Struct RigidTransform 

pub struct RigidTransform {
    pub rotation: [f64; 9],
    pub translation_mm: [f64; 3],
}

A rigid transform mapping moving-frame LPS points to fixed-frame LPS: p_fixed = R·p_moving + t. rotation is row-major.

Fields

rotation: [f64; 9]

Row-major 3×3 rotation (orthonormal, determinant +1).

translation_mm: [f64; 3]

Translation in millimetres, applied after rotation.

Implementations

impl RigidTransform

pub fn identity() -> Self

pub fn validate(&self) -> Result<(), RegistrationError>

Orthonormal rows/columns to ROTATION_TOLERANCE and determinant +1 — a reflection or scaling is not a rigid transform.

pub fn apply(&self, point: [f64; 3]) -> [f64; 3]

p_fixed = R·p + t.

pub fn inverse(&self) -> Self

The rigid inverse: Rᵀ, −Rᵀt.

pub fn compose(outer: &Self, inner: &Self) -> Self

outer ∘ inner: apply inner first, then outer.

pub fn apply_to_geometry(&self, geometry: &GridGeometry) -> GridGeometry

Transform a voxel grid’s patient-space frame: D' = R·D on the row-major direction and o' = R·o + t on the origin. The result stays a valid orthonormal GridGeometry because R is.

Trait Implementations

impl Clone for RigidTransform

fn clone(&self) -> RigidTransform

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for RigidTransform

impl Debug for RigidTransform

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for RigidTransform

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for RigidTransform

fn eq(&self, other: &RigidTransform) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl Serialize for RigidTransform

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for RigidTransform