Medical Imaging Interaction Toolkit  2021.10.99-1c4db16f
Medical Imaging Interaction Toolkit
mitkTransform.h
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1 /*============================================================================
2 
3 The Medical Imaging Interaction Toolkit (MITK)
4 
5 Copyright (c) German Cancer Research Center (DKFZ)
6 All rights reserved.
7 
8 Use of this source code is governed by a 3-clause BSD license that can be
9 found in the LICENSE file.
10 
11 ============================================================================*/
12 #ifndef MITKTRANSFORM_H
13 #define MITKTRANSFORM_H
14 
15 #include <itkObject.h>
16 #include <opencv2/calib3d.hpp>
17 #include <mitkCommon.h>
18 #include <mitkNumericTypes.h>
19 #include <mitkNavigationData.h>
20 #include <sstream>
21 #include <vtkMatrix4x4.h>
22 #include <mitkXMLSerializable.h>
24 
25 namespace mitk {
26 
35  class MITKCAMERACALIBRATION_EXPORT Transform: public itk::Object,
36  public XMLSerializable
37  {
38  public:
39  mitkClassMacroItkParent(Transform, itk::Object);
40  itkFactorylessNewMacro(Transform);
42  mitkNewMacro1Param(Transform, const std::string&);
43 
48  static const std::string UNKNOWN_TYPE;
49  static const std::string ENDOSCOPE_SCOPE_TOOL;
50  static const std::string ENDOSCOPE_CAM_TOOL;
51  static const std::string CHESSBOARD_TOOL;
52  static const std::string POINTER_TOOL;
53  static const std::string POINTER_TO_CHESSBOARD_ORIGIN;
54  static const std::string POINTER_TO_CHESSBOARD_X_SUPPORT_POINT;
55  static const std::string POINTER_TO_CHESSBOARD_Y_SUPPORT_POINT;
56  static const std::string BOARD_TO_BOARD_TOOL;
57  static const std::string REFERENCE_CAMERA_TRANSFORM;
58  static const std::string REFERENCE_SCOPE_TRANSFORM;
59  static const std::string EYE_TO_HAND_TRANSFORM;
60  static const std::string CAMERA_EXTRINSICS;
61 
62  itkGetConstMacro(Type, std::string);
63  itkSetMacro(Type, std::string&);
68  void Copy( const mitk::Transform* transform );
69 
74  void Copy( const mitk::NavigationData* transform );
75 
82  void TransposeRotation();
83 
87  mitk::Transform::Pointer Clone() const;
88 
96  void Concatenate( mitk::Transform* transform );
100  void Concatenate( const vnl_matrix_fixed<mitk::ScalarType, 4, 4>& transform );
101 
105  void Concatenate( const vtkMatrix4x4* transform );
106 
110  void Invert();
114  void Reset();
115 
119  void FromXML(const tinyxml2::XMLElement* elem) override;
123  void FromCSVFile(const std::string& file);
127  void SetNavigationData( const mitk::NavigationData* naviData );
131  void SetOrientation( const vnl_quaternion<mitk::ScalarType>& orientation);
135  void SetOrientation( const vnl_quaternion<float>& orientation);
139  void SetTranslation( const vnl_vector_fixed<mitk::ScalarType, 3>& transl);
143  void SetTranslation( const vnl_vector<double>& transl);
147  void SetPosition( const mitk::Point3D& transl);
151  void SetRotation( vnl_matrix_fixed<mitk::ScalarType, 3, 3>& mat);
155  void SetRotation( vnl_matrix<mitk::ScalarType>& mat);
159  void SetMatrix( const vnl_matrix_fixed<mitk::ScalarType, 4, 4>& mat);
163  void SetMatrix( const vtkMatrix4x4* mat);
167  void SetTranslation( float* array );
173  void SetRotation( float* array );
177  void SetTranslation( double array[3] );
181  void SetRotation( double array[3][3] );
182 
186  void SetTranslation( const cv::Mat& transl);
190  void SetRotation( const cv::Mat& mat );
194  void SetRotationVector( const cv::Mat& rotVec);
195 
199  mitk::NavigationData::Pointer GetNavigationData() const;
203  mitk::Point3D GetPosition() const;
207  mitk::Point3D GetTranslation() const;
211  bool IsValid() const;
215  void SetValid(bool valid);
216 
220  mitk::Quaternion GetOrientation() const;
221 
225  vnl_matrix_fixed<mitk::ScalarType, 4, 4> GetMatrix() const;
229  void GetMatrix(vtkMatrix4x4* matrix) const;
234  void GetVtkOpenGlMatrix(vtkMatrix4x4* matrix) const;
235 
236  mitk::Point3D TransformPoint(mitk::Point3D point) const;
237 
241  void ToXML(tinyxml2::XMLElement* elem) const override;
245  std::string ToString() const;
249  std::string ToCSVString() const;
253  std::string ToMatlabString(const std::string& varname="transform",
254  bool printLastRow=true) const;
258  void ToCSVFile(const std::string& file) const;
262  void ToMatlabFile(const std::string& file
263  , const std::string& varname="transform") const;
267  cv::Mat GetCvTranslation() const;
268  cv::Mat GetCvRotationVector() const;
269  cv::Mat GetCvRotationMatrix() const;
270  cv::Mat GetCvMatrix() const;
271 
275  vnl_vector_fixed<mitk::ScalarType, 3> GetVnlTranslation() const;
276  vnl_vector_fixed<double, 3> GetVnlDoubleTranslation() const;
277  vnl_quaternion<double> GetVnlDoubleQuaternion() const;
278  vnl_matrix_fixed<mitk::ScalarType, 3, 3> GetVnlRotationMatrix() const;
279  vnl_matrix_fixed<double, 4, 4> GetVnlDoubleMatrix() const;
280 
281  protected:
282  Transform();
283  Transform(const mitk::NavigationData* nd);
284  Transform(const std::string& s);
285 
286  // everything is stored here
287  mitk::NavigationData::Pointer m_NavData;
288 
292  std::string m_Type;
293 };
294 
295 } // namespace mitk
296 
297 MITKCAMERACALIBRATION_EXPORT std::ostream& operator<<
298  (std::ostream& os, mitk::Transform::Pointer p);
299 
300 #endif // MITKTRANSFORM_H
static const std::string BOARD_TO_BOARD_TOOL
Definition: mitkTransform.h:56
#define mitkNewMacro1Param(classname, type)
Definition: mitkCommon.h:68
Navigation Data.
static const std::string ENDOSCOPE_CAM_TOOL
Definition: mitkTransform.h:50
DataCollection - Class to facilitate loading/accessing structured data.
#define MITKCAMERACALIBRATION_EXPORT
static const std::string UNKNOWN_TYPE
Definition: mitkTransform.h:48
mitk::NavigationData::Pointer m_NavData
std::string m_Type
static const std::string EYE_TO_HAND_TRANSFORM
Definition: mitkTransform.h:59
static const std::string ENDOSCOPE_SCOPE_TOOL
Definition: mitkTransform.h:49
#define mitkClassMacroItkParent(className, SuperClassName)
Definition: mitkCommon.h:45
static const std::string REFERENCE_CAMERA_TRANSFORM
Definition: mitkTransform.h:57
vnl_quaternion< ScalarType > Quaternion
static const std::string POINTER_TO_CHESSBOARD_ORIGIN
Definition: mitkTransform.h:53
class representing a transfrom in 3D
Definition: mitkTransform.h:35
static const std::string CHESSBOARD_TOOL
Definition: mitkTransform.h:51
static const std::string POINTER_TOOL
Definition: mitkTransform.h:52
static const std::string POINTER_TO_CHESSBOARD_Y_SUPPORT_POINT
Definition: mitkTransform.h:55
static const std::string CAMERA_EXTRINSICS
Definition: mitkTransform.h:60
interface for all classes able to write themselves to XML files
static const std::string REFERENCE_SCOPE_TRANSFORM
Definition: mitkTransform.h:58
static const std::string POINTER_TO_CHESSBOARD_X_SUPPORT_POINT
Definition: mitkTransform.h:54