Medical Imaging Interaction Toolkit  2021.02.99-e55a5d2f
Medical Imaging Interaction Toolkit
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 (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 ( 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

◆ Concatenate() [2/3]

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

same as above with vnl mat argument

◆ Concatenate() [3/3]

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

same as above with vtk mat argument

◆ Copy() [1/2]

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

Copies the content of transform to this instance

◆ Copy() [2/2]

void mitk::Transform::Copy ( const mitk::NavigationData 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< mitk::ScalarType > &  orientation)

method to set orientation quat

◆ SetOrientation() [2/2]

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

method to set float valued 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 ( vnl_matrix_fixed< mitk::ScalarType, 3, 3 > &  mat)

sets rotation with a rotation matrix

◆ SetRotation() [2/5]

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

sets rotation with a non fixed rotation matrix

◆ 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 ( double  array[3][3])

sets translation from a POD vector

◆ SetRotation() [5/5]

void mitk::Transform::SetRotation ( const cv::Mat &  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 vnl_vector_fixed< mitk::ScalarType, 3 > &  transl)

method to set translation

◆ 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 ( float *  array)

sets translation from a POD vector

◆ SetTranslation() [4/5]

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

sets translation from a POD vector

◆ SetTranslation() [5/5]

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

method to set translation by cv 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: