aims::AffineTransformation3d Class Reference

Affine 3D transformation. More...

#include <aims/transformation/affinetransformation3d.h>

Inheritance diagram for aims::AffineTransformation3d:

Collaboration diagram for aims::AffineTransformation3d:

Public Member Functions
	AffineTransformation3d ()
	Create an identity transformation.
	AffineTransformation3d (const AffineTransformation3d &other)
	AffineTransformation3d (const AffineTransformation3dBase &other)
	AffineTransformation3d (const std::vector< float > &mat)
	Create a AffineTransformation3d from a 4x4 matrix given as a line vector.
	AffineTransformation3d (const carto::Object mat)
	Create a AffineTransformation3d from a 4x4 matrix given as a line vector in an Object.
	AffineTransformation3d (const aims::Quaternion &quat)
virtual	~AffineTransformation3d ()
virtual AffineTransformation3d &	operator= (const AffineTransformation3d &other)
virtual AffineTransformation3d &	operator= (const std::vector< float > &mat)
virtual AffineTransformation3d &	operator= (const carto::Object mat)
virtual AffineTransformation3d &	operator= (const aims::Quaternion &quat)
virtual bool	operator== (const AffineTransformation3d &) const
virtual bool	operator!= (const AffineTransformation3d &) const
AffineTransformation3d &	operator*= (const AffineTransformation3dBase &trans)
virtual AffineTransformation3d	operator- () const
std::unique_ptr< AffineTransformation3d >	inverse () const
std::unique_ptr< Transformation >	getInverse () const CARTO_OVERRIDE
Point3df	translation ()
Point3df	translation () const
carto::VolumeRef< float >	rotation ()
const carto::VolumeRef< float >	rotation () const
carto::VolumeRef< float >	affine ()
const carto::VolumeRef< float >	affine () const
virtual void	setMatrix (const carto::VolumeRef< float > &mat)
virtual void	setRotationAffine (float rx, float ry, float rz, const Point3df &cg=Point3df(0.0))
Public Member Functions inherited from soma::AffineTransformation3dBase
	AffineTransformation3dBase ()
	AffineTransformation3dBase (const AffineTransformation3dBase &other)
	AffineTransformation3dBase (const std::vector< float > &mat)
	AffineTransformation3dBase (const carto::Object mat)
virtual	~AffineTransformation3dBase ()
virtual AffineTransformation3dBase &	operator= (const AffineTransformation3dBase &other)
AffineTransformation3dBase &	operator*= (const AffineTransformation3dBase &trans)
AffineTransformation3dBase	operator- () const
virtual bool	operator== (const AffineTransformation3dBase &) const
virtual void	extendOrder (unsigned n)
Point3dd	transform (double x, double y, double z) const
Point3dd	transform (const Point3dd &pos) const
Point3df	transform (const Point3df &pos) const
Point3df	transform (float x, float y, float z) const
Point3d	transform (const Point3d &p) const
Point3di	transform (const Point3di &p) const
Point3di	transform (int x, int y, int z) const
virtual std::vector< double >	transform (const std::vector< double > &pos) const
virtual std::vector< float >	transform (const std::vector< float > &pos) const
virtual std::vector< int >	transform (const std::vector< int > &pos) const
Point3dd	transformVector (const Point3dd &vec) const
Point3df	transformVector (const Point3df &dir) const
Point3df	transformVector (const Point3di &dir) const
Point3dd	transformVector (double x, double y, double z) const
Point3df	transformVector (float x, float y, float z) const
Point3di	transformVector (int x, int y, int z) const
virtual std::vector< double >	transformVector (const std::vector< double > &pos) const
virtual std::vector< float >	transformVector (const std::vector< float > &pos) const
virtual std::vector< int >	transformVector (const std::vector< int > &pos) const
Point3dd	transformNormal (const Point3dd &dir) const
Point3df	transformNormal (const Point3df &dir) const
Point3dd	transformNormal (double x, double y, double z) const
Point3df	transformNormal (float x, float y, float z) const
Point3dd	transformUnitNormal (const Point3dd &dir) const
Point3df	transformUnitNormal (const Point3df &dir) const
Point3dd	transformUnitNormal (double x, double y, double z) const
Point3df	transformUnitNormal (float x, float y, float z) const
bool	isIdentity () const CARTO_OVERRIDE
virtual void	setToIdentity ()
std::unique_ptr< AffineTransformation3dBase >	inverse () const
bool	invertible () const CARTO_OVERRIDE
std::unique_ptr< Transformation >	getInverse () const CARTO_OVERRIDE
virtual void	scale (const Point3df &sizeFrom, const Point3df &sizeTo)
void	setTranslation (Point3df trans)
void	fromColumnVector (const float *vec)
Public Member Functions inherited from soma::Transformation3d
virtual	~Transformation3d ()
Point3dd	transform (double x, double y, double z) const
Point3dd	transform (const Point3dd &pos) const
Point3df	transform (const Point3df &dir) const
Point3df	transform (float x, float y, float z) const
Point3d	transform (const Point3d &p) const
Point3di	transform (const Point3di &p) const
Point3di	transform (int x, int y, int z) const
Public Member Functions inherited from soma::Transformation
virtual	~Transformation ()
virtual Transformation &	operator= (const Transformation &other)
carto::Object	header ()
const carto::Object	header () const
void	setHeader (carto::Object ph)
Public Member Functions inherited from carto::RCObject
	RCObject ()
	RCObject (const RCObject &)
RCObject &	operator= (const RCObject &)
virtual	~RCObject ()
Public Member Functions inherited from soma::AffineTransformationBase
	AffineTransformationBase (int order=3)
	AffineTransformationBase (const AffineTransformationBase &other)
	AffineTransformationBase (const std::vector< float > &mat)
	AffineTransformationBase (const carto::Object mat)
virtual	~AffineTransformationBase ()
virtual AffineTransformationBase &	operator= (const AffineTransformationBase &other)
virtual bool	operator== (const AffineTransformationBase &) const
AffineTransformationBase &	operator*= (const AffineTransformationBase &trans)
AffineTransformationBase	operator- () const
void	negate ()
bool	isIdentity () const CARTO_OVERRIDE
bool	isDirect () const override
bool	invertible () const CARTO_OVERRIDE
std::unique_ptr< AffineTransformationBase >	inverse () const
std::unique_ptr< Transformation >	getInverse () const CARTO_OVERRIDE
int	order () const
virtual void	squeezeOrder (unsigned n, bool check=true, bool notify_fail=true)
Table< float > &	matrix ()
const Table< float > &	matrix () const
std::vector< float >	toVector () const
std::vector< float >	toColumnVector () const
void	fromColumnVector (const std::vector< float > &vec)
void	fromColumnVector (const float *vec, unsigned size)

Static Public Member Functions
static carto::VolumeRef< float >	rotationaroundx (float rx)
static carto::VolumeRef< float >	rotationaroundy (float ry)
static carto::VolumeRef< float >	rotationaroundz (float rz)
static AffineTransformation3d	translationTransform (float tx, float ty, float tz)
	convenient function which returns a translation transformation
static AffineTransformation3d	translationTransform (const Point3df &t)
static AffineTransformation3d	translationTransform (const std::vector< float > &t)
Static Public Member Functions inherited from soma::Transformation
static std::vector< T >	vadd (const std::vector< T > &v1, const std::vector< T > &v2)
static std::vector< T >	vsub (const std::vector< T > &v1, const std::vector< T > &v2)
static std::vector< T >	vadd (const std::vector< T > &v1, const T &v2)
static std::vector< T >	vsub (const std::vector< T > &v1, const T &v2)
static std::vector< T >	vadd (const T &v1, const std::vector< T > &v2)
static std::vector< T >	vsub (const T &v1, const std::vector< T > &v2)

Additional Inherited Members
Public Types inherited from carto::RCObject
typedef int	RefCounterType
Static Public Attributes inherited from soma::AffineTransformationBase
static float	epsilon
Protected Member Functions inherited from soma::AffineTransformation3dBase
Point3dd	transformDouble (double x, double y, double z) const CARTO_OVERRIDE
Point3df	transformFloat (float x, float y, float z) const CARTO_OVERRIDE
Point3di	transformInt (int x, int y, int z) const CARTO_OVERRIDE
virtual Point3dd	transformVectorPoint3dd (const Point3dd &vec) const
virtual Point3df	transformVectorPoint3df (const Point3df &dir) const
virtual Point3dd	transformVectorDouble (double x, double y, double z) const
virtual Point3df	transformVectorFloat (float x, float y, float z) const
virtual Point3di	transformVectorInt (int x, int y, int z) const
virtual Point3dd	transformNormalPoint3dd (const Point3dd &dir) const
virtual Point3df	transformNormalPoint3df (const Point3df &dir) const
virtual Point3dd	transformNormalDouble (double x, double y, double z) const
virtual Point3df	transformNormalFloat (float x, float y, float z) const
Protected Member Functions inherited from soma::Transformation3d
	Transformation3d ()
virtual Point3dd	transformPoint3dd (const Point3dd &pos) const
virtual Point3df	transformPoint3df (const Point3df &dir) const
virtual Point3d	transformPoint3d (const Point3d &p) const
virtual Point3di	transformPoint3di (const Point3di &p) const
Protected Member Functions inherited from soma::Transformation
	Transformation ()
Protected Attributes inherited from soma::Transformation
carto::Object	_header
Protected Attributes inherited from soma::AffineTransformationBase
Table< float >	_matrix

Detailed Description

Affine 3D transformation.

WARNING: this is the old Motion class of Aims 3.x, which has been renamed and changed in Aims 4.0. Since Aims 4.7, most of the code is in soma-io where it is used to transform voxels coordinates in IO code. This additional layer mainly adds compatibility with older code which uses VolumeRef for rotation() and Point3df for translation().

A new transformation classes tree has been setup to allow non-linear transformations: see Transformation and Transformation3d. AffineTransformation3d now inherits Transformation3d.

A typedef is still provided for backward compatibility, in aims/resampling/motion.h (the former location of the Motion class) and should minimize inconvenience when compiling old code which used Motion. However a few API differences may cause compilation problems:

• forward declarations for the Motion class will not work any longer, since Motion is not a class anymore but a typedef. It is still possible to replace:

  class Motion;

  by:

   namespace aims { class AffineTransformation3d; }
  typedef aims::AffineTransformation3d Motion;

  but of course it is better to use directly the AffineTransformation3d class under its real name.
• there are several overloaded transform() methods taking double, or float numbers, or Point3df or Point3dd arguments. As there were formerly only float and Point3df arguments, ambiguities may raise from calling them with mixed double/float arguments
• the base soma::Transformation class and its typedef in aims namespace introduces a name ambiguity with anatomist anatomist::Transformation class, so it now requires to handle namespaces carefully.

Changes in AIMS 4.7

In Aims and Soma-IO 4.7, it was needed to move transformations to Soma-IO, because they are used in IO code that is moving to soma-io. To do to, we also had to move AimsVector and typedefs Point3df etc. Then several changes had to be done:

• Transformation and Transformation3d are now in the namespace soma. They are still typedef'd in aims for compatibility, but programmers should use them in soma now.
• The AffineTransformation3d has been split in two parts, soma::AffineTransformation3dBase which already does pretty much everything, which is in soma-io and used this way there, and AffineTransformation3d which is still here in aims, and merely adds compatibility methods converting with aims types (Volume, Quaternion).
• AffineTransformation3d::rotation does not return a reference any longer. Code using it as a reference should be modified. As the returned VolumeRef object is itself a reference to the transformation array, changing this is normally merely a matter of removing the "&", the object will still be usable to modify the transformation.
• AffineTransformation3d::translation does not return a reference any longer. Code using it as a reference should be modified. This modification however requires a bit more changes than for rotation() because the returned Point3df cannot be used to modify the transformation itself. Instead you can use AffineTransformation3d::setTranslation(), or AffineTransformation3dBase::matrix()(i, 3) to modify the translation in place.
• AffineTransformation3d::rotation() and AffineTransformation3d::translation are left for partial compatibility with older code, but should be considered deprecated. They are less efficient as they used to be, because the returned objects are built on-the-fly and are not the native storage for the transform anymore. Instead, AffineTransformation3dBase::matrix() should be used, it has the same functionalities and allows to address the full 4x4 matrix, with same convention as rotation(): accessors are (line, column), thus the translation is (line, 3).
• AffineTransformation3d::setTranslation() has changed behavior: it used to add the coordinates to the current translation in the matrix, which was wrong or at least unclear. It was almost never used anyway. The behavior is now what is expected: it sets the translation part of the matrix, and may be used to replace the former expressions trans.translation() = Point3df(..) which do not work any longer.

Definition at line 147 of file affinetransformation3d.h.

Constructor & Destructor Documentation

AffineTransformation3d() [1/6]

aims::AffineTransformation3d::AffineTransformation3d

(

)

Create an identity transformation.

Referenced by AffineTransformation3d(), operator!=(), operator-(), operator=(), operator=(), operator=(), aims::DecomposedAffineTransformation3d::operator=(), operator==(), translation(), translationTransform(), translationTransform(), translationTransform(), and ~AffineTransformation3d().

AffineTransformation3d() [2/6]

aims::AffineTransformation3d::AffineTransformation3d

(

const AffineTransformation3d &

other

)

References AffineTransformation3d().

AffineTransformation3d() [3/6]

aims::AffineTransformation3d::AffineTransformation3d

(

const AffineTransformation3dBase &

other

)

References soma::AffineTransformation3dBase::AffineTransformation3dBase().

AffineTransformation3d() [4/6]

aims::AffineTransformation3d::AffineTransformation3d ( const std::vector< float > & mat )

explicit

Create a AffineTransformation3d from a 4x4 matrix given as a line vector.

AffineTransformation3d() [5/6]

aims::AffineTransformation3d::AffineTransformation3d ( const carto::Object mat )

explicit

Create a AffineTransformation3d from a 4x4 matrix given as a line vector in an Object.

AffineTransformation3d() [6/6]

aims::AffineTransformation3d::AffineTransformation3d

(

const aims::Quaternion &

quat

)

~AffineTransformation3d()

virtual aims::AffineTransformation3d::~AffineTransformation3d ( )

virtual

References AffineTransformation3d().

Member Function Documentation

affine() [1/2]

carto::VolumeRef< float > aims::AffineTransformation3d::affine ( )

inline

Definition at line 250 of file affinetransformation3d.h.

References soma::AffineTransformationBase::_matrix, and soma::AffineTransformationBase::matrix().

Referenced by getInverse().

affine() [2/2]

const carto::VolumeRef< float > aims::AffineTransformation3d::affine ( ) const

inline

Definition at line 257 of file affinetransformation3d.h.

References soma::AffineTransformationBase::_matrix, and soma::AffineTransformationBase::matrix().

getInverse()

std::unique_ptr< Transformation > aims::AffineTransformation3d::getInverse ( ) const

virtual

Reimplemented from soma::Transformation.

References affine(), rotation(), and translation().

inverse()

std::unique_ptr< AffineTransformation3d > aims::AffineTransformation3d::inverse

(

)

const

Referenced by aims::SpmWriter< T >::write().

operator!=()

virtual bool aims::AffineTransformation3d::operator!= ( const AffineTransformation3d & ) const

virtual

References AffineTransformation3d().

operator*=()

AffineTransformation3d & aims::AffineTransformation3d::operator*=

(

const AffineTransformation3dBase &

trans

)

References soma::AffineTransformation3dBase::AffineTransformation3dBase().

operator-()

virtual AffineTransformation3d aims::AffineTransformation3d::operator- ( ) const

virtual

References AffineTransformation3d().

operator=() [1/4]

virtual AffineTransformation3d & aims::AffineTransformation3d::operator= ( const AffineTransformation3d & other )

virtual

Reimplemented in aims::DecomposedAffineTransformation3d.

References AffineTransformation3d().

operator=() [2/4]

virtual AffineTransformation3d & aims::AffineTransformation3d::operator= ( const aims::Quaternion & quat )

virtual

operator=() [3/4]

virtual AffineTransformation3d & aims::AffineTransformation3d::operator= ( const carto::Object mat )

virtual

Reimplemented from soma::AffineTransformation3dBase.

References AffineTransformation3d().

operator=() [4/4]

virtual AffineTransformation3d & aims::AffineTransformation3d::operator= ( const std::vector< float > & mat )

virtual

Reimplemented from soma::AffineTransformation3dBase.

References AffineTransformation3d().

operator==()

virtual bool aims::AffineTransformation3d::operator== ( const AffineTransformation3d & ) const

virtual

References AffineTransformation3d().

rotation() [1/2]

carto::VolumeRef< float > aims::AffineTransformation3d::rotation ( )

inline

Definition at line 224 of file affinetransformation3d.h.

References soma::AffineTransformationBase::_matrix, and soma::AffineTransformationBase::matrix().

Referenced by getInverse(), aims::SpmReader< T >::read(), and aims::SpmWriter< T >::write().

rotation() [2/2]

const carto::VolumeRef< float > aims::AffineTransformation3d::rotation ( ) const

inline

Definition at line 237 of file affinetransformation3d.h.

References soma::AffineTransformationBase::_matrix, and soma::AffineTransformationBase::matrix().

rotationaroundx()

static carto::VolumeRef< float > aims::AffineTransformation3d::rotationaroundx ( float rx )

static

References rotationaroundx().

Referenced by rotationaroundx().

rotationaroundy()

static carto::VolumeRef< float > aims::AffineTransformation3d::rotationaroundy ( float ry )

static

References rotationaroundy().

Referenced by rotationaroundy().

rotationaroundz()

static carto::VolumeRef< float > aims::AffineTransformation3d::rotationaroundz ( float rz )

static

References rotationaroundz().

Referenced by rotationaroundz().

setMatrix()

virtual void aims::AffineTransformation3d::setMatrix ( const carto::VolumeRef< float > & mat )

virtual

References setMatrix().

Referenced by setMatrix().

setRotationAffine()

virtual void aims::AffineTransformation3d::setRotationAffine ( float rx, float ry, float rz, const Point3df & cg = Point3df(0.0) )

virtual

Reimplemented in aims::DecomposedAffineTransformation3d.

References setRotationAffine().

Referenced by setRotationAffine().

translation() [1/2]

Point3df aims::AffineTransformation3d::translation ( )

inline

Definition at line 214 of file affinetransformation3d.h.

References soma::AffineTransformationBase::_matrix, AffineTransformation3d(), and translation().

Referenced by getInverse(), aims::SurfaceManip::meshTransform(), soma::FsSurfFormatReader< D >::readAdditions(), and translation().

translation() [2/2]

Point3df aims::AffineTransformation3d::translation ( ) const

inline

Definition at line 219 of file affinetransformation3d.h.

References soma::AffineTransformationBase::_matrix.

translationTransform() [1/3]

static AffineTransformation3d aims::AffineTransformation3d::translationTransform ( const Point3df & t )

static

References AffineTransformation3d(), and translationTransform().

translationTransform() [2/3]

static AffineTransformation3d aims::AffineTransformation3d::translationTransform ( const std::vector< float > & t )

static

References AffineTransformation3d(), and translationTransform().

translationTransform() [3/3]

static AffineTransformation3d aims::AffineTransformation3d::translationTransform ( float tx, float ty, float tz )

static

convenient function which returns a translation transformation

References AffineTransformation3d(), and translationTransform().

Referenced by translationTransform(), translationTransform(), and translationTransform().

---

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

• aims/transformation/affinetransformation3d.h