ITK  5.3.0
Insight Toolkit
itkRigid3DTransform.h
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18 #ifndef itkRigid3DTransform_h
19 #define itkRigid3DTransform_h
20 
21 #include <iostream>
23 #include "itkVersor.h"
24 
25 namespace itk
26 {
56 template <typename TParametersValueType = double>
57 class ITK_TEMPLATE_EXPORT Rigid3DTransform : public MatrixOffsetTransformBase<TParametersValueType, 3, 3>
58 {
59 public:
60  ITK_DISALLOW_COPY_AND_MOVE(Rigid3DTransform);
61 
67 
69  itkNewMacro(Self);
70 
73 
75  static constexpr unsigned int SpaceDimension = 3;
76  static constexpr unsigned int InputSpaceDimension = 3;
77  static constexpr unsigned int OutputSpaceDimension = 3;
78  static constexpr unsigned int ParametersDimension = 12;
79 
80  using typename Superclass::ParametersType;
81  using typename Superclass::ParametersValueType;
82  using typename Superclass::FixedParametersType;
83  using typename Superclass::FixedParametersValueType;
84  using typename Superclass::JacobianType;
85  using typename Superclass::JacobianPositionType;
86  using typename Superclass::InverseJacobianPositionType;
87  using typename Superclass::ScalarType;
88  using typename Superclass::InputVectorType;
89  using typename Superclass::OutputVectorType;
90  using typename Superclass::OutputVectorValueType;
91  using typename Superclass::InputCovariantVectorType;
92  using typename Superclass::OutputCovariantVectorType;
93  using typename Superclass::InputVnlVectorType;
94  using typename Superclass::OutputVnlVectorType;
95  using typename Superclass::InputPointType;
96  using typename Superclass::OutputPointType;
97  using typename Superclass::MatrixType;
98  using typename Superclass::InverseMatrixType;
99  using typename Superclass::MatrixValueType;
100  using typename Superclass::CenterType;
101  using typename Superclass::TranslationType;
102  using typename Superclass::OffsetType;
103 
106  using InverseTransformBaseType = typename Superclass::InverseTransformBaseType;
107  using InverseTransformBasePointer = typename InverseTransformBaseType::Pointer;
108 
119  void
120  SetParameters(const ParametersType & parameters) override;
121 
127  void
128  SetMatrix(const MatrixType & matrix) override;
129 
135  virtual void
136  SetMatrix(const MatrixType & matrix, const TParametersValueType tolerance);
137 
145  void
146  Translate(const OffsetType & offset, bool pre = false);
147 
152  bool
153  MatrixIsOrthogonal(
154  const MatrixType & matrix,
155  const TParametersValueType tolerance = MatrixOrthogonalityTolerance<TParametersValueType>::GetTolerance());
156 
157 
158 protected:
159  Rigid3DTransform(const MatrixType & matrix, const OutputVectorType & offset);
160  Rigid3DTransform(unsigned int paramDim);
162  ~Rigid3DTransform() override = default;
163 
167  void
168  PrintSelf(std::ostream & os, Indent indent) const override;
169 }; // class Rigid3DTransform
170 } // namespace itk
171 
172 #ifndef ITK_MANUAL_INSTANTIATION
173 # include "itkRigid3DTransform.hxx"
174 #endif
175 
176 #endif /* itkRigid3DTransform_h */
itk::OptimizerParameters
Class to hold and manage different parameter types used during optimization.
Definition: itkOptimizerParameters.h:36
itk::Rigid3DTransform
Rigid3DTransform of a vector space (e.g. space coordinates)
Definition: itkRigid3DTransform.h:57
itk::Rigid3DTransform::InverseTransformBaseType
typename Superclass::InverseTransformBaseType InverseTransformBaseType
Definition: itkRigid3DTransform.h:106
itk::Vector
A templated class holding a n-Dimensional vector.
Definition: itkVector.h:62
itk::MatrixOffsetTransformBase
Matrix and Offset transformation of a vector space (e.g. space coordinates)
Definition: itkMatrixOffsetTransformBase.h:106
itk::SmartPointer< Self >
itk::Indent
Control indentation during Print() invocation.
Definition: itkIndent.h:49
itk::LightObject
Light weight base class for most itk classes.
Definition: itkLightObject.h:59
itkVersor.h
itkMatrixOffsetTransformBase.h
itk::Matrix< TParametersValueType, Self::OutputSpaceDimension, Self::InputSpaceDimension >
itk
The "itk" namespace contains all Insight Segmentation and Registration Toolkit (ITK) classes....
Definition: itkAnnulusOperator.h:24
itk::MatrixOrthogonalityTolerance
Definition: itkMatrixOffsetTransformBase.h:39
itk::Rigid3DTransform::InverseTransformBasePointer
typename InverseTransformBaseType::Pointer InverseTransformBasePointer
Definition: itkRigid3DTransform.h:107