LSSTApplications  17.0+10,17.0+51,17.0+90,18.0.0+10,18.0.0+15,18.0.0+36,18.0.0+4,18.0.0+6,18.0.0-2-ge43143a+6,18.1.0-1-g0001055+2,18.1.0-1-g1349e88+12,18.1.0-1-g2505f39+9,18.1.0-1-g380d4d4+12,18.1.0-1-g5e4b7ea+2,18.1.0-1-g7e8fceb,18.1.0-1-g85f8cd4+9,18.1.0-1-g9a6769a+3,18.1.0-1-ga1a4c1a+8,18.1.0-1-gc037db8+2,18.1.0-1-gd55f500+3,18.1.0-1-ge10677a+9,18.1.0-10-g73b8679e+15,18.1.0-13-g451e75588,18.1.0-13-gbfe7f7f+3,18.1.0-14-g2e73c10,18.1.0-2-g31c43f9+9,18.1.0-2-g9c63283+12,18.1.0-2-gdf0b915+12,18.1.0-2-gf03bb23+2,18.1.0-2-gfefb8b5,18.1.0-3-g52aa583+3,18.1.0-3-g8f4a2b1+3,18.1.0-3-g9cb968e+11,18.1.0-4-g7bbbad0+2,18.1.0-5-g510c42a+11,18.1.0-5-gaeab27e+12,18.1.0-6-gc4bdb98,18.1.0-6-gdda7f3e+14,18.1.0-9-g9613d271,w.2019.34
LSSTDataManagementBasePackage
AffineTransform.h
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21 
22 #ifndef LSST_GEOM_AFFINE_TRANSFORM_H
23 #define LSST_GEOM_AFFINE_TRANSFORM_H
24 
25 #include <memory>
26 #include <iostream>
27 
28 #include "Eigen/Core"
29 
30 #include "lsst/geom/Point.h"
31 #include "lsst/geom/Extent.h"
33 #include "lsst/geom/Angle.h"
34 
35 namespace lsst {
36 namespace geom {
37 
75 class AffineTransform final {
76 public:
77  enum Parameters { XX = 0, YX = 1, XY = 2, YY = 3, X = 4, Y = 5 };
78 
79  typedef Eigen::Matrix3d Matrix;
80  typedef Eigen::Matrix<double, 6, 1> ParameterVector;
81  typedef Eigen::Matrix<double, 2, 6> TransformDerivativeMatrix;
82 
84  AffineTransform() noexcept : _linear(), _translation() {}
85 
87  explicit AffineTransform(Eigen::Matrix3d const &matrix) noexcept
88  : _linear(matrix.block<2, 2>(0, 0)), _translation(matrix.block<2, 1>(0, 2)) {}
89 
91  explicit AffineTransform(Eigen::Matrix2d const &linear) noexcept : _linear(linear), _translation() {}
92 
94  explicit AffineTransform(Eigen::Vector2d const &translation) noexcept
95  : _linear(), _translation(translation) {}
96 
98  explicit AffineTransform(Eigen::Matrix2d const &linear, Eigen::Vector2d const &translation) noexcept
99  : _linear(linear), _translation(translation) {}
100 
102  AffineTransform(LinearTransform const &linear) noexcept : _linear(linear), _translation() {}
103 
105  explicit AffineTransform(Extent2D const &translation) noexcept : _linear(), _translation(translation) {}
106 
108  explicit AffineTransform(LinearTransform const &linear, Extent2D const &translation) noexcept
109  : _linear(linear), _translation(translation) {}
110 
111  AffineTransform(AffineTransform const &) noexcept = default;
112  AffineTransform(AffineTransform &&) noexcept = default;
113  ~AffineTransform() noexcept = default;
114 
116 
121  AffineTransform const inverted() const;
123 
125  bool isIdentity() const noexcept { return getMatrix().isIdentity(); }
126 
132  Point2D operator()(Point2D const &p) const noexcept { return Point2D(_linear(p) + _translation); }
133 
139  Extent2D operator()(Extent2D const &p) const noexcept { return Extent2D(_linear(p)); }
140 
141  Extent2D const &getTranslation() const noexcept { return _translation; }
142  Extent2D &getTranslation() noexcept { return _translation; }
143 
144  LinearTransform const &getLinear() const noexcept { return _linear; }
145  LinearTransform &getLinear() noexcept { return _linear; }
146 
150  Matrix const getMatrix() const noexcept;
151 
157  ParameterVector const getParameterVector() const noexcept;
163  void setParameterVector(ParameterVector const &vector) noexcept;
164 
165  double &operator[](int i) { return (i < 4) ? _linear[i] : _translation[i - 4]; }
166  double operator[](int i) const { return (i < 4) ? _linear[i] : _translation[i - 4]; }
167 
172  return AffineTransform(getLinear() * other.getLinear(),
173  getLinear()(other.getTranslation()) + getTranslation());
174  }
175 
176  AffineTransform &operator=(AffineTransform const &) noexcept = default;
177  AffineTransform &operator=(AffineTransform &&) noexcept = default;
178 
180  _linear += other._linear;
181  _translation += other._translation;
182  return *this;
183  }
184 
186  AffineTransform tmp(*this);
187  tmp += other;
188  return tmp;
189  }
190 
192  _linear -= other._linear;
193  _translation -= other._translation;
194  return *this;
195  }
196 
198  AffineTransform tmp(*this);
199  tmp -= other;
200  return tmp;
201  }
202 
215  static AffineTransform makeScaling(double s) noexcept {
217  }
218 
232  static AffineTransform makeScaling(double s, double t) noexcept {
234  }
247  static AffineTransform makeRotation(Angle t) noexcept {
249  }
250 
263  static AffineTransform makeTranslation(Extent2D translation) noexcept {
264  return AffineTransform(translation);
265  }
266 
270  TransformDerivativeMatrix dTransform(Point2D const &input) const noexcept;
274  TransformDerivativeMatrix dTransform(Extent2D const &input) const noexcept;
275 
276 private:
277  LinearTransform _linear;
278  Extent2D _translation;
279 };
280 
282 
283 //
284 // Returns the unique AffineTransform A such that A(p_i)=q_i for i=1,2,3
285 //
287  Point2D const &q1, Point2D const &q2, Point2D const &q3);
288 } // namespace geom
289 } // namespace lsst
290 
291 #endif // !LSST_GEOM_AFFINE_TRANSFORM_H
Extent2D operator()(Extent2D const &p) const noexcept
Transform an Extent object.
AffineTransform(LinearTransform const &linear, Extent2D const &translation) noexcept
Construct an AffineTransform from a LinearTransform and Extent2D.
void setParameterVector(ParameterVector const &vector) noexcept
Set the transform matrix elements from a parameter vector.
AffineTransform(Eigen::Matrix2d const &linear) noexcept
Construct an AffineTransform with no translation from a 2x2 matrix.
An affine coordinate transformation consisting of a linear transformation and an offset.
AffineTransform & operator=(AffineTransform const &) noexcept=default
Eigen::Matrix< double, 2, 6 > TransformDerivativeMatrix
static AffineTransform makeScaling(double s) noexcept
Construct a new AffineTransform that represents a uniform scaling.
Point2D operator()(Point2D const &p) const noexcept
Transform a Point object.
AffineTransform(Eigen::Matrix3d const &matrix) noexcept
Construct an AffineTransform from a 3x3 matrix.
AffineTransform(Eigen::Vector2d const &translation) noexcept
Construct a translation-only AffineTransform from a vector.
AffineTransform & operator+=(AffineTransform const &other) noexcept
ItemVariant const * other
Definition: Schema.cc:56
AffineTransform operator+(AffineTransform const &other) noexcept
static AffineTransform makeScaling(double s, double t) noexcept
Construct a new AffineTransform that represents a non-uniform scaling.
AffineTransform & operator-=(AffineTransform const &other) noexcept
Eigen::Matrix< double, 6, 1 > ParameterVector
static AffineTransform makeTranslation(Extent2D translation) noexcept
Construct a new AffineTransform that represents a pure translation.
A class representing an angle.
Definition: Angle.h:127
Point< double, 2 > Point2D
Definition: Point.h:324
bool isIdentity() const noexcept
Whether the transform is a no-op.
Matrix const getMatrix() const noexcept
Return the transform as a full 3x3 matrix.
double operator[](int i) const
static AffineTransform makeRotation(Angle t) noexcept
Construct a new AffineTransform that represents a CCW rotation in radians.
~AffineTransform() noexcept=default
LinearTransform & getLinear() noexcept
AffineTransform(Eigen::Matrix2d const &linear, Eigen::Vector2d const &translation) noexcept
Construct an AffineTransform from a 2x2 matrix and vector.
A base class for image defects.
AffineTransform(Extent2D const &translation) noexcept
Construct a translation-only AffineTransform from an Extent2D.
Extent2D & getTranslation() noexcept
ParameterVector const getParameterVector() const noexcept
Return the transform matrix elements as a parameter vector.
std::ostream & operator<<(std::ostream &os, lsst::geom::AffineTransform const &transform)
solver_t * s
static LinearTransform makeScaling(double s) noexcept
LinearTransform const & getLinear() const noexcept
AffineTransform operator-(AffineTransform const &other) noexcept
AffineTransform operator*(AffineTransform const &other) const noexcept
Construct a new AffineTransform from two others: (B * A)(p) = B(A(p))
TransformDerivativeMatrix dTransform(Point2D const &input) const noexcept
Take the derivative of (*this)(input) w.r.t the transform elements.
static LinearTransform makeRotation(Angle t) noexcept
Extent< double, 2 > Extent2D
Definition: Extent.h:400
std::ostream * os
Definition: Schema.cc:746
STL class.
AffineTransform const inverted() const
Return the inverse transform.
A 2D linear coordinate transformation.
AffineTransform() noexcept
Construct an empty (identity) AffineTransform.
AffineTransform makeAffineTransformFromTriple(Point2D const &p1, Point2D const &p2, Point2D const &p3, Point2D const &q1, Point2D const &q2, Point2D const &q3)
AffineTransform(LinearTransform const &linear) noexcept
Construct an AffineTransform from a LinearTransform.
Extent2D const & getTranslation() const noexcept