class representing a transfrom in 3D More...

#include <mitkTransform.h>

Inheritance diagram for mitk::Transform:

Collaboration diagram for mitk::Transform:

[legend]

Public Member Functions
	mitkClassMacroItkParent (Transform, itk::Object)

	mitkNewMacro1Param (Transform, const mitk::NavigationData *)

	mitkNewMacro1Param (Transform, const std::string &)

virtual std::string	GetType () const

virtual void	SetType (std::string &_arg)

void	Copy (const mitk::Transform *transform)

void	Copy (const mitk::NavigationData *transform)

void	TransposeRotation ()

mitk::Transform::Pointer	Clone () const

void	Concatenate (mitk::Transform *transform)

void	Concatenate (const vnl_matrix_fixed< mitk::ScalarType, 4, 4 > &transform)

void	Concatenate (const vtkMatrix4x4 *transform)

void	Invert ()

void	Reset ()

void	FromXML (const tinyxml2::XMLElement *elem) override

void	FromCSVFile (const std::string &file)

void	SetNavigationData (const mitk::NavigationData *naviData)

void	SetOrientation (const vnl_quaternion< mitk::ScalarType > &orientation)

void	SetOrientation (const vnl_quaternion< float > &orientation)

void	SetTranslation (const vnl_vector_fixed< mitk::ScalarType, 3 > &transl)

void	SetTranslation (const vnl_vector< double > &transl)

void	SetPosition (const mitk::Point3D &transl)

void	SetRotation (vnl_matrix_fixed< mitk::ScalarType, 3, 3 > &mat)

void	SetRotation (vnl_matrix< mitk::ScalarType > &mat)

void	SetMatrix (const vnl_matrix_fixed< mitk::ScalarType, 4, 4 > &mat)

void	SetMatrix (const vtkMatrix4x4 *mat)

void	SetTranslation (float *array)

void	SetRotation (float *array)

void	SetTranslation (double array[3])

void	SetRotation (double array[3][3])

void	SetTranslation (const cv::Mat &transl)

void	SetRotation (const cv::Mat &mat)

void	SetRotationVector (const cv::Mat &rotVec)

mitk::NavigationData::Pointer	GetNavigationData () const

mitk::Point3D	GetPosition () const

mitk::Point3D	GetTranslation () const

bool	IsValid () const

void	SetValid (bool valid)

mitk::Quaternion	GetOrientation () const

vnl_matrix_fixed< mitk::ScalarType, 4, 4 >	GetMatrix () const

void	GetMatrix (vtkMatrix4x4 *matrix) const

void	GetVtkOpenGlMatrix (vtkMatrix4x4 *matrix) const

mitk::Point3D	TransformPoint (mitk::Point3D point) const

void	ToXML (tinyxml2::XMLElement *elem) const override

std::string	ToString () const

std::string	ToCSVString () const

std::string	ToMatlabString (const std::string &varname="transform", bool printLastRow=true) const

void	ToCSVFile (const std::string &file) const

void	ToMatlabFile (const std::string &file, const std::string &varname="transform") const

cv::Mat	GetCvTranslation () const

cv::Mat	GetCvRotationVector () const

cv::Mat	GetCvRotationMatrix () const

cv::Mat	GetCvMatrix () const

vnl_vector_fixed< mitk::ScalarType, 3 >	GetVnlTranslation () const

vnl_vector_fixed< double, 3 >	GetVnlDoubleTranslation () const

vnl_quaternion< double >	GetVnlDoubleQuaternion () const

vnl_matrix_fixed< mitk::ScalarType, 3, 3 >	GetVnlRotationMatrix () const

vnl_matrix_fixed< double, 4, 4 >	GetVnlDoubleMatrix () const

Public Member Functions inherited from mitk::XMLSerializable
virtual const char *	GetNameOfClass () const =0

virtual void	ToXMLFile (const std::string &file, const std::string &elemName="")

virtual void	FromXMLFile (const std::string &file, const std::string &elemName="")

std::string	GetXMLFileName () const

Static Public Member Functions
static Pointer	New ()

Static Public Attributes
static const std::string	UNKNOWN_TYPE

static const std::string	ENDOSCOPE_SCOPE_TOOL

static const std::string	ENDOSCOPE_CAM_TOOL

static const std::string	CHESSBOARD_TOOL

static const std::string	POINTER_TOOL

static const std::string	POINTER_TO_CHESSBOARD_ORIGIN

static const std::string	POINTER_TO_CHESSBOARD_X_SUPPORT_POINT

static const std::string	POINTER_TO_CHESSBOARD_Y_SUPPORT_POINT

static const std::string	BOARD_TO_BOARD_TOOL

static const std::string	REFERENCE_CAMERA_TRANSFORM

static const std::string	REFERENCE_SCOPE_TRANSFORM

static const std::string	EYE_TO_HAND_TRANSFORM

static const std::string	CAMERA_EXTRINSICS

Static Public Attributes inherited from mitk::XMLSerializable
static const std::string	FILE_REFERENCE_ATTRIBUTE_NAME

static const std::string	ROOT_NAME

Protected Member Functions
	Transform ()

	Transform (const mitk::NavigationData *nd)

	Transform (const std::string &s)

Protected Attributes
mitk::NavigationData::Pointer	m_NavData

std::string	m_Type

Detailed Description

class representing a transfrom in 3D

internally it stores a mitk navigation data. this is more or less a wrapper for navigation data for easy casting between opencv/vnl/mitk/xml representations of transform data

Definition at line 35 of file mitkTransform.h.

Constructor & Destructor Documentation

◆ Transform() [1/3]

mitk::Transform::Transform ( )

protected

◆ Transform() [2/3]

mitk::Transform::Transform ( const mitk::NavigationData * nd )

protected

◆ Transform() [3/3]

mitk::Transform::Transform ( const std::string & s )

protected

Member Function Documentation

◆ Clone()

mitk::Transform::Pointer mitk::Transform::Clone ( ) const

get a copy of this transform

◆ Concatenate() [1/3]

void mitk::Transform::Concatenate ( const vnl_matrix_fixed< mitk::ScalarType, 4, 4 > & transform )

same as above with vnl mat argument

◆ Concatenate() [2/3]

void mitk::Transform::Concatenate ( const vtkMatrix4x4 * transform )

same as above with vtk mat argument

◆ Concatenate() [3/3]

void mitk::Transform::Concatenate ( mitk::Transform * transform )

concatenate this transform with the given one, i.e. this transform is done first, then transform ( if x is this transform, y is transform, then this will be y*x) post multiply semantics!

See also: vtkTransform

◆ Copy() [1/2]

void mitk::Transform::Copy ( const mitk::NavigationData * transform )

Copies the content of transform to this instance

◆ Copy() [2/2]

void mitk::Transform::Copy ( const mitk::Transform * transform )

Copies the content of transform to this instance

◆ FromCSVFile()

void mitk::Transform::FromCSVFile ( const std::string & file )

read csv file

◆ FromXML()

void mitk::Transform::FromXML ( const tinyxml2::XMLElement * elem )

overridevirtual

read from xml

Implements mitk::XMLSerializable.

◆ GetCvMatrix()

cv::Mat mitk::Transform::GetCvMatrix ( ) const

◆ GetCvRotationMatrix()

cv::Mat mitk::Transform::GetCvRotationMatrix ( ) const

◆ GetCvRotationVector()

cv::Mat mitk::Transform::GetCvRotationVector ( ) const

◆ GetCvTranslation()

cv::Mat mitk::Transform::GetCvTranslation ( ) const

conversion to cv types

◆ GetMatrix() [1/2]

vnl_matrix_fixed<mitk::ScalarType, 4, 4> mitk::Transform::GetMatrix ( ) const

Returns: the homogeneous matrix representing this transform

◆ GetMatrix() [2/2]

void mitk::Transform::GetMatrix ( vtkMatrix4x4 * matrix ) const

returns the homogeneous vtk matrix representing this transform

◆ GetNavigationData()

mitk::NavigationData::Pointer mitk::Transform::GetNavigationData ( ) const

Returns: the navigation data that stores all information

◆ GetOrientation()

mitk::Quaternion mitk::Transform::GetOrientation ( ) const

calls navigationdata::GetOrientation()

◆ GetPosition()

mitk::Point3D mitk::Transform::GetPosition ( ) const

calls navigationdata::GetPosition()

◆ GetTranslation()

mitk::Point3D mitk::Transform::GetTranslation ( ) const

same as GetPosition

◆ GetType()

virtual std::string mitk::Transform::GetType ( ) const

virtual

◆ GetVnlDoubleMatrix()

vnl_matrix_fixed<double, 4, 4> mitk::Transform::GetVnlDoubleMatrix ( ) const

◆ GetVnlDoubleQuaternion()

vnl_quaternion<double> mitk::Transform::GetVnlDoubleQuaternion ( ) const

◆ GetVnlDoubleTranslation()

vnl_vector_fixed<double, 3> mitk::Transform::GetVnlDoubleTranslation ( ) const

◆ GetVnlRotationMatrix()

vnl_matrix_fixed<mitk::ScalarType, 3, 3> mitk::Transform::GetVnlRotationMatrix ( ) const

◆ GetVnlTranslation()

vnl_vector_fixed<mitk::ScalarType, 3> mitk::Transform::GetVnlTranslation ( ) const

conversion to vnl types

◆ GetVtkOpenGlMatrix()

void mitk::Transform::GetVtkOpenGlMatrix ( vtkMatrix4x4 * matrix ) const

returns the homogeneous vtk matrix representing this transform in !OpenGL! left handed coordinate system

◆ Invert()

void mitk::Transform::Invert ( )

invert this transform

◆ IsValid()

bool mitk::Transform::IsValid ( ) const

calls navigationdata::IsValid()

◆ mitkClassMacroItkParent()

mitk::Transform::mitkClassMacroItkParent	(	Transform	,
		itk::Object
	)

◆ mitkNewMacro1Param() [1/2]

mitk::Transform::mitkNewMacro1Param	(	Transform	,
		const mitk::NavigationData *
	)

◆ mitkNewMacro1Param() [2/2]

mitk::Transform::mitkNewMacro1Param	(	Transform	,
		const std::string &
	)

◆ New()

static Pointer mitk::Transform::New ( )

static

◆ Reset()

void mitk::Transform::Reset ( )

resets the internal variables except type

◆ SetMatrix() [1/2]

void mitk::Transform::SetMatrix ( const vnl_matrix_fixed< mitk::ScalarType, 4, 4 > & mat )

sets rotation and translation with a transformation matrix

◆ SetMatrix() [2/2]

void mitk::Transform::SetMatrix ( const vtkMatrix4x4 * mat )

sets rotation and translation with a vtk transformation matrix

◆ SetNavigationData()

void mitk::Transform::SetNavigationData ( const mitk::NavigationData * naviData )

grafts the data from naviData to this transform

◆ SetOrientation() [1/2]

void mitk::Transform::SetOrientation ( const vnl_quaternion< float > & orientation )

method to set float valued orientation quat

◆ SetOrientation() [2/2]

void mitk::Transform::SetOrientation ( const vnl_quaternion< mitk::ScalarType > & orientation )

method to set orientation quat

◆ SetPosition()

void mitk::Transform::SetPosition ( const mitk::Point3D & transl )

method to set a mitk::Point3D as position

◆ SetRotation() [1/5]

void mitk::Transform::SetRotation ( const cv::Mat & mat )

sets rotation with a rotation matrix

◆ SetRotation() [2/5]

void mitk::Transform::SetRotation ( double array[3][3] )

sets translation from a POD vector

◆ SetRotation() [3/5]

void mitk::Transform::SetRotation ( float * array )

sets translation from a POD vector. this must be a 3x3=9 sized vector in row major format (first row = first three elements)

◆ SetRotation() [4/5]

void mitk::Transform::SetRotation ( vnl_matrix< mitk::ScalarType > & mat )

sets rotation with a non fixed rotation matrix

◆ SetRotation() [5/5]

void mitk::Transform::SetRotation ( vnl_matrix_fixed< mitk::ScalarType, 3, 3 > & mat )

sets rotation with a rotation matrix

◆ SetRotationVector()

void mitk::Transform::SetRotationVector ( const cv::Mat & rotVec )

sets rotation with a rodrigues rotation vector

◆ SetTranslation() [1/5]

void mitk::Transform::SetTranslation ( const cv::Mat & transl )

method to set translation by cv vector

◆ SetTranslation() [2/5]

void mitk::Transform::SetTranslation ( const vnl_vector< double > & transl )

method to set a vector of doubles as translation

◆ SetTranslation() [3/5]

void mitk::Transform::SetTranslation ( const vnl_vector_fixed< mitk::ScalarType, 3 > & transl )

method to set translation

◆ SetTranslation() [4/5]

void mitk::Transform::SetTranslation ( double array[3] )

sets translation from a POD vector

◆ SetTranslation() [5/5]

void mitk::Transform::SetTranslation ( float * array )

sets translation from a POD vector

◆ SetType()

virtual void mitk::Transform::SetType ( std::string & _arg )

virtual

◆ SetValid()

void mitk::Transform::SetValid ( bool valid )

calls navigationdata::SetValid()

◆ ToCSVFile()

void mitk::Transform::ToCSVFile ( const std::string & file ) const

write csv representation to file (only the transformation values!!!!)

◆ ToCSVString()

std::string mitk::Transform::ToCSVString ( ) const

create string csv representation (only the transformation values!!!!)

◆ ToMatlabFile()

void mitk::Transform::ToMatlabFile	(	const std::string &	file,
		const std::string &	varname = `"transform"`
	)		const

write matlab representation to file

◆ ToMatlabString()

std::string mitk::Transform::ToMatlabString	(	const std::string &	varname = `"transform"`,
		bool	printLastRow = `true`
	)		const

create matlab representation

◆ ToString()

std::string mitk::Transform::ToString ( ) const

create string representation

◆ ToXML()

void mitk::Transform::ToXML ( tinyxml2::XMLElement * elem ) const

overridevirtual

create xml representation

Implements mitk::XMLSerializable.

◆ TransformPoint()

mitk::Point3D mitk::Transform::TransformPoint ( mitk::Point3D point ) const

◆ TransposeRotation()

void mitk::Transform::TransposeRotation ( )

Inverts the rotation of this transform (Polaris navigation Data have inverted rotation so you may want to call this function when using polaris data)

Member Data Documentation

◆ BOARD_TO_BOARD_TOOL

const std::string mitk::Transform::BOARD_TO_BOARD_TOOL

static

Definition at line 56 of file mitkTransform.h.

◆ CAMERA_EXTRINSICS

const std::string mitk::Transform::CAMERA_EXTRINSICS

static

Definition at line 60 of file mitkTransform.h.

◆ CHESSBOARD_TOOL

const std::string mitk::Transform::CHESSBOARD_TOOL

static

Definition at line 51 of file mitkTransform.h.

◆ ENDOSCOPE_CAM_TOOL

const std::string mitk::Transform::ENDOSCOPE_CAM_TOOL

static

Definition at line 50 of file mitkTransform.h.

◆ ENDOSCOPE_SCOPE_TOOL

const std::string mitk::Transform::ENDOSCOPE_SCOPE_TOOL

static

Definition at line 49 of file mitkTransform.h.

◆ EYE_TO_HAND_TRANSFORM

const std::string mitk::Transform::EYE_TO_HAND_TRANSFORM

static

Definition at line 59 of file mitkTransform.h.

◆ m_NavData

mitk::NavigationData::Pointer mitk::Transform::m_NavData

protected

Definition at line 287 of file mitkTransform.h.

◆ m_Type

std::string mitk::Transform::m_Type

protected

saves the type of the transform (Default is UNKNOWN_TYPE)

Definition at line 292 of file mitkTransform.h.

◆ POINTER_TO_CHESSBOARD_ORIGIN

const std::string mitk::Transform::POINTER_TO_CHESSBOARD_ORIGIN

static

Definition at line 53 of file mitkTransform.h.

◆ POINTER_TO_CHESSBOARD_X_SUPPORT_POINT

const std::string mitk::Transform::POINTER_TO_CHESSBOARD_X_SUPPORT_POINT

static

Definition at line 54 of file mitkTransform.h.

◆ POINTER_TO_CHESSBOARD_Y_SUPPORT_POINT

const std::string mitk::Transform::POINTER_TO_CHESSBOARD_Y_SUPPORT_POINT

static

Definition at line 55 of file mitkTransform.h.

◆ POINTER_TOOL

const std::string mitk::Transform::POINTER_TOOL

static

Definition at line 52 of file mitkTransform.h.

◆ REFERENCE_CAMERA_TRANSFORM

const std::string mitk::Transform::REFERENCE_CAMERA_TRANSFORM

static

Definition at line 57 of file mitkTransform.h.

◆ REFERENCE_SCOPE_TRANSFORM

const std::string mitk::Transform::REFERENCE_SCOPE_TRANSFORM

static

Definition at line 58 of file mitkTransform.h.

◆ UNKNOWN_TYPE

const std::string mitk::Transform::UNKNOWN_TYPE

static

constants describing the type of transform represented here

Definition at line 48 of file mitkTransform.h.

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

mitkTransform.h

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Transform() [1/3]

◆ Transform() [2/3]

◆ Transform() [3/3]

Member Function Documentation

◆ Clone()

◆ Concatenate() [1/3]

◆ Concatenate() [2/3]

◆ Concatenate() [3/3]

◆ Copy() [1/2]

◆ Copy() [2/2]

◆ FromCSVFile()

◆ FromXML()

◆ GetCvMatrix()

◆ GetCvRotationMatrix()

◆ GetCvRotationVector()

◆ GetCvTranslation()

◆ GetMatrix() [1/2]

◆ GetMatrix() [2/2]

◆ GetNavigationData()

◆ GetOrientation()

◆ GetPosition()

◆ GetTranslation()

◆ GetType()

◆ GetVnlDoubleMatrix()

◆ GetVnlDoubleQuaternion()

◆ GetVnlDoubleTranslation()

◆ GetVnlRotationMatrix()

◆ GetVnlTranslation()

◆ GetVtkOpenGlMatrix()

◆ Invert()

◆ IsValid()

◆ mitkClassMacroItkParent()

◆ mitkNewMacro1Param() [1/2]

◆ mitkNewMacro1Param() [2/2]

◆ New()

◆ Reset()

◆ SetMatrix() [1/2]

◆ SetMatrix() [2/2]

◆ SetNavigationData()

◆ SetOrientation() [1/2]

◆ SetOrientation() [2/2]

◆ SetPosition()

◆ SetRotation() [1/5]

◆ SetRotation() [2/5]

◆ SetRotation() [3/5]

◆ SetRotation() [4/5]

◆ SetRotation() [5/5]

◆ SetRotationVector()

◆ SetTranslation() [1/5]

◆ SetTranslation() [2/5]

◆ SetTranslation() [3/5]

◆ SetTranslation() [4/5]

◆ SetTranslation() [5/5]

◆ SetType()

◆ SetValid()

◆ ToCSVFile()

◆ ToCSVString()

◆ ToMatlabFile()

◆ ToMatlabString()

◆ ToString()

◆ ToXML()

◆ TransformPoint()

◆ TransposeRotation()

Member Data Documentation

◆ BOARD_TO_BOARD_TOOL

◆ CAMERA_EXTRINSICS

◆ CHESSBOARD_TOOL

◆ ENDOSCOPE_CAM_TOOL

◆ ENDOSCOPE_SCOPE_TOOL

◆ EYE_TO_HAND_TRANSFORM

◆ m_NavData

◆ m_Type

◆ POINTER_TO_CHESSBOARD_ORIGIN