mitkTransform.h

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/*============================================================================

The Medical Imaging Interaction Toolkit (MITK)

Copyright (c) German Cancer Research Center (DKFZ)
All rights reserved.

Use of this source code is governed by a 3-clause BSD license that can be
found in the LICENSE file.

============================================================================*/
#ifndef MITKTRANSFORM_H
#define MITKTRANSFORM_H

#include <itkObject.h>
#include <opencv2/calib3d.hpp>
#include <mitkCommon.h>
#include <mitkNumericTypes.h>
#include <mitkNavigationData.h>
#include <tinyxml.h>
#include <sstream>
#include <vtkMatrix4x4.h>
#include <mitkXMLSerializable.h>
#include <MitkCameraCalibrationExports.h>

namespace mitk {

  class MITKCAMERACALIBRATION_EXPORT Transform: public itk::Object,
    public XMLSerializable
  {
  public:
    mitkClassMacroItkParent(Transform, itk::Object);
    itkFactorylessNewMacro(Transform);
    mitkNewMacro1Param(Transform, const mitk::NavigationData*);
    mitkNewMacro1Param(Transform, const std::string&);

    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;

    itkGetConstMacro(Type, std::string);
    itkSetMacro(Type, std::string&);
    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;

  protected:
    Transform();
    Transform(const mitk::NavigationData* nd);
    Transform(const std::string& s);

    // everything is stored here
    mitk::NavigationData::Pointer m_NavData;

    std::string m_Type;
};

} // namespace mitk

MITKCAMERACALIBRATION_EXPORT std::ostream& operator<<
    (std::ostream& os, mitk::Transform::Pointer p);

#endif // MITKTRANSFORM_H