#include <itkQuaternionRigidTransform.h>

Detailed Description

template<typename TParametersValueType = double>
class itk::QuaternionRigidTransform< TParametersValueType >

QuaternionRigidTransform of a vector space (e.g. space coordinates).

This transform applies a rotation and translation to the space given a quaternion and a 3D translation. Rotation is about a user specified center.

The parameters for this transform can be set either using individual Set methods or in serialized form using SetParameters() and SetFixedParameters().

The serialization of the optimizable parameters is an array of 7 elements. The first 4 elements are the components of the quaternion representation of 3D rotation. The last 3 parameters defines the translation in each dimension.

The serialization of the fixed parameters is an array of 3 elements defining the center of rotation.

Definition at line 48 of file itkQuaternionRigidTransform.h.

Inheritance diagram for itk::QuaternionRigidTransform< TParametersValueType >:

Collaboration diagram for itk::QuaternionRigidTransform< TParametersValueType >:

Public Types
using	ConstPointer = SmartPointer< const Self >

using	Pointer = SmartPointer< Self >

using	Self = QuaternionRigidTransform

using	Superclass = Rigid3DTransform< TParametersValueType >

using	VnlQuaternionType = vnl_quaternion< TParametersValueType >

Public Types inherited from itk::Rigid3DTransform< TParametersValueType >
using	ConstPointer = SmartPointer< const Self >

using	InverseTransformBasePointer = typename InverseTransformBaseType::Pointer

using	InverseTransformBaseType = typename Superclass::InverseTransformBaseType

using	Pointer = SmartPointer< Self >

using	Self = Rigid3DTransform

using	Superclass = MatrixOffsetTransformBase< TParametersValueType, 3, 3 >

Public Types inherited from itk::MatrixOffsetTransformBase< TParametersValueType, 3, 3 >
using	CenterType = InputPointType

using	ConstPointer = SmartPointer< const Self >

using	InputCovariantVectorType = CovariantVector< TParametersValueType, Self::InputSpaceDimension >

using	InputDiffusionTensor3DType = DiffusionTensor3D< TParametersValueType >

using	InputPointType = Point< TParametersValueType, Self::InputSpaceDimension >

using	InputPointValueType = typename InputPointType::ValueType

using	InputSymmetricSecondRankTensorType = SymmetricSecondRankTensor< TParametersValueType, VInputDimension >

using	InputTensorEigenVectorType = CovariantVector< TParametersValueType, InputDiffusionTensor3DType::Dimension >

using	InputVectorPixelType = VariableLengthVector< TParametersValueType >

using	InputVectorType = Vector< TParametersValueType, Self::InputSpaceDimension >

using	InputVnlVectorType = vnl_vector_fixed< TParametersValueType, Self::InputSpaceDimension >

using	InverseJacobianPositionType = vnl_matrix_fixed< ParametersValueType, VInputDimension, VOutputDimension >

using	InverseMatrixType = Matrix< TParametersValueType, Self::InputSpaceDimension, Self::OutputSpaceDimension >

using	InverseTransformBasePointer = typename InverseTransformBaseType::Pointer

using	InverseTransformBaseType = typename Superclass::InverseTransformBaseType

using	InverseTransformType = MatrixOffsetTransformBase< TParametersValueType, VOutputDimension, VInputDimension >

using	JacobianPositionType = vnl_matrix_fixed< ParametersValueType, VOutputDimension, VInputDimension >

using	JacobianType = Array2D< ParametersValueType >

using	MatrixType = Matrix< TParametersValueType, Self::OutputSpaceDimension, Self::InputSpaceDimension >

using	MatrixValueType = typename MatrixType::ValueType

using	OffsetType = OutputVectorType

using	OffsetValueType = typename OffsetType::ValueType

using	OutputCovariantVectorType = CovariantVector< TParametersValueType, Self::OutputSpaceDimension >

using	OutputDiffusionTensor3DType = DiffusionTensor3D< TParametersValueType >

using	OutputPointType = Point< TParametersValueType, Self::OutputSpaceDimension >

using	OutputPointValueType = typename OutputPointType::ValueType

using	OutputSymmetricSecondRankTensorType = SymmetricSecondRankTensor< TParametersValueType, VOutputDimension >

using	OutputVectorPixelType = VariableLengthVector< TParametersValueType >

using	OutputVectorType = Vector< TParametersValueType, Self::OutputSpaceDimension >

using	OutputVectorValueType = typename OutputVectorType::ValueType

using	OutputVnlVectorType = vnl_vector_fixed< TParametersValueType, Self::OutputSpaceDimension >

using	Pointer = SmartPointer< Self >

using	ScalarType = ParametersValueType

using	Self = MatrixOffsetTransformBase

using	Superclass = Transform< TParametersValueType, VInputDimension, VOutputDimension >

using	TranslationType = OutputVectorType

using	TranslationValueType = typename TranslationType::ValueType

Public Types inherited from itk::Transform< TParametersValueType, VInputDimension, VOutputDimension >
using	ConstPointer = SmartPointer< const Self >

using	DerivativeType = Array< ParametersValueType >

using	DirectionChangeMatrix = Matrix< double, Self::OutputSpaceDimension, Self::InputSpaceDimension >

using	InputCovariantVectorType = CovariantVector< TParametersValueType, VInputDimension >

using	InputDiffusionTensor3DType = DiffusionTensor3D< TParametersValueType >

using	InputDirectionMatrix = Matrix< double, Self::InputSpaceDimension, Self::InputSpaceDimension >

using	InputPointType = Point< TParametersValueType, VInputDimension >

using	InputSymmetricSecondRankTensorType = SymmetricSecondRankTensor< TParametersValueType, VInputDimension >

using	InputVectorPixelType = VariableLengthVector< TParametersValueType >

using	InputVectorType = Vector< TParametersValueType, VInputDimension >

using	InputVnlVectorType = vnl_vector_fixed< TParametersValueType, VInputDimension >

using	InverseJacobianPositionType = vnl_matrix_fixed< ParametersValueType, VInputDimension, VOutputDimension >

using	InverseTransformBasePointer = typename InverseTransformBaseType::Pointer

using	InverseTransformBaseType = Transform< TParametersValueType, VOutputDimension, VInputDimension >

using	JacobianPositionType = vnl_matrix_fixed< ParametersValueType, VOutputDimension, VInputDimension >

using	JacobianType = Array2D< ParametersValueType >

using	MatrixType = Matrix< TParametersValueType, Self::OutputSpaceDimension, Self::InputSpaceDimension >

using	OutputCovariantVectorType = CovariantVector< TParametersValueType, VOutputDimension >

using	OutputDiffusionTensor3DType = DiffusionTensor3D< TParametersValueType >

using	OutputDirectionMatrix = Matrix< double, Self::OutputSpaceDimension, Self::OutputSpaceDimension >

using	OutputPointType = Point< TParametersValueType, VOutputDimension >

using	OutputSymmetricSecondRankTensorType = SymmetricSecondRankTensor< TParametersValueType, VOutputDimension >

using	OutputVectorPixelType = VariableLengthVector< TParametersValueType >

using	OutputVectorType = Vector< TParametersValueType, VOutputDimension >

using	OutputVnlVectorType = vnl_vector_fixed< TParametersValueType, VOutputDimension >

using	Pointer = SmartPointer< Self >

using	ScalarType = ParametersValueType

using	Self = Transform

using	Superclass = TransformBaseTemplate< TParametersValueType >

Public Member Functions
void	ComputeJacobianWithRespectToParameters (const InputPointType &p, JacobianType &jacobian) const override

const char *	GetNameOfClass () const override

const ParametersType &	GetParameters () const override

const VnlQuaternionType &	GetRotation () const

void	SetIdentity () override

void	SetParameters (const ParametersType &parameters) override

void	SetRotation (const VnlQuaternionType &rotation)

Public Member Functions inherited from itk::Rigid3DTransform< TParametersValueType >
const char *	GetNameOfClass () const override

bool	MatrixIsOrthogonal (const MatrixType &matrix, const TParametersValueType tolerance=MatrixOrthogonalityTolerance< TParametersValueType >::GetTolerance())

void	SetMatrix (const MatrixType &matrix) override

virtual void	SetMatrix (const MatrixType &matrix, const TParametersValueType tolerance)

void	SetParameters (const ParametersType &parameters) override

void	Translate (const OffsetType &offset, bool pre=false)

Public Member Functions inherited from itk::MatrixOffsetTransformBase< TParametersValueType, 3, 3 >
void	Compose (const Self *other, bool pre=false)

void	ComputeInverseJacobianWithRespectToPosition (const InputPointType &x, InverseJacobianPositionType &jac) const override

void	ComputeJacobianWithRespectToParameters (const InputPointType &p, JacobianType &jacobian) const override

virtual void	ComputeJacobianWithRespectToPosition (const InputPointType &, JacobianPositionType &) const

void	ComputeJacobianWithRespectToPosition (const InputPointType &x, JacobianPositionType &jac) const override

const InputPointType &	GetCenter () const

const FixedParametersType &	GetFixedParameters () const override

InverseTransformBasePointer	GetInverseTransform () const override

virtual const MatrixType &	GetMatrix () const

const char *	GetNameOfClass () const override

const OutputVectorType &	GetOffset () const

const ParametersType &	GetParameters () const override

TransformCategoryEnum	GetTransformCategory () const override

const OutputVectorType &	GetTranslation () const

bool	IsLinear () const override

void	SetFixedParameters (const FixedParametersType &) override

void	SetParameters (const ParametersType &parameters) override

virtual OutputCovariantVectorType	TransformCovariantVector (const InputCovariantVectorType &) const

OutputCovariantVectorType	TransformCovariantVector (const InputCovariantVectorType &vec) const override

virtual OutputCovariantVectorType	TransformCovariantVector (const InputCovariantVectorType &vector, const InputPointType &point) const

virtual OutputVectorPixelType	TransformCovariantVector (const InputVectorPixelType &) const

OutputVectorPixelType	TransformCovariantVector (const InputVectorPixelType &vect) const override

virtual OutputVectorPixelType	TransformCovariantVector (const InputVectorPixelType &vector, const InputPointType &point) const

virtual OutputDiffusionTensor3DType	TransformDiffusionTensor3D (const InputDiffusionTensor3DType &) const

virtual OutputDiffusionTensor3DType	TransformDiffusionTensor3D (const InputDiffusionTensor3DType &inputTensor, const InputPointType &point) const

OutputDiffusionTensor3DType	TransformDiffusionTensor3D (const InputDiffusionTensor3DType &tensor) const override

virtual OutputVectorPixelType	TransformDiffusionTensor3D (const InputVectorPixelType &) const

virtual OutputVectorPixelType	TransformDiffusionTensor3D (const InputVectorPixelType &inputTensor, const InputPointType &point) const

OutputVectorPixelType	TransformDiffusionTensor3D (const InputVectorPixelType &tensor) const override

OutputPointType	TransformPoint (const InputPointType &point) const override

virtual OutputSymmetricSecondRankTensorType	TransformSymmetricSecondRankTensor (const InputSymmetricSecondRankTensorType &) const

OutputSymmetricSecondRankTensorType	TransformSymmetricSecondRankTensor (const InputSymmetricSecondRankTensorType &inputTensor) const override

virtual OutputSymmetricSecondRankTensorType	TransformSymmetricSecondRankTensor (const InputSymmetricSecondRankTensorType &inputTensor, const InputPointType &point) const

virtual OutputVectorPixelType	TransformSymmetricSecondRankTensor (const InputVectorPixelType &) const

OutputVectorPixelType	TransformSymmetricSecondRankTensor (const InputVectorPixelType &inputTensor) const override

virtual OutputVectorPixelType	TransformSymmetricSecondRankTensor (const InputVectorPixelType &inputTensor, const InputPointType &point) const

virtual OutputVectorPixelType	TransformVector (const InputVectorPixelType &) const

OutputVectorPixelType	TransformVector (const InputVectorPixelType &vect) const override

virtual OutputVectorPixelType	TransformVector (const InputVectorPixelType &vector, const InputPointType &point) const

virtual OutputVectorType	TransformVector (const InputVectorType &) const

OutputVectorType	TransformVector (const InputVectorType &vect) const override

virtual OutputVectorType	TransformVector (const InputVectorType &vector, const InputPointType &point) const

virtual OutputVnlVectorType	TransformVector (const InputVnlVectorType &) const

OutputVnlVectorType	TransformVector (const InputVnlVectorType &vect) const override

virtual OutputVnlVectorType	TransformVector (const InputVnlVectorType &vector, const InputPointType &point) const

void	SetOffset (const OutputVectorType &offset)

void	SetCenter (const InputPointType &center)

void	SetTranslation (const OutputVectorType &translation)

bool	GetInverse (InverseTransformType *inverse) const

Public Member Functions inherited from itk::Transform< TParametersValueType, VInputDimension, VOutputDimension >
virtual void	ComputeJacobianWithRespectToParametersCachedTemporaries (const InputPointType &p, JacobianType &jacobian, JacobianType &) const

void	CopyInFixedParameters (const FixedParametersValueType const begin, const FixedParametersValueType const end) override

void	CopyInParameters (const ParametersValueType const begin, const ParametersValueType const end) override

const FixedParametersType &	GetFixedParameters () const override

unsigned int	GetInputSpaceDimension () const override

bool	GetInverse (Self *) const

const char *	GetNameOfClass () const override

virtual NumberOfParametersType	GetNumberOfFixedParameters () const

virtual NumberOfParametersType	GetNumberOfLocalParameters () const

NumberOfParametersType	GetNumberOfParameters () const override

unsigned int	GetOutputSpaceDimension () const override

const ParametersType &	GetParameters () const override

TransformCategoryEnum	GetTransformCategory () const override

std::string	GetTransformTypeAsString () const override

	itkCloneMacro (Self)

void	SetParametersByValue (const ParametersType &p) override

virtual OutputCovariantVectorType	TransformCovariantVector (const InputCovariantVectorType &vector, const InputPointType &point) const

virtual OutputVectorPixelType	TransformCovariantVector (const InputVectorPixelType &vector, const InputPointType &point) const

virtual OutputDiffusionTensor3DType	TransformDiffusionTensor3D (const InputDiffusionTensor3DType &inputTensor, const InputPointType &point) const

virtual OutputVectorPixelType	TransformDiffusionTensor3D (const InputVectorPixelType &inputTensor, const InputPointType &point) const

virtual OutputSymmetricSecondRankTensorType	TransformSymmetricSecondRankTensor (const InputSymmetricSecondRankTensorType &inputTensor, const InputPointType &point) const

virtual OutputVectorPixelType	TransformSymmetricSecondRankTensor (const InputVectorPixelType &inputTensor, const InputPointType &point) const

virtual OutputVectorPixelType	TransformVector (const InputVectorPixelType &vector, const InputPointType &point) const

virtual OutputVectorType	TransformVector (const InputVectorType &vector, const InputPointType &point) const

virtual OutputVnlVectorType	TransformVector (const InputVnlVectorType &vector, const InputPointType &point) const

virtual void	UpdateTransformParameters (const DerivativeType &update, ParametersValueType factor=1.0)

template<typename TImage >
template< typename TImage > std std::enable_if_t< TImage::ImageDimension==VInputDimension &&TImage::ImageDimension==VOutputDimension, void >	ApplyToImageMetadata (SmartPointer< TImage > image) const

Static Public Member Functions
static Pointer	New ()

Static Public Member Functions inherited from itk::Rigid3DTransform< TParametersValueType >
static Pointer	New ()

Static Public Member Functions inherited from itk::MatrixOffsetTransformBase< TParametersValueType, 3, 3 >
static Pointer	New ()

Static Public Attributes
static constexpr unsigned int	InputSpaceDimension = 3

static constexpr unsigned int	OutputSpaceDimension = 3

static constexpr unsigned int	ParametersDimension = 7

static constexpr unsigned int	SpaceDimension = 3

Static Public Attributes inherited from itk::Rigid3DTransform< TParametersValueType >
static constexpr unsigned int	InputSpaceDimension = 3

static constexpr unsigned int	OutputSpaceDimension = 3

static constexpr unsigned int	ParametersDimension = 12

static constexpr unsigned int	SpaceDimension = 3

Static Public Attributes inherited from itk::MatrixOffsetTransformBase< TParametersValueType, 3, 3 >
static constexpr unsigned int	InputSpaceDimension

static constexpr unsigned int	OutputSpaceDimension

static constexpr unsigned int	ParametersDimension

Static Public Attributes inherited from itk::Transform< TParametersValueType, VInputDimension, VOutputDimension >
static constexpr unsigned int	InputSpaceDimension = VInputDimension

static constexpr unsigned int	OutputSpaceDimension = VOutputDimension

Protected Member Functions
void	ComputeMatrix () override

void	ComputeMatrixParameters () override

const InverseMatrixType &	GetInverseMatrix () const

void	PrintSelf (std::ostream &os, Indent indent) const override

	QuaternionRigidTransform ()

	QuaternionRigidTransform (unsigned int parametersDimension)

void	SetVarRotation (const VnlQuaternionType &rotation)

	~QuaternionRigidTransform () override=default

Protected Member Functions inherited from itk::Rigid3DTransform< TParametersValueType >
void	PrintSelf (std::ostream &os, Indent indent) const override

	Rigid3DTransform ()

	Rigid3DTransform (unsigned int paramDim)

	~Rigid3DTransform () override=default

Protected Member Functions inherited from itk::MatrixOffsetTransformBase< TParametersValueType, 3, 3 >
virtual void	ComputeOffset ()

virtual void	ComputeTranslation ()

const InverseMatrixType &	GetInverseMatrix () const

virtual bool	GetSingular () const

const InverseMatrixType &	GetVarInverseMatrix () const

bool	InverseMatrixIsOld () const

void	PrintSelf (std::ostream &os, Indent indent) const override

void	SetVarCenter (const InputPointType &center)

void	SetVarInverseMatrix (const InverseMatrixType &matrix) const

void	SetVarMatrix (const MatrixType &matrix)

void	SetVarOffset (const OutputVectorType &offset)

void	SetVarTranslation (const OutputVectorType &translation)

	~MatrixOffsetTransformBase () override=default

	MatrixOffsetTransformBase (unsigned int paramDims=ParametersDimension)

Protected Member Functions inherited from itk::Transform< TParametersValueType, VInputDimension, VOutputDimension >
LightObject::Pointer	InternalClone () const override

OutputDiffusionTensor3DType	PreservationOfPrincipalDirectionDiffusionTensor3DReorientation (const InputDiffusionTensor3DType &, const InverseJacobianPositionType &) const

	Transform ()=default

	Transform (NumberOfParametersType numberOfParameters)

	~Transform () override=default

Private Attributes
VnlQuaternionType	m_Rotation {}

Additional Inherited Members
Public Attributes inherited from itk::Transform< TParametersValueType, VInputDimension, VOutputDimension >
InverseJacobianPositionType &jacobian	const

Static Protected Member Functions inherited from itk::Transform< TParametersValueType, VInputDimension, VOutputDimension >
template<typename TTransform >
static InverseTransformBasePointer	InvertTransform (const TTransform &transform)

Protected Attributes inherited from itk::Transform< TParametersValueType, VInputDimension, VOutputDimension >
FixedParametersType	m_FixedParameters {}

ParametersType	m_Parameters {}