3D affine transform More...

#include <vc/core/types/Transforms.hpp>

Inheritance diagram for volcart::AffineTransform:

Collaboration diagram for volcart::AffineTransform:

Public Types
using	Parameters = cv::Matx< double, 4, 4 >

using	Pointer = std::shared_ptr< AffineTransform >

Public Types inherited from volcart::Transform3D
using	Pointer = std::shared_ptr< Transform3D >

using	Identifier = std::string

Public Member Functions
auto	type () const -> std::string_view final
	Return a string representation of the transform type. More...

auto	clone () const -> Transform3D::Pointer final
	Clone the transform. More...

auto	invertible () const -> bool final
	Return whether the underlying transform is invertible. More...

auto	invert () const -> Transform3D::Pointer final
	Return the inverted transform. More...

auto	composable () const -> bool final
	Return whether the underlying transform is composable. More...

void	reset () final
	Reset the transform parameters. More...

auto	applyPoint (const cv::Vec3d &point) const -> cv::Vec3d final
	Transform a 3D point. More...

auto	applyVector (const cv::Vec3d &vector) const -> cv::Vec3d final
	Transform a 3D direction vector. More...

auto	params () const -> Parameters
	Get the current transform parameters.

void	params (const Parameters &params)
	Set the transform parameters.

void	translate (double x, double y, double z)
	Add translation. More...

template<typename Tp , int Cn>
void	translate (const cv::Vec< Tp, Cn > &translation)
	Add translation. More...

void	rotate (double angle, double ax, double ay, double az)
	Add rotation in degrees. More...

template<typename Tp , int Cn>
void	rotate (const double angle, cv::Vec< Tp, Cn > axis)
	Add rotation in degrees. More...

void	scale (double sx, double sy, double sz)
	Add anisotropic scale.

void	scale (double s)
	Add isotropic scale.

Public Member Functions inherited from volcart::Transform3D
virtual	~Transform3D ()=default

	Transform3D (Transform3D &&)=delete

auto	operator= (Transform3D &&other) -> Transform3D &=delete

virtual auto	type () const -> std::string_view=0
	Return a string representation of the transform type. More...

virtual auto	clone () const -> Pointer=0
	Clone the transform. More...

virtual auto	invertible () const -> bool
	Return whether the underlying transform is invertible. More...

virtual auto	invert () const -> Pointer
	Return the inverted transform. More...

virtual auto	composable () const -> bool
	Return whether the underlying transform is composable. More...

virtual void	reset ()=0
	Reset the transform parameters. More...

void	clear ()
	Clears all parameters and properties of the transform.

void	source (const std::string &src)
	Set the identifier for the source space. More...

auto	source () const -> std::string
	Get the source space identifier. More...

void	target (const std::string &tgt)
	Set the identifier for the target space. More...

auto	target () const -> std::string
	Set the identifier for the target space. More...

virtual auto	applyPoint (const cv::Vec3d &point) const -> cv::Vec3d=0
	Transform a 3D point. More...

virtual auto	applyVector (const cv::Vec3d &vector) const -> cv::Vec3d=0
	Transform a 3D direction vector. More...

auto	applyUnitVector (const cv::Vec3d &vector) const -> cv::Vec3d
	Transform a 3D direction unit vector. More...

auto	applyPointAndNormal (const cv::Vec6d &ptN, bool normalize=true) const -> cv::Vec6d
	Transform a 3D point and surface normal stored in a cv::Vec6d. More...

Static Public Member Functions
static auto	New () -> Pointer
	Create a new AffineTransform.

Static Public Member Functions inherited from volcart::Transform3D
static auto	Compose (const Pointer &lhs, const Pointer &rhs) -> std::pair< Pointer, Pointer >
	Compose two transforms into a single new transform. More...

static void	Save (const filesystem::path &path, const Pointer &transform)
	Save a transform to a JSON file.

static auto	Load (const filesystem::path &path) -> Pointer
	Load a transform from a JSON file.

Static Public Attributes
static constexpr std::string_view	TYPE {"AffineTransform"}
	Transform type string constant. More...

Static Public Attributes inherited from volcart::Transform3D
static constexpr std::string_view	TYPE {"Transform3D"}
	Transform type string constant. More...

Private Member Functions
	AffineTransform ()=default

auto	compose_ (const Transform3D::Pointer &rhs) const -> Transform3D::Pointer final

void	to_meta_ (Metadata &meta) final

void	from_meta_ (const Metadata &meta) final

Private Attributes
Parameters	params_ {Parameters::eye()}

Additional Inherited Members
Protected Types inherited from volcart::Transform3D
using	Metadata = nlohmann::ordered_json

Protected Member Functions inherited from volcart::Transform3D
	Transform3D ()=default

	Transform3D (const Transform3D &)=default

auto	operator= (const Transform3D &other) -> Transform3D &=default

virtual auto	compose_ (const Pointer &rhs) const -> Pointer

virtual void	to_meta_ (Metadata &meta)=0

virtual void	from_meta_ (const Metadata &meta)=0

Static Protected Member Functions inherited from volcart::Transform3D
static auto	Serialize (const Pointer &transform) -> Metadata

static auto	Deserialize (const Metadata &meta) -> Pointer

Detailed Description

3D affine transform

Initializes to an identity. Modify the transform by calling the translate(), rotate(), and scale() functions. Each call precomposes the function's transform with the stored affine transform. For example, the following transform will scale, rotate, and translate the 3D point, in that order:

auto tfm = AffineTransform::New();
// scale by 5
tfm->scale(5);
// rotate 90 degrees around z-axis
tfm->rotate(90, 0, 0, 1);
// translate along y
tfm->translate(0, 10, 0);
// apply to a point
auto pt = tfm->applyPoint({0, 1, 0}); // {-5, 10, 0}

Definition at line 242 of file Transforms.hpp.

Member Typedef Documentation

◆ Parameters

using volcart::AffineTransform::Parameters = cv::Matx<double, 4, 4>

Parameters type: 4x4 matrix

Definition at line 249 of file Transforms.hpp.

◆ Pointer

using volcart::AffineTransform::Pointer = std::shared_ptr<AffineTransform>

Pointer type

Definition at line 252 of file Transforms.hpp.

Constructor & Destructor Documentation

◆ AffineTransform()

volcart::AffineTransform::AffineTransform ( )

privatedefault

Don't allow construction on the stack

Member Function Documentation

◆ applyPoint()

auto volcart::AffineTransform::applyPoint ( const cv::Vec3d & point ) const -> cv::Vec3d

finalvirtual

Transform a 3D point.

Implements volcart::Transform3D.

◆ applyVector()

auto volcart::AffineTransform::applyVector ( const cv::Vec3d & vector ) const -> cv::Vec3d

finalvirtual

Transform a 3D direction vector.

Implements volcart::Transform3D.

◆ clone()

auto volcart::AffineTransform::clone ( ) const -> Transform3D::Pointer

finalvirtual

Clone the transform.

Implements volcart::Transform3D.

◆ composable()

auto volcart::AffineTransform::composable ( ) const -> bool

finalvirtual

Return whether the underlying transform is composable.

Reimplemented from volcart::Transform3D.

◆ compose_()

auto volcart::AffineTransform::compose_ ( const Transform3D::Pointer & rhs ) const -> Transform3D::Pointer

finalprivatevirtual

Helper compose function. The base implementation returns a nullptr. Implementing derived classes should set the returned transform's source to this->source() and the target to rhs->target().

Reimplemented from volcart::Transform3D.

◆ from_meta_()

void volcart::AffineTransform::from_meta_ ( const Metadata & meta )

finalprivatevirtual

Deserialize the derived class parameters

Implements volcart::Transform3D.

◆ invert()

auto volcart::AffineTransform::invert ( ) const -> Transform3D::Pointer

finalvirtual

Return the inverted transform.

Reimplemented from volcart::Transform3D.

◆ invertible()

auto volcart::AffineTransform::invertible ( ) const -> bool

finalvirtual

Return whether the underlying transform is invertible.

Reimplemented from volcart::Transform3D.

◆ reset()

void volcart::AffineTransform::reset ( )

finalvirtual

Reset the transform parameters.

Resets all parameters controlled by the derived transform. Does not reset base transform properties like source and target.

See also: Transform3D::clear()

Implements volcart::Transform3D.

◆ rotate() [1/2]

template<typename Tp , int Cn>

void volcart::AffineTransform::rotate	(	const double	angle,
		cv::Vec< Tp, Cn >	axis
	)

inline

Add rotation in degrees.

Rotate angle degrees around the vector [ax, ay, az].

Convenience function for cv::Vec types.

Definition at line 316 of file Transforms.hpp.

◆ rotate() [2/2]

void volcart::AffineTransform::rotate	(	double	angle,
		double	ax,
		double	ay,
		double	az
	)

Add rotation in degrees.

Rotate angle degrees around the vector [ax, ay, az].

◆ to_meta_()

void volcart::AffineTransform::to_meta_ ( Metadata & meta )

finalprivatevirtual

Serialize the derived class parameters

Implements volcart::Transform3D.

◆ translate() [1/2]

template<typename Tp , int Cn>

void volcart::AffineTransform::translate ( const cv::Vec< Tp, Cn > & translation )

inline

Add translation.

Convenience function for cv::Vec types.

Definition at line 295 of file Transforms.hpp.

◆ translate() [2/2]

void volcart::AffineTransform::translate	(	double	x,
		double	y,
		double	z
	)

Add translation.

Per-axis translation function.

◆ type()

auto volcart::AffineTransform::type ( ) const -> std::string_view

finalvirtual

Return a string representation of the transform type.

Implements volcart::Transform3D.

Member Data Documentation

◆ params_

Parameters volcart::AffineTransform::params_ {Parameters::eye()}

private

Current parameters

Definition at line 332 of file Transforms.hpp.

◆ TYPE

constexpr std::string_view volcart::AffineTransform::TYPE {"AffineTransform"}

staticconstexpr

Transform type string constant.

Definition at line 246 of file Transforms.hpp.

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

vc/core/types/Transforms.hpp

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Parameters

◆ Pointer

Constructor & Destructor Documentation

◆ AffineTransform()

Member Function Documentation

◆ applyPoint()

◆ applyVector()

◆ clone()

◆ composable()

◆ compose_()

◆ from_meta_()

◆ invert()

◆ invertible()

◆ reset()

◆ rotate() [1/2]

◆ rotate() [2/2]

◆ to_meta_()

◆ translate() [1/2]

◆ translate() [2/2]

◆ type()

Member Data Documentation

◆ params_

◆ TYPE