itk::Rigid3DTransform< TParametersValueType > Class Template Reference

#include <itkRigid3DTransform.h>

Detailed Description

template<typename TParametersValueType = double>
class itk::Rigid3DTransform< TParametersValueType >

Rigid3DTransform of a vector space (e.g. space coordinates)

This transform applies a rotation and translation in 3D space. The transform is specified as a rotation matrix around a arbitrary center and is followed by a translation.

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 12 elements. The first 9 parameters represents the rotation matrix in row-major order (where the column index varies the fastest). 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 in each dimension.

The Rigid3DTransform is intended to be a base class that defines a consistent family of transform types that respect rigid transformations. Only classes that derive from Rigid3DTransform should be used.

See also

Euler3DTransform

QuaternionRigidTransform

VersorTransform

Definition at line 57 of file itkRigid3DTransform.h.

Inheritance diagram for itk::Rigid3DTransform< TParametersValueType >:

Collaboration diagram for itk::Rigid3DTransform< TParametersValueType >:

Public Types
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
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
virtual void	SetIdentity ()
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::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 = 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	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	ComputeMatrix ()
virtual void	ComputeMatrixParameters ()
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

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 {}

Member Typedef Documentation

ConstPointer

template<typename TParametersValueType = double>

using itk::Rigid3DTransform< TParametersValueType >::ConstPointer = SmartPointer<const Self>

Definition at line 66 of file itkRigid3DTransform.h.

InverseTransformBasePointer

template<typename TParametersValueType = double>

using itk::Rigid3DTransform< TParametersValueType >::InverseTransformBasePointer = typename InverseTransformBaseType::Pointer

Definition at line 107 of file itkRigid3DTransform.h.

InverseTransformBaseType

template<typename TParametersValueType = double>

using itk::Rigid3DTransform< TParametersValueType >::InverseTransformBaseType = typename Superclass::InverseTransformBaseType

Base inverse transform type. This type should not be changed to the concrete inverse transform type or inheritance would be lost.

Definition at line 106 of file itkRigid3DTransform.h.

Pointer

template<typename TParametersValueType = double>

using itk::Rigid3DTransform< TParametersValueType >::Pointer = SmartPointer<Self>

Definition at line 65 of file itkRigid3DTransform.h.

Self

template<typename TParametersValueType = double>

using itk::Rigid3DTransform< TParametersValueType >::Self = Rigid3DTransform

Standard class type aliases.

Definition at line 63 of file itkRigid3DTransform.h.

Superclass

template<typename TParametersValueType = double>

using itk::Rigid3DTransform< TParametersValueType >::Superclass = MatrixOffsetTransformBase<TParametersValueType, 3, 3>

Definition at line 64 of file itkRigid3DTransform.h.

Constructor & Destructor Documentation

Rigid3DTransform() [1/2]

template<typename TParametersValueType = double>

itk::Rigid3DTransform< TParametersValueType >::Rigid3DTransform ( unsigned int  paramDim )

protected

Rigid3DTransform() [2/2]

template<typename TParametersValueType = double>

itk::Rigid3DTransform< TParametersValueType >::Rigid3DTransform ( )

protected

~Rigid3DTransform()

template<typename TParametersValueType = double>

itk::Rigid3DTransform< TParametersValueType >::~Rigid3DTransform ( )

overrideprotecteddefault

Member Function Documentation

GetNameOfClass()

template<typename TParametersValueType = double>

const char* itk::Rigid3DTransform< TParametersValueType >::GetNameOfClass ( ) const

override

See also

LightObject::GetNameOfClass()

MatrixIsOrthogonal()

template<typename TParametersValueType = double>

bool itk::Rigid3DTransform< TParametersValueType >::MatrixIsOrthogonal	(	const MatrixType &	matrix,
		const TParametersValueType	tolerance = MatrixOrthogonalityTolerance< TParametersValueType >::GetTolerance()
	)

Utility function to test if a matrix is orthogonal within a specified tolerance

New()

template<typename TParametersValueType = double>

static Pointer itk::Rigid3DTransform< TParametersValueType >::New ( )

static

Run-time type information (and related methods).

PrintSelf()

template<typename TParametersValueType = double>

void itk::Rigid3DTransform< TParametersValueType >::PrintSelf ( std::ostream &  os, Indent  indent  ) const

overrideprotected

Print contents of an Rigid3DTransform

SetMatrix() [1/2]

template<typename TParametersValueType = double>

void itk::Rigid3DTransform< TParametersValueType >::SetMatrix ( const MatrixType &  matrix )

overridevirtual

Directly set the rotation matrix of the transform.

Warning

The input matrix must be orthogonal to within a specified tolerance, else an exception is thrown.

See also

MatrixOffsetTransformBase::SetMatrix()

Reimplemented from itk::MatrixOffsetTransformBase< TParametersValueType, 3, 3 >.

Reimplemented in itk::ScaleSkewVersor3DTransform< TParametersValueType >, itk::Similarity3DTransform< TParametersValueType >, and itk::ScaleVersor3DTransform< TParametersValueType >.

SetMatrix() [2/2]

template<typename TParametersValueType = double>

virtual void itk::Rigid3DTransform< TParametersValueType >::SetMatrix ( const MatrixType &  matrix, const TParametersValueType  tolerance  )

virtual

Directly set the rotation matrix of the transform.

Warning

The input matrix must be orthogonal to within the specified tolerance, else an exception is thrown.

See also

MatrixOffsetTransformBase::SetMatrix()

Reimplemented in itk::ScaleSkewVersor3DTransform< TParametersValueType >, itk::ComposeScaleSkewVersor3DTransform< TParametersValueType >, itk::Similarity3DTransform< TParametersValueType >, and itk::ScaleVersor3DTransform< TParametersValueType >.

SetParameters()

template<typename TParametersValueType = double>

void itk::Rigid3DTransform< TParametersValueType >::SetParameters ( const ParametersType &  parameters )

overridevirtual

Set the transformation from a container of parameters This is typically used by optimizers. There are 12 parameters. The first 9 represents the rotation matrix is row-major order and the last 3 represents the translation.

Warning

The rotation matrix must be orthogonal to within a specified tolerance, else an exception is thrown.

See also

Transform::SetParameters()

Transform::SetFixedParameters()

Implements itk::Transform< TParametersValueType, VInputDimension, VOutputDimension >.

Reimplemented in itk::ScaleSkewVersor3DTransform< TParametersValueType >, itk::Similarity3DTransform< TParametersValueType >, itk::ScaleVersor3DTransform< TParametersValueType >, itk::VersorTransform< TParametersValueType >, and itk::VersorRigid3DTransform< TParametersValueType >.

Translate()

template<typename TParametersValueType = double>

void itk::Rigid3DTransform< TParametersValueType >::Translate	(	const OffsetType &	offset,
		bool	pre = false
	)

Compose the transformation with a translation

This method modifies self to include a translation of the origin. The translation is precomposed with self if pre is true, and postcomposed otherwise.

Member Data Documentation

InputSpaceDimension

template<typename TParametersValueType = double>

constexpr unsigned int itk::Rigid3DTransform< TParametersValueType >::InputSpaceDimension = 3

staticconstexpr

Definition at line 76 of file itkRigid3DTransform.h.

OutputSpaceDimension

template<typename TParametersValueType = double>

constexpr unsigned int itk::Rigid3DTransform< TParametersValueType >::OutputSpaceDimension = 3

staticconstexpr

Definition at line 77 of file itkRigid3DTransform.h.

ParametersDimension

template<typename TParametersValueType = double>

constexpr unsigned int itk::Rigid3DTransform< TParametersValueType >::ParametersDimension = 12

staticconstexpr

Definition at line 78 of file itkRigid3DTransform.h.

SpaceDimension

template<typename TParametersValueType = double>

constexpr unsigned int itk::Rigid3DTransform< TParametersValueType >::SpaceDimension = 3

staticconstexpr

Dimension of the space.

Definition at line 75 of file itkRigid3DTransform.h.

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The documentation for this class was generated from the following file:

• itkRigid3DTransform.h