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scalismo.transformations.SimilarityTransformation.scala Maven / Gradle / Ivy
package scalismo.transformations
import breeze.linalg.DenseVector
import scalismo.common.{Domain, EuclideanSpace, EuclideanSpace2D, EuclideanSpace3D}
import scalismo.geometry.{_1D, _2D, _3D, EuclideanVector, EuclideanVector3D, NDSpace, Point, SquareMatrix}
import scalismo.transformations
import scalismo.transformations.ParametricTransformation.JacobianField
import scalismo.transformations.TransformationSpace.ParameterVector
trait SimilarityTransformation[D]
extends ParametricTransformation[D]
with CanDifferentiateWRTPosition[D]
with CanInvert[D, SimilarityTransformation]
case class ScalingAfterRotation[D](scaling: Scaling[D], rotation: Rotation[D]) extends SimilarityTransformation[D] {
private val compTrans = CompositeDifferentiableTransformation(scaling, rotation)
override def inverse = new RotationAfterScaling(rotation.inverse, scaling.inverse)
override def derivativeWRTPosition: Point[D] => SquareMatrix[D] = compTrans.derivativeWRTPosition
override def parameters: DenseVector[Double] = compTrans.parameters
override def numberOfParameters: Int = compTrans.numberOfParameters
override def derivativeWRTParameters: JacobianField[D] = compTrans.derivativeWRTParameters
override def domain: Domain[D] = rotation.domain
override def f: Point[D] => Point[D] = compTrans.f
}
object ScalingAfterRotation2D {
def apply(scaling: Scaling[_2D], rotation: Rotation[_2D]): ScalingAfterRotation[_2D] = {
ScalingAfterRotation(scaling, rotation)
}
}
object ScalingAfterRotation3D {
def apply(scaling: Scaling[_3D], rotation: Rotation[_3D]): ScalingAfterRotation[_3D] = {
ScalingAfterRotation(scaling, rotation)
}
}
case class RotationAfterScaling[D](rotation: Rotation[D], scaling: Scaling[D]) extends SimilarityTransformation[D] {
private val compTrans = CompositeDifferentiableTransformation(rotation, scaling)
override def inverse = ScalingAfterRotation[D](scaling.inverse, rotation.inverse)
override def derivativeWRTPosition: Point[D] => SquareMatrix[D] = compTrans.derivativeWRTPosition
override def parameters: DenseVector[Double] = compTrans.parameters
override def numberOfParameters: Int = compTrans.numberOfParameters
override def derivativeWRTParameters: JacobianField[D] = compTrans.derivativeWRTParameters
override def domain: Domain[D] = rotation.domain
override def f: Point[D] => Point[D] = compTrans.f
}
object RotationAfterScaling2D {
def apply(scaling: Scaling[_2D], rotation: Rotation[_2D]): RotationAfterScaling[_2D] = {
RotationAfterScaling(rotation, scaling)
}
}
object RotationAfterScaling3D {
def apply(rotation: Rotation[_3D], scaling: Scaling[_3D]): RotationAfterScaling[_3D] = {
RotationAfterScaling(rotation, scaling)
}
}
case class TranslationAfterScalingAfterRotation[D](translation: Translation[D],
scaling: Scaling[D],
rotation: Rotation[D])
extends SimilarityTransformation[D] {
val compTrans = CompositeDifferentiableTransformation(translation, ScalingAfterRotation(scaling, rotation))
override def inverse = RotationAfterScalingAfterTranslation[D](rotation.inverse, scaling.inverse, translation.inverse)
override def derivativeWRTPosition: Point[D] => SquareMatrix[D] = compTrans.derivativeWRTPosition
override def parameters: DenseVector[Double] = compTrans.parameters
override def numberOfParameters: Int = compTrans.numberOfParameters
override def derivativeWRTParameters: JacobianField[D] = compTrans.derivativeWRTParameters
override def domain: Domain[D] = rotation.domain
override def f: Point[D] => Point[D] = compTrans.f
}
object TranslationAfterScalingAfterRotation2D {
def apply(translation: Translation[_2D],
scaling: Scaling[_2D],
rotation: Rotation[_2D]): TranslationAfterScalingAfterRotation[_2D] = {
TranslationAfterScalingAfterRotation(translation, scaling, rotation)
}
}
object TranslationAfterScalingAfterRotation3D {
def apply(translation: Translation[_3D],
scaling: Scaling[_3D],
rotation: Rotation[_3D]): TranslationAfterScalingAfterRotation[_3D] = {
TranslationAfterScalingAfterRotation(translation, scaling, rotation)
}
}
case class RotationAfterScalingAfterTranslation[D](rotation: Rotation[D],
scaling: Scaling[D],
translation: Translation[D])
extends SimilarityTransformation[D] {
val compTrans = CompositeDifferentiableTransformation(RotationAfterScaling(rotation, scaling), translation)
override def inverse = TranslationAfterScalingAfterRotation[D](translation.inverse, scaling.inverse, rotation.inverse)
override def derivativeWRTPosition: Point[D] => SquareMatrix[D] = compTrans.derivativeWRTPosition
override def parameters: DenseVector[Double] = compTrans.parameters
override def numberOfParameters: Int = compTrans.numberOfParameters
override def derivativeWRTParameters: JacobianField[D] = compTrans.derivativeWRTParameters
override def domain: Domain[D] = rotation.domain
override def f: Point[D] => Point[D] = compTrans.f
}
object RotationAfterScalingAfterTranslation2D {
def apply(rotation: Rotation[_2D],
scaling: Scaling[_2D],
translation: Translation[_2D]): RotationAfterScalingAfterTranslation[_2D] = {
RotationAfterScalingAfterTranslation(rotation, scaling, translation)
}
}
object RotationAfterScalingAfterTranslation3D {
def apply(rotation: Rotation[_3D],
scaling: Scaling[_3D],
translation: Translation[_3D]): RotationAfterScalingAfterTranslation[_3D] = {
RotationAfterScalingAfterTranslation(rotation, scaling, translation)
}
}
case class TranslationAfterScalingAfterRotationSpace2D(rotationCenter: Point[_2D])
extends TransformationSpaceWithDifferentiableTransforms[_2D] {
override type T[D] = TranslationAfterScalingAfterRotation[D]
private val rotationSpace = RotationSpace2D(rotationCenter)
private val translationSpace = TranslationSpace2D
private val scalingSpace = ScalingSpace2D
override def domain: Domain[_2D] = EuclideanSpace2D
override def numberOfParameters: Int =
rotationSpace.numberOfParameters + translationSpace.numberOfParameters + scalingSpace.numberOfParameters
override def transformationForParameters(p: ParameterVector): TranslationAfterScalingAfterRotation[_2D] = {
val translation = translationSpace.transformationForParameters(p(0 until 3))
val scaling = scalingSpace.transformationForParameters(p(3 until 4))
val rotation = rotationSpace.transformationForParameters(p(4 until 7))
TranslationAfterScalingAfterRotation(translation, scaling, rotation)
}
/** returns identity transformation) */
override def identityTransformation: TranslationAfterScalingAfterRotation[_2D] = TranslationAfterScalingAfterRotation(
translationSpace.identityTransformation,
scalingSpace.identityTransformation,
rotationSpace.identityTransformation
)
}
case class TranslationAfterScalingAfterRotationSpace3D(rotationCenter: Point[_3D])
extends TransformationSpaceWithDifferentiableTransforms[_3D] {
override type T[D] = TranslationAfterScalingAfterRotation[D]
private val rotationSpace = RotationSpace3D(rotationCenter)
private val translationSpace = TranslationSpace3D
private val scalingSpace = ScalingSpace3D
override def domain: Domain[_3D] = EuclideanSpace3D
override def numberOfParameters: Int =
rotationSpace.numberOfParameters + translationSpace.numberOfParameters + scalingSpace.numberOfParameters
override def transformationForParameters(p: ParameterVector): TranslationAfterScalingAfterRotation[_3D] = {
val translation = translationSpace.transformationForParameters(p(0 until 3))
val scaling = scalingSpace.transformationForParameters(p(3 until 4))
val rotation = rotationSpace.transformationForParameters(p(4 until 7))
TranslationAfterScalingAfterRotation(translation, scaling, rotation)
}
/** returns identity transformation) */
override def identityTransformation: TranslationAfterScalingAfterRotation[_3D] = TranslationAfterScalingAfterRotation(
translationSpace.identityTransformation,
scalingSpace.identityTransformation,
rotationSpace.identityTransformation
)
}
