Aim: implements forward rigid transformation of point in 3D integer space around any arbitrary axis. This implementation uses the Rodrigues' rotation formula. Warring: This version uses closest neighbor interpolation. More...

#include <DGtal/images/RigidTransformation3D.h>

Inheritance diagram for DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >:

[legend]

Public Types
typedef TSpace::RealPoint	RealPoint

typedef TSpace::RealVector	RealVector

Public Member Functions
	ForwardRigidTransformation3D (const RealPoint &aOrigin, const RealVector &aAxis, const double &angle, const RealVector &aTranslate)

TOutputValue	operator() (const TInputValue &aInput) const

Protected Attributes
RealVector	axis

RealPoint	origin

double	t_sin

double	t_cos

RealVector	trans

TFunctor	functor

Private Member Functions
	BOOST_CONCEPT_ASSERT ((concepts::CSpace< TSpace >))
	Checking concepts. More...

	BOOST_STATIC_ASSERT ((TSpace::dimension==3))

	BOOST_STATIC_ASSERT ((TOutputValue::dimension==3))

	BOOST_STATIC_ASSERT ((TInputValue::dimension==3))

Detailed Description

template<typename TSpace, typename TInputValue = typename TSpace::RealPoint, typename TOutputValue = typename TSpace::Point, typename TFunctor = VectorRounding < TInputValue, TOutputValue >>
class DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >

Aim: implements forward rigid transformation of point in 3D integer space around any arbitrary axis. This implementation uses the Rodrigues' rotation formula. Warring: This version uses closest neighbor interpolation.

Description of template functor like class 'ForwardRigidTransformation3D'

Template Parameters

TSpace	a 3 dimensional space.
TInputValue	type of the input point e.g., TSpace::RealPoint
TOutputValue	type of the output point e.g., TSpace::Point
TFunctor	a functor operating on the output e.g., a rounding function.

See also: exampleRigidtransformation3d.cpp

Definition at line 76 of file RigidTransformation3D.h.

Member Typedef Documentation

◆ RealPoint

template<typename TSpace , typename TInputValue = typename TSpace::RealPoint, typename TOutputValue = typename TSpace::Point, typename TFunctor = VectorRounding < TInputValue, TOutputValue >>

typedef TSpace::RealPoint DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::RealPoint

Definition at line 86 of file RigidTransformation3D.h.

◆ RealVector

template<typename TSpace , typename TInputValue = typename TSpace::RealPoint, typename TOutputValue = typename TSpace::Point, typename TFunctor = VectorRounding < TInputValue, TOutputValue >>

typedef TSpace::RealVector DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::RealVector

Definition at line 87 of file RigidTransformation3D.h.

Constructor & Destructor Documentation

◆ ForwardRigidTransformation3D()

template<typename TSpace , typename TInputValue = typename TSpace::RealPoint, typename TOutputValue = typename TSpace::Point, typename TFunctor = VectorRounding < TInputValue, TOutputValue >>

DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::ForwardRigidTransformation3D	(	const RealPoint &	aOrigin,
		const RealVector &	aAxis,
		const double &	angle,
		const RealVector &	aTranslate
	)

inline

Constructor.

Parameters

aOrigin	the center of rotation.
aAxis	the axis of rotation.
angle	the angle given in radians.
aTranslate	the 3D dimensional vector which represents translation.

Definition at line 98 of file RigidTransformation3D.h.

         : axis(aAxis.getNormalized()), origin(aOrigin), trans(aTranslate)
  
  
     {
         if ( std::isnan( axis.norm() ) )
             throw std::runtime_error ( "Axis of rotation can not be set as a vector of length 0!" );
         t_sin = std::sin ( angle );
         t_cos = std::cos ( angle );
     }

References DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::axis, DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::t_cos, and DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::t_sin.

Member Function Documentation

◆ BOOST_CONCEPT_ASSERT()

template<typename TSpace , typename TInputValue = typename TSpace::RealPoint, typename TOutputValue = typename TSpace::Point, typename TFunctor = VectorRounding < TInputValue, TOutputValue >>

DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::BOOST_CONCEPT_ASSERT ( (concepts::CSpace< TSpace >) )

private

Checking concepts.

◆ BOOST_STATIC_ASSERT() [1/3]

template<typename TSpace , typename TInputValue = typename TSpace::RealPoint, typename TOutputValue = typename TSpace::Point, typename TFunctor = VectorRounding < TInputValue, TOutputValue >>

DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::BOOST_STATIC_ASSERT ( (TInputValue::dimension==3) )

private

◆ BOOST_STATIC_ASSERT() [2/3]

template<typename TSpace , typename TInputValue = typename TSpace::RealPoint, typename TOutputValue = typename TSpace::Point, typename TFunctor = VectorRounding < TInputValue, TOutputValue >>

DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::BOOST_STATIC_ASSERT ( (TOutputValue::dimension==3) )

private

◆ BOOST_STATIC_ASSERT() [3/3]

template<typename TSpace , typename TInputValue = typename TSpace::RealPoint, typename TOutputValue = typename TSpace::Point, typename TFunctor = VectorRounding < TInputValue, TOutputValue >>

DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::BOOST_STATIC_ASSERT ( (TSpace::dimension==3) )

private

◆ operator()()

template<typename TSpace , typename TInputValue = typename TSpace::RealPoint, typename TOutputValue = typename TSpace::Point, typename TFunctor = VectorRounding < TInputValue, TOutputValue >>

TOutputValue DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::operator() ( const TInputValue & aInput ) const

inline

Operator

Returns: the transformed point.

Definition at line 116 of file RigidTransformation3D.h.

     {
         RealPoint p;
  
         p[0] = ( ( ( ( t_cos + ( axis[0] * axis[0] ) * ( 1. - t_cos ) ) * ( aInput[0] - origin[0] ) )
                 + ( ( axis[0] * axis[1] * ( 1. - t_cos ) - axis[2] * t_sin ) * ( aInput[1] - origin[1] ) )
                 + ( ( axis[1] * t_sin + axis[0] * axis[2] * ( 1. - t_cos )  ) * ( aInput[2] - origin[2] ) ) ) + trans[0] ) + origin[0];
  
         p[1] = ( ( ( ( axis[2] * t_sin + axis[0] * axis[1] * ( 1. - t_cos ) ) *  ( aInput[0] - origin[0] ) )
                 + ( ( t_cos + ( axis[1] * axis[1] ) * ( 1. - t_cos ) ) * ( aInput[1] - origin[1] ) )
                 + ( ( -axis[0] * t_sin + axis[1] * axis[2] * ( 1. - t_cos ) ) * ( aInput[2] - origin[2] ) ) ) + trans[1] ) + origin[1];
  
         p[2] = ( ( ( ( -axis[1] * t_sin + axis[0] * axis[2] * ( 1. - t_cos ) ) * ( aInput[0] - origin[0] ) )
                 + ( ( axis[0] * t_sin + axis[1] * axis[2] * ( 1. - t_cos ) ) * ( aInput[1] - origin[1] ) )
                 + ( ( t_cos + ( axis[2] * axis[2] ) * ( 1. - t_cos ) ) * ( aInput[2] - origin[2] ) ) ) + trans[2] ) + origin[2];
  
         return functor ( p );
     }

References DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::axis, DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::functor, DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::origin, DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::t_cos, DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::t_sin, and DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::trans.

Field Documentation

◆ axis

template<typename TSpace , typename TInputValue = typename TSpace::RealPoint, typename TOutputValue = typename TSpace::Point, typename TFunctor = VectorRounding < TInputValue, TOutputValue >>

RealVector DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::axis

protected

Definition at line 137 of file RigidTransformation3D.h.

Referenced by DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::ForwardRigidTransformation3D(), and DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::operator()().

◆ functor

template<typename TSpace , typename TInputValue = typename TSpace::RealPoint, typename TOutputValue = typename TSpace::Point, typename TFunctor = VectorRounding < TInputValue, TOutputValue >>

TFunctor DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::functor

protected

Definition at line 142 of file RigidTransformation3D.h.

Referenced by DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::operator()().

◆ origin

template<typename TSpace , typename TInputValue = typename TSpace::RealPoint, typename TOutputValue = typename TSpace::Point, typename TFunctor = VectorRounding < TInputValue, TOutputValue >>

RealPoint DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::origin

protected

Definition at line 138 of file RigidTransformation3D.h.

Referenced by DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::operator()().

◆ t_cos

template<typename TSpace , typename TInputValue = typename TSpace::RealPoint, typename TOutputValue = typename TSpace::Point, typename TFunctor = VectorRounding < TInputValue, TOutputValue >>

double DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::t_cos

protected

Definition at line 140 of file RigidTransformation3D.h.

Referenced by DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::ForwardRigidTransformation3D(), and DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::operator()().

◆ t_sin

template<typename TSpace , typename TInputValue = typename TSpace::RealPoint, typename TOutputValue = typename TSpace::Point, typename TFunctor = VectorRounding < TInputValue, TOutputValue >>

double DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::t_sin

protected

Definition at line 139 of file RigidTransformation3D.h.

Referenced by DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::ForwardRigidTransformation3D(), and DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::operator()().

◆ trans

template<typename TSpace , typename TInputValue = typename TSpace::RealPoint, typename TOutputValue = typename TSpace::Point, typename TFunctor = VectorRounding < TInputValue, TOutputValue >>

RealVector DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::trans

protected

Definition at line 141 of file RigidTransformation3D.h.

Referenced by DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >::operator()().

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

RigidTransformation3D.h

Public Types

Public Member Functions

Protected Attributes

Private Member Functions

Detailed Description

template<typename TSpace, typename TInputValue = typename TSpace::RealPoint, typename TOutputValue = typename TSpace::Point, typename TFunctor = VectorRounding < TInputValue, TOutputValue >> class DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >

Member Typedef Documentation

◆ RealPoint

◆ RealVector

Constructor & Destructor Documentation

◆ ForwardRigidTransformation3D()

Member Function Documentation

◆ BOOST_CONCEPT_ASSERT()

◆ BOOST_STATIC_ASSERT() [1/3]

◆ BOOST_STATIC_ASSERT() [2/3]

◆ BOOST_STATIC_ASSERT() [3/3]

◆ operator()()

Field Documentation

◆ axis

◆ functor

◆ origin

◆ t_cos

◆ t_sin

◆ trans

template<typename TSpace, typename TInputValue = typename TSpace::RealPoint, typename TOutputValue = typename TSpace::Point, typename TFunctor = VectorRounding < TInputValue, TOutputValue >>
class DGtal::functors::ForwardRigidTransformation3D< TSpace, TInputValue, TOutputValue, TFunctor >