TrafPars3dAffine.hpp

#pragma once
 
#include <opals/fwd.hpp>
#include <opals/CustomOptionType.hpp>
#include <opals/LSMProcMode.hpp>
#include <opals/Array.hpp>
#include <opals/String.hpp>
 
namespace opals {
 
  /// \class  TrafPars3dAffine
  /// Describes a relative or absolute 3D-affine transformation.
  /** This class contains the transformation parameters of an affine 3D (i.e. 12-parameter) transformation, given as 12-array */
  /**
  trafPars (\f$tp\f$), representing the affine transformation matrix A and the translation vector t
  \f[
  A = \begin{pmatrix} tp_1 & tp_2    & tp_3 \\
                      tp_5 & tp_6    & tp_7 \\
                      tp_9 & tp_{10} & tp_{11} \end{pmatrix}
  \f]
  \f[
  t = \begin{pmatrix} tp_4 \\
                      tp_8 \\
                      tp_{12} \end{pmatrix}
  \f]
  The transformation is defined as follows:
  \f[
  y = A(x-x_0) + t + x_0
  \f]
  with
  \f[
  \begin{matrix}
  y   & \ldots & \text{point in destination ("fix") system} \\
  x   & \ldots & \text{point in source ("mov") system} \\
  x_0 & \ldots & \text{source system's reference point (reduction point; refPointMov)} \\
  \end{matrix}
  \f]
  The 144-array \f$q_{xx}\f$ contains the \f$Q_{xx}\f$ matrix of trafPars:
  \f[
  Q_{xx} =
  \begin{pmatrix}
  q_{1  }(a_{1,1},a_{1,1}) & q_{2  }(a_{1,1},a_{1,2}) & q_{3  }(a_{1,1},a_{1,3}) & q_{4  }(a_{1,1},t_1) & q_{5  }(a_{1,1},a_{2,1}) & \ldots & q_{12 }(a_{1,1},t_3) \\
  q_{13 }(a_{1,2},a_{1,1}) & q_{14 }(a_{1,2},a_{1,2}) & q_{15 }(a_{1,2},a_{1,3}) & q_{16 }(a_{1,2},t_1) & q_{17 }(a_{1,2},a_{2,1}) & \ldots & q_{24 }(a_{1,2},t_3) \\
  q_{25 }(a_{1,3},a_{1,1}) & q_{26 }(a_{1,3},a_{1,2}) & q_{27 }(a_{1,3},a_{1,3}) & q_{28 }(a_{1,3},t_1) & q_{29 }(a_{1,3},a_{2,1}) & \ldots & q_{36 }(a_{1,3},t_3) \\
  q_{37 }(t_{1  },a_{1,1}) & q_{38 }(t_{1  },a_{1,2}) & q_{39 }(t_{1  },a_{1,3}) & q_{40 }(t_{1  },t_1) & q_{41 }(t_{1  },a_{2,1}) & \ldots & q_{48 }(t_{1  },t_3) \\
  q_{49 }(a_{2,1},a_{1,1}) & q_{50 }(a_{2,1},a_{1,2}) & q_{51 }(a_{2,1},a_{1,3}) & q_{52 }(a_{2,1},t_1) & q_{53 }(a_{2,1},a_{2,1}) & \ldots & q_{60 }(a_{2,1},t_3) \\
  \vdots                   & \vdots                   & \vdots                   & \vdots               & \vdots                   & \ddots & \vdots               \\
  q_{133}(t_{3  },a_{1,1}) & q_{134}(t_{3  },a_{1,2}) & q_{135}(t_{3  },a_{1,3}) & q_{136}(t_{3  },t_1) & q_{137}(t_{3  },a_{2,1}) & \ldots & q_{144}(t_{3  },t_3) \\
  \end{pmatrix}
  \f]
 
  \author GM, AH
  \date   10.11.2009
  */
  class OPALS_API TrafPars3dAffine : public CustomOptionType<TrafPars3dAffine>
  {
  public:
    typedef Array<double,3>    ArrayD3;    ///< point coordinate array
    typedef Array<double,12>   ArrayD12;   ///< transformation parameters array
    typedef Array<double,144>  ArrayD144;  ///< QXX matrix array
 
  public:
    TrafPars3dAffine();
    virtual ~TrafPars3dAffine();
 
    /// \name procMode
    /// processing mode (local, continuous, global) \see LSMProcMode
    ///@{
    void setProcMode( const LSMProcMode& mode ) { lsmMode = mode; }
    const LSMProcMode& getProcMode() const { return lsmMode; }
    ///@}
 
    /// \name IdGridMov
    /// (alpha-numerical) grid ID of movable dataset
    ///@{
    void setIdGridMov( const String& id ) { idGridMov = id; }
    const String& getIdGridMov() const { return idGridMov; }
    ///@}
 
    /// \name IdGridFix
    /// (alpha-numerical) grid ID of fixed dataset
    ///@{
    void setIdGridFix( const String& id ) { idGridFix = id; }
    const String& getIdGridFix() const { return idGridFix; }
    ///@}
 
    /// \name RefPointMov
    /// coordinates of reference point of movable dataset
    ///@{
    void setRefPointMov( const ArrayD3& refPt ) { refPointMov = refPt; }
    const ArrayD3& getRefPointMov() const { return refPointMov; }
    ///@}
 
    /// \name RefPointFix
    /// coordinates of (optional) reference point of fixed dataset
    ///@{
    void setRefPointFix( const ArrayD3& refPt ) { refPointFix = refPt; }
    const ArrayD3& getRefPointFix() const { return refPointFix; }
    ///@}
 
    /// \name TrafPars
    /// transformation parameters arrray
    ///@{
    void setTrafPars( const ArrayD12& trfPars ) { trafPars = trfPars; }
    const ArrayD12& getTrafPars() const { return trafPars; }
    ///@}
 
    /// \name Qxx
    /// \f$Q_{xx}\f$ maxtrix array (12*12)
    ///@{
    void setQxx( const ArrayD144& myQxx ) { qxx = myQxx; }
    const ArrayD144& getQxx() const { return qxx; }
    ///@}
 
    /// \name sigma_0
    /// \f$\sigma_0\f$ of traf pars estimation
    ///@{
    void setSigma0( const double& sig0 ) { sigma0 = sig0; }
    const double& getSigma0() const { return sigma0; }
    ///@}
 
    /// \name nrObs
    /// number of observations used for traf pars estimation
    ///@{
    void setNrObs( const unsigned& nob ) { nrObs = nob; }
    const unsigned& getNrObs() const { return nrObs; }
    ///@}
 
    /// \name relativeTrafo
    /// whether the parameter denotes a relative transformation between two strips
    /** TrafPars3dAffine can either be used to specify the best fitting transformation
        between to overlapping ALS strips or in a global sense (after strip adjustment)
        The (optional) members s_idGridFix/refPointFix are used to communicate
        information about the strip used for the traf pars estimation. No such info
        is provided in case of global transformation parameters. */
    ///@{
    bool relativeTrafo() const { return idGridFix.size()>0; }
    ///@}
 
    static bool exportsPythonType();
    static const char * help(bool);
    static const char * syntax();
 
    private:
      LSMProcMode lsmMode;
      String idGridMov;
      String idGridFix;
      Array<double,3> refPointMov;
      Array<double,3> refPointFix;
      Array<double,12> trafPars;
      Array<double,12*12> qxx;
      double sigma0;
      unsigned nrObs;
  };
 
}