mitk::Transform Class Reference

class representing a transfrom in 3D More...

#include <mitkTransform.h>

Inheritance diagram for mitk::Transform:

Collaboration diagram for mitk::Transform:

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 (TiXmlElement *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 (TiXmlElement *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 36 of file mitkTransform.h.

Constructor & Destructor Documentation

Transform() [1/3]

mitk::Transform::Transform ( )

protected

Definition at line 36 of file mitkTransform.cpp.

References SetRotation().

Transform() [2/3]

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

protected

Definition at line 44 of file mitkTransform.cpp.

References m_NavData.

Transform() [3/3]

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

protected

Definition at line 50 of file mitkTransform.cpp.

References SetRotation().

Member Function Documentation

Clone()

mitk::Transform::Pointer mitk::Transform::Clone

(

)

const

get a copy of this transform

Definition at line 266 of file mitkTransform.cpp.

References New().

Concatenate() [1/3]

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

Definition at line 63 of file mitkTransform.cpp.

References GetMatrix(), and SetMatrix().

Referenced by Concatenate().

Concatenate() [2/3]

void mitk::Transform::Concatenate

(

const vnl_matrix_fixed< mitk::ScalarType, 4, 4 > &

transform

)

same as above with vnl mat argument

Definition at line 71 of file mitkTransform.cpp.

References Concatenate(), and New().

Concatenate() [3/3]

void mitk::Transform::Concatenate

(

const vtkMatrix4x4 *

transform

)

same as above with vtk mat argument

Definition at line 79 of file mitkTransform.cpp.

References Concatenate(), and New().

Copy() [1/2]

void mitk::Transform::Copy

(

const mitk::Transform *

transform

)

Copies the content of transform to this instance

Definition at line 260 of file mitkTransform.cpp.

References GetNavigationData(), GetType(), m_NavData, and m_Type.

Referenced by Reset().

Copy() [2/2]

void mitk::Transform::Copy

(

const mitk::NavigationData *

transform

)

Copies the content of transform to this instance

Definition at line 58 of file mitkTransform.cpp.

References m_NavData.

FromCSVFile()

void mitk::Transform::FromCSVFile

(

const std::string &

file

)

read csv file

Definition at line 180 of file mitkTransform.cpp.

References endoAssert, line, New(), and SetNavigationData().

FromXML()

void mitk::Transform::FromXML ( TiXmlElement *  elem )

overridevirtual

read from xml

Implements mitk::XMLSerializable.

Definition at line 653 of file mitkTransform.cpp.

References m_NavData, m_Type, mitk::NavigationData::New(), and UNKNOWN_TYPE.

GetCvMatrix()

cv::Mat mitk::Transform::GetCvMatrix

(

)

const

Definition at line 493 of file mitkTransform.cpp.

References GetMatrix(), and mitk::CvMatFromVnlMatrix< T >::Update().

GetCvRotationMatrix()

cv::Mat mitk::Transform::GetCvRotationMatrix

(

)

const

Definition at line 483 of file mitkTransform.cpp.

References endodebugvar, GetVnlRotationMatrix(), and mitk::CvMatFromVnlMatrix< T >::Update().

Referenced by GetCvRotationVector().

GetCvRotationVector()

cv::Mat mitk::Transform::GetCvRotationVector

(

)

const

Definition at line 502 of file mitkTransform.cpp.

References GetCvRotationMatrix().

GetCvTranslation()

cv::Mat mitk::Transform::GetCvTranslation

(

)

const

conversion to cv types

Definition at line 473 of file mitkTransform.cpp.

References endodebugvar, GetVnlTranslation(), and mitk::CvMatFromVnlVector< T >::Update().

GetMatrix() [1/2]

vnl_matrix_fixed< mitk::ScalarType, 4, 4 > mitk::Transform::GetMatrix

(

)

const

Returns

the homogeneous matrix representing this transform

Definition at line 535 of file mitkTransform.cpp.

References GetVnlRotationMatrix(), and GetVnlTranslation().

Referenced by Concatenate(), GetCvMatrix(), GetMatrix(), GetVnlDoubleMatrix(), Invert(), ToCSVString(), and ToMatlabString().

GetMatrix() [2/2]

void mitk::Transform::GetMatrix

(

vtkMatrix4x4 *

matrix

)

const

Returns

the homogeneous vtk matrix representing this transform

Definition at line 427 of file mitkTransform.cpp.

References GetMatrix().

GetNavigationData()

mitk::NavigationData::Pointer mitk::Transform::GetNavigationData

(

)

const

Returns

the navigation data that stores all information

Definition at line 407 of file mitkTransform.cpp.

References m_NavData.

Referenced by Copy().

GetOrientation()

mitk::Quaternion mitk::Transform::GetOrientation

(

)

const

calls navigationdata::GetOrientation()

Definition at line 422 of file mitkTransform.cpp.

References m_NavData.

Referenced by GetVnlDoubleQuaternion().

GetPosition()

mitk::Point3D mitk::Transform::GetPosition

(

)

const

calls navigationdata::GetPosition()

Definition at line 417 of file mitkTransform.cpp.

References m_NavData.

Referenced by GetVtkOpenGlMatrix(), and TransformPoint().

GetTranslation()

mitk::Point3D mitk::Transform::GetTranslation

(

)

const

same as GetPosition

Definition at line 412 of file mitkTransform.cpp.

References m_NavData.

GetType()

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

virtual

Referenced by Copy().

GetVnlDoubleMatrix()

vnl_matrix_fixed< double, 4, 4 > mitk::Transform::GetVnlDoubleMatrix

(

)

const

Definition at line 522 of file mitkTransform.cpp.

References GetMatrix().

GetVnlDoubleQuaternion()

vnl_quaternion< double > mitk::Transform::GetVnlDoubleQuaternion

(

)

const

Definition at line 170 of file mitkTransform.cpp.

References GetOrientation(), and mitk::VnlVectorFixedCaster< T, R, n >::Update().

GetVnlDoubleTranslation()

vnl_vector_fixed< double, 3 > mitk::Transform::GetVnlDoubleTranslation

(

)

const

Definition at line 150 of file mitkTransform.cpp.

References GetVnlTranslation(), and mitk::VnlVectorFixedCaster< T, R, n >::Update().

GetVnlRotationMatrix()

vnl_matrix_fixed< mitk::ScalarType, 3, 3 > mitk::Transform::GetVnlRotationMatrix

(

)

const

Definition at line 517 of file mitkTransform.cpp.

References m_NavData.

Referenced by GetCvRotationMatrix(), GetMatrix(), GetVtkOpenGlMatrix(), TransformPoint(), and TransposeRotation().

GetVnlTranslation()

vnl_vector_fixed< mitk::ScalarType, 3 > mitk::Transform::GetVnlTranslation

(

)

const

conversion to vnl types

Definition at line 510 of file mitkTransform.cpp.

References m_NavData.

Referenced by GetCvTranslation(), GetMatrix(), and GetVnlDoubleTranslation().

GetVtkOpenGlMatrix()

void mitk::Transform::GetVtkOpenGlMatrix

(

vtkMatrix4x4 *

matrix

)

const

Returns

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

Definition at line 435 of file mitkTransform.cpp.

References GetPosition(), GetVnlRotationMatrix(), and New().

Invert()

void mitk::Transform::Invert

(

)

invert this transform

Definition at line 345 of file mitkTransform.cpp.

References GetMatrix(), and SetMatrix().

IsValid()

bool mitk::Transform::IsValid

(

)

const

calls navigationdata::IsValid()

Definition at line 368 of file mitkTransform.cpp.

References m_NavData.

Referenced by ToString().

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

Referenced by Clone(), Concatenate(), FromCSVFile(), and GetVtkOpenGlMatrix().

Reset()

void mitk::Transform::Reset

(

)

resets the internal variables except type

Definition at line 86 of file mitkTransform.cpp.

References Copy(), and mitk::NavigationData::New().

SetMatrix() [1/2]

void mitk::Transform::SetMatrix

(

const vnl_matrix_fixed< mitk::ScalarType, 4, 4 > &

mat

)

sets rotation and translation with a transformation matrix

Definition at line 351 of file mitkTransform.cpp.

References m_NavData, and SetRotation().

Referenced by Concatenate(), Invert(), and SetMatrix().

SetMatrix() [2/2]

void mitk::Transform::SetMatrix

(

const vtkMatrix4x4 *

mat

)

sets rotation and translation with a vtk transformation matrix

Definition at line 273 of file mitkTransform.cpp.

References SetMatrix().

SetNavigationData()

void mitk::Transform::SetNavigationData

(

const mitk::NavigationData *

naviData

)

grafts the data from naviData to this transform

Definition at line 302 of file mitkTransform.cpp.

References endoAssert, and m_NavData.

Referenced by FromCSVFile().

SetOrientation() [1/2]

void mitk::Transform::SetOrientation

(

const vnl_quaternion< mitk::ScalarType > &

orientation

)

method to set orientation quat

Definition at line 92 of file mitkTransform.cpp.

References m_NavData.

Referenced by SetOrientation().

SetOrientation() [2/2]

void mitk::Transform::SetOrientation

(

const vnl_quaternion< float > &

orientation

)

method to set float valued orientation quat

Definition at line 139 of file mitkTransform.cpp.

References SetOrientation(), and mitk::VnlVectorFixedCaster< T, R, n >::Update().

SetPosition()

void mitk::Transform::SetPosition

(

const mitk::Point3D &

transl

)

method to set a mitk::Point3D as position

Definition at line 321 of file mitkTransform.cpp.

References SetTranslation().

SetRotation() [1/5]

void mitk::Transform::SetRotation

(

vnl_matrix_fixed< mitk::ScalarType, 3, 3 > &

mat

)

sets rotation with a rotation matrix

Definition at line 309 of file mitkTransform.cpp.

References m_NavData.

Referenced by SetMatrix(), SetRotation(), SetRotationVector(), Transform(), and TransposeRotation().

SetRotation() [2/5]

void mitk::Transform::SetRotation

(

vnl_matrix< mitk::ScalarType > &

mat

)

sets rotation with a non fixed rotation matrix

Definition at line 315 of file mitkTransform.cpp.

References SetRotation().

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)

Definition at line 118 of file mitkTransform.cpp.

References SetRotation().

SetRotation() [4/5]

void mitk::Transform::SetRotation

(

double

array[3][3]

)

sets translation from a POD vector

Definition at line 335 of file mitkTransform.cpp.

References SetRotation().

SetRotation() [5/5]

void mitk::Transform::SetRotation

(

const cv::Mat &

mat

)

sets rotation with a rotation matrix

Definition at line 381 of file mitkTransform.cpp.

References SetRotation(), and mitk::VnlMatrixFromCvMat< T >::Update().

SetRotationVector()

void mitk::Transform::SetRotationVector

(

const cv::Mat &

rotVec

)

sets rotation with a rodrigues rotation vector

Definition at line 391 of file mitkTransform.cpp.

References SetRotation(), and mitk::VnlMatrixFromCvMat< T >::Update().

SetTranslation() [1/5]

void mitk::Transform::SetTranslation

(

const vnl_vector_fixed< mitk::ScalarType, 3 > &

transl

)

method to set translation

Definition at line 99 of file mitkTransform.cpp.

References m_NavData.

Referenced by SetPosition(), and SetTranslation().

SetTranslation() [2/5]

void mitk::Transform::SetTranslation

(

const vnl_vector< double > &

transl

)

method to set a vector of doubles as translation

Definition at line 160 of file mitkTransform.cpp.

References SetTranslation(), and mitk::VnlVectorFixedCaster< T, R, n >::Update().

SetTranslation() [3/5]

void mitk::Transform::SetTranslation

(

float *

array

)

sets translation from a POD vector

Definition at line 110 of file mitkTransform.cpp.

References SetTranslation().

SetTranslation() [4/5]

void mitk::Transform::SetTranslation

(

double

array[3]

)

sets translation from a POD vector

Definition at line 326 of file mitkTransform.cpp.

References SetTranslation().

SetTranslation() [5/5]

void mitk::Transform::SetTranslation

(

const cv::Mat &

transl

)

method to set translation by cv vector

Definition at line 373 of file mitkTransform.cpp.

References SetTranslation(), and mitk::VnlVectorFromCvMat< T >::Update().

SetType()

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

virtual

SetValid()

void mitk::Transform::SetValid

(

bool

valid

)

calls navigationdata::SetValid()

Definition at line 559 of file mitkTransform.cpp.

References m_NavData.

ToCSVFile()

void mitk::Transform::ToCSVFile

(

const std::string &

file

)

const

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

Definition at line 283 of file mitkTransform.cpp.

References endoAssert, and ToCSVString().

ToCSVString()

std::string mitk::Transform::ToCSVString

(

)

const

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

Definition at line 213 of file mitkTransform.cpp.

References GetMatrix(), and k().

Referenced by ToCSVFile().

ToMatlabFile()

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

write matlab representation to file

Definition at line 292 of file mitkTransform.cpp.

References endoAssert, and ToMatlabString().

ToMatlabString()

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

create matlab representation

Definition at line 236 of file mitkTransform.cpp.

References GetMatrix(), and k().

Referenced by ToMatlabFile().

ToString()

std::string mitk::Transform::ToString

(

)

const

create string representation

Definition at line 568 of file mitkTransform.cpp.

References IsValid(), and m_NavData.

ToXML()

void mitk::Transform::ToXML ( TiXmlElement *  elem ) const

overridevirtual

create xml representation

Implements mitk::XMLSerializable.

Definition at line 588 of file mitkTransform.cpp.

References m_NavData, and m_Type.

TransformPoint()

mitk::Point3D mitk::Transform::TransformPoint

(

mitk::Point3D

point

)

const

Definition at line 461 of file mitkTransform.cpp.

References GetPosition(), and GetVnlRotationMatrix().

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)

Definition at line 553 of file mitkTransform.cpp.

References GetVnlRotationMatrix(), and SetRotation().

Member Data Documentation

BOARD_TO_BOARD_TOOL

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

static

Definition at line 57 of file mitkTransform.h.

CAMERA_EXTRINSICS

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

static

Definition at line 61 of file mitkTransform.h.

CHESSBOARD_TOOL

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

static

Definition at line 52 of file mitkTransform.h.

ENDOSCOPE_CAM_TOOL

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

static

Definition at line 51 of file mitkTransform.h.

ENDOSCOPE_SCOPE_TOOL

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

static

Definition at line 50 of file mitkTransform.h.

EYE_TO_HAND_TRANSFORM

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

static

Definition at line 60 of file mitkTransform.h.

m_NavData

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

protected

Definition at line 288 of file mitkTransform.h.

Referenced by Copy(), FromXML(), GetNavigationData(), GetOrientation(), GetPosition(), GetTranslation(), GetVnlRotationMatrix(), GetVnlTranslation(), IsValid(), SetMatrix(), SetNavigationData(), SetOrientation(), SetRotation(), SetTranslation(), SetValid(), ToString(), ToXML(), and Transform().

m_Type

std::string mitk::Transform::m_Type

protected

saves the type of the transform (Default is UNKNOWN_TYPE)

Definition at line 293 of file mitkTransform.h.

Referenced by Copy(), FromXML(), and ToXML().

POINTER_TO_CHESSBOARD_ORIGIN

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

static

Definition at line 54 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 55 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 56 of file mitkTransform.h.

POINTER_TOOL

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

static

Definition at line 53 of file mitkTransform.h.

REFERENCE_CAMERA_TRANSFORM

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

static

Definition at line 58 of file mitkTransform.h.

REFERENCE_SCOPE_TRANSFORM

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

static

Definition at line 59 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 49 of file mitkTransform.h.

Referenced by FromXML().

---

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

• mitkTransform.h
• mitkTransform.cpp