Collection of transforms. More...

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

Inheritance diagram for volcart::CompositeTransform:

Collaboration diagram for volcart::CompositeTransform:

Public Types
using	Pointer = std::shared_ptr< CompositeTransform >

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...

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...

void	push_front (const Transform3D::Pointer &t)
	Add a transform to the front of the composite transform stack. More...

void	push_back (const Transform3D::Pointer &t)
	Add a transform to the end of the composite transform stack. More...

auto	size () const noexcept -> std::size_t
	Get the number of transforms in the composite transform.

void	simplify ()
	Compose all composable transforms. More...

auto	transforms () const -> std::vector< Transform3D::Pointer >
	Get a list of the stored transforms.

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 CompositeTransform.

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 {"CompositeTransform"}
	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
	CompositeTransform ()=default

void	to_meta_ (Metadata &meta) final

void	from_meta_ (const Metadata &meta) final

Private Attributes
std::list< Transform3D::Pointer >	tfms_

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

Collection of transforms.

A convenience class which holds a list of transforms. When transforming points and vectors, each transform is applied sequentially to the input.

// New transform
auto tfm = CompositeTransform::New();
 
// Add some transforms
auto t = AffineTransform::New();
t->translate(1, 2, 3);
tfm->push_back(t);
t->reset();
t->scale(4);
tfm->push_back(t);
 
// Apply all transforms to an input
auto pt = tfm->applyPoint({0, 1, 0}); // {4, 12, 12}

It can often be preferable, for both performance and numerical stability, to simplify all adjacent, composable transforms (e.g. AffineTransform, IdentityTransform) into a single transform.

// Add some composable transforms
tfm->push_back(AffineTransform::New());
tfm->push_back(IdentityTransform::New());
tfm->push_back(AffineTransform::New());
tfm->size(); // 3
 
// Simplify the transform
tfm->simplify();
tfm->size(); // 1

Definition at line 436 of file Transforms.hpp.

Member Typedef Documentation

◆ Pointer

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

Pointer type

Definition at line 443 of file Transforms.hpp.

Constructor & Destructor Documentation

◆ CompositeTransform()

volcart::CompositeTransform::CompositeTransform ( )

privatedefault

Don't allow construction on the stack

Member Function Documentation

◆ applyPoint()

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

finalvirtual

Transform a 3D point.

Implements volcart::Transform3D.

◆ applyVector()

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

finalvirtual

Transform a 3D direction vector.

Implements volcart::Transform3D.

◆ clone()

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

finalvirtual

Clone the transform.

Implements volcart::Transform3D.

◆ from_meta_()

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

finalprivatevirtual

Deserialize the derived class parameters

Implements volcart::Transform3D.

◆ push_back()

void volcart::CompositeTransform::push_back ( const Transform3D::Pointer & t )

Add a transform to the end of the composite transform stack.

The transform is cloned before being added to the transform stack. If the transform is also a CompositeTransform, its transform stack is expanded and copied to the end of this transform's stack.

◆ push_front()

void volcart::CompositeTransform::push_front ( const Transform3D::Pointer & t )

Add a transform to the front of the composite transform stack.

The transform is cloned before being added to the transform stack. If the transform is also a CompositeTransform, its transform stack is expanded and copied to the front of this transform's stack.

◆ reset()

void volcart::CompositeTransform::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.

◆ simplify()

void volcart::CompositeTransform::simplify ( )

Compose all composable transforms.

Simplifies the transform by composing all adjacent, composable transforms in the composite transform list. This can lead to better runtime performance and numerical stability for the apply functions.

◆ to_meta_()

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

finalprivatevirtual

Serialize the derived class parameters

Implements volcart::Transform3D.

◆ type()

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

finalvirtual

Return a string representation of the transform type.

Implements volcart::Transform3D.

Member Data Documentation

◆ tfms_

std::list<Transform3D::Pointer> volcart::CompositeTransform::tfms_

private

Transform list

Definition at line 499 of file Transforms.hpp.

◆ TYPE

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

staticconstexpr

Transform type string constant.

Definition at line 440 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

◆ Pointer

Constructor & Destructor Documentation

◆ CompositeTransform()

Member Function Documentation

◆ applyPoint()

◆ applyVector()

◆ clone()

◆ from_meta_()

◆ push_back()

◆ push_front()

◆ reset()

◆ simplify()

◆ to_meta_()

◆ type()

Member Data Documentation

◆ tfms_

◆ TYPE