#include <DGtal/images/RigidTransformation3D.h>

Public Types
typedef TSpace::Point	Point

typedef TSpace::RealPoint	RealPoint

typedef TSpace::RealVector	RealVector

Public Member Functions
	ForwardRigidTransformation3D (const RealPoint &aOrigin, const RealVector &aAxis, const double &angle, const RealVector &aTranslate)

Point	operator() (const Point &aInput) const

Protected Attributes
RealVector	axis

RealPoint	origin

double	t_sin

double	t_cos

RealVector	trans

Private Member Functions
	BOOST_CONCEPT_ASSERT ((concepts::CSpace< TSpace >))

	BOOST_STATIC_ASSERT ((TSpace::dimension==3))

Detailed Description

template<typename TSpace>
class DGtal::functors::ForwardRigidTransformation3D< TSpace >

Aim: implements forward rigid transformation of point in 3D integer space around any arbitrary axis. This implementation uses the Rodrigues' rotation formula. Warring: This version uses closest neighbor interpolation.

Description of template functor like class 'ForwardRigidTransformation3D'

Template Parameters

TSpace a 3 dimensional space.

See also: exampleRigidtransformation3d.cpp

Definition at line 70 of file RigidTransformation3D.h.

Member Typedef Documentation

◆ Point

template<typename TSpace >

typedef TSpace::Point DGtal::functors::ForwardRigidTransformation3D< TSpace >::Point

Definition at line 78 of file RigidTransformation3D.h.

◆ RealPoint

template<typename TSpace >

typedef TSpace::RealPoint DGtal::functors::ForwardRigidTransformation3D< TSpace >::RealPoint

Definition at line 79 of file RigidTransformation3D.h.

◆ RealVector

template<typename TSpace >

typedef TSpace::RealVector DGtal::functors::ForwardRigidTransformation3D< TSpace >::RealVector

Definition at line 80 of file RigidTransformation3D.h.

Constructor & Destructor Documentation

◆ ForwardRigidTransformation3D()

template<typename TSpace >

DGtal::functors::ForwardRigidTransformation3D< TSpace >::ForwardRigidTransformation3D	(	const RealPoint &	aOrigin,
		const RealVector &	aAxis,
		const double &	angle,
		const RealVector &	aTranslate
	)

inline

Constructor.

Parameters

aOrigin	the center of rotation.
aAxis	the axis of rotation.
angle	the angle given in radians.
aTranslate	the 3D dimensional vector which represents translation.

Definition at line 91 of file RigidTransformation3D.h.

References DGtal::functors::ForwardRigidTransformation3D< TSpace >::axis, DGtal::functors::ForwardRigidTransformation3D< TSpace >::t_cos, and DGtal::functors::ForwardRigidTransformation3D< TSpace >::t_sin.

         : axis(aAxis.getNormalized()), origin(aOrigin), trans(aTranslate)
 
 
     {
         if ( std::isnan( axis.norm() ) )
             throw std::runtime_error ( "Axis of rotation can not be set as a vector of length 0!" );
         t_sin = std::sin ( angle );
         t_cos = std::cos ( angle );
     }

Member Function Documentation

◆ BOOST_CONCEPT_ASSERT()

template<typename TSpace >

DGtal::functors::ForwardRigidTransformation3D< TSpace >::BOOST_CONCEPT_ASSERT ( (concepts::CSpace< TSpace >) )

private

Checking concepts.

◆ BOOST_STATIC_ASSERT()

template<typename TSpace >

DGtal::functors::ForwardRigidTransformation3D< TSpace >::BOOST_STATIC_ASSERT ( (TSpace::dimension==3) )

private

◆ operator()()

template<typename TSpace >

Point DGtal::functors::ForwardRigidTransformation3D< TSpace >::operator() ( const Point & aInput ) const

inline

Operator

Returns: the transformed point.

Definition at line 109 of file RigidTransformation3D.h.

References DGtal::functors::ForwardRigidTransformation3D< TSpace >::axis, DGtal::functors::ForwardRigidTransformation3D< TSpace >::origin, DGtal::functors::ForwardRigidTransformation3D< TSpace >::t_cos, DGtal::functors::ForwardRigidTransformation3D< TSpace >::t_sin, and DGtal::functors::ForwardRigidTransformation3D< TSpace >::trans.

     {
         Point p;
 
         p[0] = std::floor ( ( ( ( ( t_cos + ( axis[0] * axis[0] ) * ( 1. - t_cos ) ) * ( aInput[0] - origin[0] ) )
                 + ( ( axis[0] * axis[1] * ( 1. - t_cos ) - axis[2] * t_sin ) * ( aInput[1] - origin[1] ) )
                 + ( ( axis[1] * t_sin + axis[0] * axis[2] * ( 1. - t_cos )  ) * ( aInput[2] - origin[2] ) ) ) + trans[0] ) + origin[0] + 0.5 );
 
         p[1] = std::floor ( ( ( ( ( axis[2] * t_sin + axis[0] * axis[1] * ( 1. - t_cos ) ) *  ( aInput[0] - origin[0] ) )
                 + ( ( t_cos + ( axis[1] * axis[1] ) * ( 1. - t_cos ) ) * ( aInput[1] - origin[1] ) )
                 + ( ( -axis[0] * t_sin + axis[1] * axis[2] * ( 1. - t_cos ) ) * ( aInput[2] - origin[2] ) ) ) + trans[1] ) + origin[1] + 0.5 );
 
         p[2] = std::floor ( ( ( ( ( -axis[1] * t_sin + axis[0] * axis[2] * ( 1. - t_cos ) ) * ( aInput[0] - origin[0] ) )
                 + ( ( axis[0] * t_sin + axis[1] * axis[2] * ( 1. - t_cos ) ) * ( aInput[1] - origin[1] ) )
                 + ( ( t_cos + ( axis[2] * axis[2] ) * ( 1. - t_cos ) ) * ( aInput[2] - origin[2] ) ) ) + trans[2] ) + origin[2] + 0.5 );
 
         return p;
     }