation approximates the displacements as good as possible.

Reimplemented from mirtk::Transformation.

Reimplemented in mirtk::AffineTransformation, mirtk::RigidTransformation, and mirtk::SimilarityTransformation.

CopyFrom()

virtual bool mirtk::HomogeneousTransformation::CopyFrom ( const Transformation *  )

virtual

Copy active transformation parameters (DoFs) from given transformation if possible and return false, otherwise

Reimplemented from mirtk::Transformation.

Reimplemented in mirtk::AffineTransformation, and mirtk::SimilarityTransformation.

PutMatrix()

void mirtk::HomogeneousTransformation::PutMatrix ( const Matrix &  matrix )

inline

Set transformation parameters from a homogeneous transformation matrix

The transformation sets its parameters to match the given homogeneous transformation matrix as good as possible and then updates its internal transformation matrix from these parameters. The resulting homogeneous transformations may therefore differ from the given transformation matrix if the transformation is not a full 12 DoF affine transformation, but has fewer free parameters.

Note

Use one of the Approximate or ApproximateAsNew functions to minimize the mean squared error of the approximation at given evaluation points instead for a more accurate approximation.

Definition at line 340 of file HomogeneousTransformation.h.

Update()

double mirtk::HomogeneousTransformation::Update ( const DOFValue *  dx )

inlinevirtual

Update transformation parameters given parametric gradient

Note

Only active parameters are modified by this function.

Reimplemented from mirtk::Transformation.

Definition at line 325 of file HomogeneousTransformation.h.

UpdateParameter()

void mirtk::HomogeneousTransformation::UpdateParameter ( )

inline

Deprecated:

Replaced by UpdateDOFs, which, however, does not have to be called explicitly. The parameters are automatically updated when the transformation matrix changed. Some older code may yet call this deprecated method after PutMatrix, which no longer does anything and the call should be optimized away.

Definition at line 262 of file HomogeneousTransformation.h.

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The documentation for this class was generated from the following file:

• HomogeneousTransformation.h