#include <itkv3Rigid3DTransform.h>

Detailed Description

template<typename TParametersValueType = double>
class itk::v3::Rigid3DTransform< TParametersValueType >

ITK3.x compatible Rigid3DTransform of a vector space (e.g. space coordinates)

NOTE: In ITK4, the itkNewMacro() was removed from itk::Rigid3DTransform. This class, itkv3::Rigid3DTransform provides the ITK3.x functionality. The purpose of the class is provide ITKv3 functionality with backward compatibility after ITK 5.0 removal of ITKV3_COMPATIBILITY support.

Even though the name Rigid3DTransform is conceptually closer to what a user may expect, the VersorRigid3DTransform is often a much better transform to use during optimization procedures from both a speed perspective (lower dimensional parameter space), and stability standpoint (versors do not suffer from rotational gimble lock).

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.

Definition at line 63 of file itkv3Rigid3DTransform.h.

Inheritance diagram for itk::v3::Rigid3DTransform< TParametersValueType >:

Collaboration diagram for itk::v3::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 = itk::Rigid3DTransform< 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
bool	GetInverse (Self *inverse) const

InverseTransformBasePointer	GetInverseTransform () const override

const char *	GetNameOfClass () const override

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

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::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 = 12

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
	Rigid3DTransform ()=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	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::v3::Rigid3DTransform< TParametersValueType >::ConstPointer = SmartPointer<const Self>

Definition at line 72 of file itkv3Rigid3DTransform.h.

◆ InverseTransformBasePointer

template<typename TParametersValueType = double>

using itk::v3::Rigid3DTransform< TParametersValueType >::InverseTransformBasePointer = typename InverseTransformBaseType::Pointer

Definition at line 114 of file itkv3Rigid3DTransform.h.

◆ InverseTransformBaseType

template<typename TParametersValueType = double>

using itk::v3::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 113 of file itkv3Rigid3DTransform.h.

◆ Pointer

template<typename TParametersValueType = double>

using itk::v3::Rigid3DTransform< TParametersValueType >::Pointer = SmartPointer<Self>

Definition at line 71 of file itkv3Rigid3DTransform.h.

◆ Self

template<typename TParametersValueType = double>

using itk::v3::Rigid3DTransform< TParametersValueType >::Self = Rigid3DTransform

Standard class type aliases.

Definition at line 69 of file itkv3Rigid3DTransform.h.

◆ Superclass

template<typename TParametersValueType = double>

using itk::v3::Rigid3DTransform< TParametersValueType >::Superclass = itk::Rigid3DTransform<TParametersValueType>

Definition at line 70 of file itkv3Rigid3DTransform.h.

Constructor & Destructor Documentation

◆ Rigid3DTransform()

template<typename TParametersValueType = double>

itk::v3::Rigid3DTransform< TParametersValueType >::Rigid3DTransform ( )

protecteddefault

Member Function Documentation

◆ GetInverse()

template<typename TParametersValueType = double>

bool itk::v3::Rigid3DTransform< TParametersValueType >::GetInverse ( Self * inverse ) const

inline

Get an inverse of this transform.

Definition at line 118 of file itkv3Rigid3DTransform.h.

◆ GetInverseTransform()

template<typename TParametersValueType = double>

InverseTransformBasePointer itk::v3::Rigid3DTransform< TParametersValueType >::GetInverseTransform ( ) const

inlineoverridevirtual

Return an inverse of this transform.

Reimplemented from itk::Transform< TParametersValueType, VInputDimension, VOutputDimension >.

Definition at line 125 of file itkv3Rigid3DTransform.h.

◆ GetNameOfClass()

template<typename TParametersValueType = double>

const char* itk::v3::Rigid3DTransform< TParametersValueType >::GetNameOfClass ( ) const

override

See also: LightObject::GetNameOfClass()

◆ New()

template<typename TParametersValueType = double>

static Pointer itk::v3::Rigid3DTransform< TParametersValueType >::New ( )

static

New macro for creation of through a Smart Pointer

Member Data Documentation

◆ InputSpaceDimension

template<typename TParametersValueType = double>

constexpr unsigned int itk::v3::Rigid3DTransform< TParametersValueType >::InputSpaceDimension = 3

staticconstexpr

Definition at line 83 of file itkv3Rigid3DTransform.h.

◆ OutputSpaceDimension

template<typename TParametersValueType = double>

constexpr unsigned int itk::v3::Rigid3DTransform< TParametersValueType >::OutputSpaceDimension = 3

staticconstexpr

Definition at line 84 of file itkv3Rigid3DTransform.h.

◆ ParametersDimension

template<typename TParametersValueType = double>

constexpr unsigned int itk::v3::Rigid3DTransform< TParametersValueType >::ParametersDimension = 12

staticconstexpr

Definition at line 85 of file itkv3Rigid3DTransform.h.

◆ SpaceDimension

template<typename TParametersValueType = double>

constexpr unsigned int itk::v3::Rigid3DTransform< TParametersValueType >::SpaceDimension = 3

staticconstexpr

Dimension of the space.

Definition at line 82 of file itkv3Rigid3DTransform.h.

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

itkv3Rigid3DTransform.h

Detailed Description

template<typename TParametersValueType = double> class itk::v3::Rigid3DTransform< TParametersValueType >

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Additional Inherited Members

Member Typedef Documentation

◆ ConstPointer

◆ InverseTransformBasePointer

◆ InverseTransformBaseType

◆ Pointer

◆ Self

◆ Superclass

Constructor & Destructor Documentation

◆ Rigid3DTransform()

Member Function Documentation

◆ GetInverse()

◆ GetInverseTransform()

◆ GetNameOfClass()

◆ New()

Member Data Documentation

◆ InputSpaceDimension

◆ OutputSpaceDimension

◆ ParametersDimension

◆ SpaceDimension

template<typename TParametersValueType = double>
class itk::v3::Rigid3DTransform< TParametersValueType >