ITK  4.2.0
Insight Segmentation and Registration Toolkit
Public Types | Public Member Functions | Protected Member Functions | Private Member Functions
itk::Rigid3DTransform< TScalarType > Class Template Reference

#include <itkRigid3DTransform.h>

+ Inheritance diagram for itk::Rigid3DTransform< TScalarType >:
+ Collaboration diagram for itk::Rigid3DTransform< TScalarType >:

List of all members.

Public Types

typedef Superclass::CenterType CenterType
typedef SmartPointer< const SelfConstPointer
typedef
Superclass::InputCovariantVectorType 
InputCovariantVectorType
typedef Superclass::InputPointType InputPointType
typedef Superclass::InputVectorType InputVectorType
typedef
Superclass::InputVnlVectorType 
InputVnlVectorType
typedef
Superclass::InverseMatrixType 
InverseMatrixType
typedef
InverseTransformBaseType::Pointer 
InverseTransformBasePointer
typedef
Superclass::InverseTransformBaseType 
InverseTransformBaseType
typedef Superclass::JacobianType JacobianType
typedef Superclass::MatrixType MatrixType
typedef Superclass::MatrixValueType MatrixValueType
typedef Superclass::OffsetType OffsetType
typedef
Superclass::OutputCovariantVectorType 
OutputCovariantVectorType
typedef Superclass::OutputPointType OutputPointType
typedef
Superclass::OutputVectorType 
OutputVectorType
typedef
Superclass::OutputVectorValueType 
OutputVectorValueType
typedef
Superclass::OutputVnlVectorType 
OutputVnlVectorType
typedef Superclass::ParametersType ParametersType
typedef
Superclass::ParametersValueType 
ParametersValueType
typedef SmartPointer< SelfPointer
typedef Superclass::ScalarType ScalarType
typedef Rigid3DTransform Self
typedef
MatrixOffsetTransformBase
< TScalarType, 3, 3 > 
Superclass
typedef Superclass::TranslationType TranslationType
- Public Types inherited from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >
typedef
Superclass::InputDiffusionTensor3DType 
InputDiffusionTensor3DType
typedef
Superclass::InputSymmetricSecondRankTensorType 
InputSymmetricSecondRankTensorType
typedef CovariantVector
< TScalarType,
InputDiffusionTensor3DType::Dimension > 
InputTensorEigenVectorType
typedef
Superclass::InputVectorPixelType 
InputVectorPixelType
typedef OffsetType::ValueType OffsetValueType
typedef
Superclass::OutputDiffusionTensor3DType 
OutputDiffusionTensor3DType
typedef
Superclass::OutputSymmetricSecondRankTensorType 
OutputSymmetricSecondRankTensorType
typedef
Superclass::OutputVectorPixelType 
OutputVectorPixelType
typedef TranslationType::ValueType TranslationValueType
typedef InputPointType::ValueType InputPointValueType
typedef OutputPointType::ValueType OutputPointValueType
- Public Types inherited from itk::Transform< TScalarType, NInputDimensions, NOutputDimensions >
typedef Array
< ParametersValueType
DerivativeType
typedef Matrix< double,
itkGetStaticConstMacro(OutputSpaceDimension),
itkGetStaticConstMacro(InputSpaceDimension)> 
DirectionChangeMatrix
typedef Matrix< double,
itkGetStaticConstMacro(InputSpaceDimension),
itkGetStaticConstMacro(InputSpaceDimension)> 
InputDirectionMatrix
typedef
Superclass::NumberOfParametersType 
NumberOfParametersType
typedef Matrix< double,
itkGetStaticConstMacro(OutputSpaceDimension),
itkGetStaticConstMacro(OutputSpaceDimension)> 
OutputDirectionMatrix
- Public Types inherited from itk::TransformBase
- Public Types inherited from itk::Object
- Public Types inherited from itk::LightObject

Public Member Functions

virtual const char * GetNameOfClass () const
bool MatrixIsOrthogonal (const MatrixType &matrix, double tol=1e-10)
virtual void SetMatrix (const MatrixType &matrix)
virtual void SetParameters (const ParametersType &parameters)
void Translate (const OffsetType &offset, bool pre=false)
 itkLegacyMacro (InputPointType BackTransform(const OutputPointType &point) const)
 itkLegacyMacro (InputVectorType BackTransform(const OutputVectorType &vector) const)
 itkLegacyMacro (InputVnlVectorType BackTransform(const OutputVnlVectorType &vector) const)
 itkLegacyMacro (InputCovariantVectorType BackTransform(const OutputCovariantVectorType &vector) const)
- Public Member Functions inherited from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >
void Compose (const Self *other, bool pre=0)
virtual void ComputeInverseJacobianWithRespectToPosition (const InputPointType &x, JacobianType &jac) const
virtual void ComputeJacobianWithRespectToParameters (const InputPointType &x, JacobianType &j) const
virtual void ComputeJacobianWithRespectToPosition (const InputPointType &x, JacobianType &jac) const
virtual ::itk::LightObject::Pointer CreateAnother (void) const
const InputPointTypeGetCenter () const
virtual const ParametersTypeGetFixedParameters (void) const
virtual InverseTransformBasePointer GetInverseTransform () const
virtual const MatrixTypeGetMatrix () const
const OutputVectorTypeGetOffset (void) const
const ParametersTypeGetParameters (void) const
const OutputVectorTypeGetTranslation (void) const
virtual bool IsLinear () const
virtual void SetFixedParameters (const ParametersType &)
virtual void SetIdentity (void)
OutputCovariantVectorType TransformCovariantVector (const InputCovariantVectorType &vector) const
OutputVectorPixelType TransformCovariantVector (const InputVectorPixelType &vector) const
OutputDiffusionTensor3DType TransformDiffusionTensor3D (const InputDiffusionTensor3DType &tensor) const
OutputVectorPixelType TransformDiffusionTensor3D (const InputVectorPixelType &tensor) const
OutputPointType TransformPoint (const InputPointType &point) const
OutputSymmetricSecondRankTensorType TransformSymmetricSecondRankTensor (const InputSymmetricSecondRankTensorType &tensor) const
OutputVectorPixelType TransformSymmetricSecondRankTensor (const InputVectorPixelType &tensor) const
OutputVectorType TransformVector (const InputVectorType &vector) const
OutputVnlVectorType TransformVector (const InputVnlVectorType &vector) const
OutputVectorPixelType TransformVector (const InputVectorPixelType &vector) const
virtual void SetMatrix (const MatrixType &matrix)
void SetOffset (const OutputVectorType &offset)
void SetCenter (const InputPointType &center)
void SetTranslation (const OutputVectorType &translation)
bool GetInverse (Self *inverse) const
- Public Member Functions inherited from itk::Transform< TScalarType, NInputDimensions, NOutputDimensions >
unsigned int GetInputSpaceDimension (void) const
virtual NumberOfParametersType GetNumberOfLocalParameters (void) const
virtual NumberOfParametersType GetNumberOfParameters (void) const
unsigned int GetOutputSpaceDimension (void) const
virtual std::string GetTransformTypeAsString () const
virtual bool HasLocalSupport () const
 itkCloneMacro (Self)
virtual void SetParametersByValue (const ParametersType &p)
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 &tensor, const InputPointType &point) const
virtual OutputVectorPixelType TransformDiffusionTensor3D (const InputVectorPixelType &tensor, const InputPointType &point) const
virtual
OutputSymmetricSecondRankTensorType 
TransformSymmetricSecondRankTensor (const InputSymmetricSecondRankTensorType &tensor, const InputPointType &point) const
virtual OutputVectorPixelType TransformSymmetricSecondRankTensor (const InputVectorPixelType &tensor, 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 OutputVectorPixelType TransformVector (const InputVectorPixelType &vector, const InputPointType &point) const
virtual void UpdateTransformParameters (const DerivativeType &update, TScalarType factor=1.0)
- Public Member Functions inherited from itk::TransformBase
virtual void SetFixedParameters (const ParametersType &)=0
virtual void SetParameters (const ParametersType &)=0
virtual void SetParametersByValue (const ParametersType &p)=0
- Public Member Functions inherited from itk::Object
unsigned long AddObserver (const EventObject &event, Command *)
unsigned long AddObserver (const EventObject &event, Command *) const
virtual void DebugOff () const
virtual void DebugOn () const
CommandGetCommand (unsigned long tag)
bool GetDebug () const
MetaDataDictionaryGetMetaDataDictionary (void)
const MetaDataDictionaryGetMetaDataDictionary (void) const
virtual unsigned long GetMTime () const
virtual const TimeStampGetTimeStamp () const
bool HasObserver (const EventObject &event) const
void InvokeEvent (const EventObject &)
void InvokeEvent (const EventObject &) const
virtual void Modified () const
virtual void Register () const
void RemoveAllObservers ()
void RemoveObserver (unsigned long tag)
void SetDebug (bool debugFlag) const
void SetMetaDataDictionary (const MetaDataDictionary &rhs)
virtual void SetReferenceCount (int)
virtual void UnRegister () const
- Public Member Functions inherited from itk::LightObject
virtual void Delete ()
virtual int GetReferenceCount () const
void Print (std::ostream &os, Indent indent=0) const

Static Public Attributes

static const unsigned int SpaceDimension = 3
static const unsigned int InputSpaceDimension = 3
static const unsigned int OutputSpaceDimension = 3
static const unsigned int ParametersDimension = 12
- Static Public Attributes inherited from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >
- Static Public Attributes inherited from itk::Transform< TScalarType, NInputDimensions, NOutputDimensions >

Protected Member Functions

void PrintSelf (std::ostream &os, Indent indent) const
 Rigid3DTransform (const MatrixType &matrix, const OutputVectorType &offset)
 Rigid3DTransform (unsigned int paramDim)
 Rigid3DTransform ()
 ~Rigid3DTransform ()
- Protected Member Functions inherited from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >
virtual void ComputeMatrix (void)
virtual void ComputeMatrixParameters (void)
virtual void ComputeOffset (void)
virtual void ComputeTranslation (void)
const InverseMatrixTypeGetInverseMatrix (void) const
const InverseMatrixTypeGetVarInverseMatrix (void) const
bool InverseMatrixIsOld (void) const
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)
virtual ~MatrixOffsetTransformBase ()
 MatrixOffsetTransformBase (const MatrixType &matrix, const OutputVectorType &offset)
 MatrixOffsetTransformBase (unsigned int paramDims)
 MatrixOffsetTransformBase ()
- Protected Member Functions inherited from itk::Transform< TScalarType, NInputDimensions, NOutputDimensions >
virtual LightObject::Pointer InternalClone () const
OutputDiffusionTensor3DType PreservationOfPrincipalDirectionDiffusionTensor3DReorientation (const InputDiffusionTensor3DType, const JacobianType) const
 Transform ()
 Transform (NumberOfParametersType NumberOfParameters)
virtual ~Transform ()
- Protected Member Functions inherited from itk::TransformBase
 TransformBase ()
virtual ~TransformBase ()
- Protected Member Functions inherited from itk::Object
 Object ()
bool PrintObservers (std::ostream &os, Indent indent) const
virtual void SetTimeStamp (const TimeStamp &time)
virtual ~Object ()
- Protected Member Functions inherited from itk::LightObject
 LightObject ()
virtual void PrintHeader (std::ostream &os, Indent indent) const
virtual void PrintTrailer (std::ostream &os, Indent indent) const
virtual ~LightObject ()

Private Member Functions

void operator= (const Self &)
 Rigid3DTransform (const Self &)

Additional Inherited Members

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

Detailed Description

template<class TScalarType = double>
class itk::Rigid3DTransform< TScalarType >

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.

Definition at line 49 of file itkRigid3DTransform.h.


Member Typedef Documentation

template<class TScalarType = double>
typedef Superclass::CenterType itk::Rigid3DTransform< TScalarType >::CenterType
template<class TScalarType = double>
typedef SmartPointer< const Self > itk::Rigid3DTransform< TScalarType >::ConstPointer
template<class TScalarType = double>
typedef Superclass::InputCovariantVectorType itk::Rigid3DTransform< TScalarType >::InputCovariantVectorType
template<class TScalarType = double>
typedef Superclass::InputPointType itk::Rigid3DTransform< TScalarType >::InputPointType
template<class TScalarType = double>
typedef Superclass::InputVectorType itk::Rigid3DTransform< TScalarType >::InputVectorType
template<class TScalarType = double>
typedef Superclass::InputVnlVectorType itk::Rigid3DTransform< TScalarType >::InputVnlVectorType
template<class TScalarType = double>
typedef Superclass::InverseMatrixType itk::Rigid3DTransform< TScalarType >::InverseMatrixType
template<class TScalarType = double>
typedef InverseTransformBaseType::Pointer itk::Rigid3DTransform< TScalarType >::InverseTransformBasePointer
template<class TScalarType = double>
typedef Superclass::InverseTransformBaseType itk::Rigid3DTransform< TScalarType >::InverseTransformBaseType

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

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

Reimplemented in itkv3::Rigid3DTransform< TScalarType >, and itk::CenteredEuler3DTransform< TScalarType >.

Definition at line 96 of file itkRigid3DTransform.h.

template<class TScalarType = double>
typedef Superclass::JacobianType itk::Rigid3DTransform< TScalarType >::JacobianType
template<class TScalarType = double>
typedef Superclass::MatrixType itk::Rigid3DTransform< TScalarType >::MatrixType
template<class TScalarType = double>
typedef Superclass::MatrixValueType itk::Rigid3DTransform< TScalarType >::MatrixValueType

Standard matrix type for this class

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

Reimplemented in itkv3::Rigid3DTransform< TScalarType >.

Definition at line 89 of file itkRigid3DTransform.h.

template<class TScalarType = double>
typedef Superclass::OffsetType itk::Rigid3DTransform< TScalarType >::OffsetType
template<class TScalarType = double>
typedef Superclass::OutputCovariantVectorType itk::Rigid3DTransform< TScalarType >::OutputCovariantVectorType
template<class TScalarType = double>
typedef Superclass::OutputPointType itk::Rigid3DTransform< TScalarType >::OutputPointType
template<class TScalarType = double>
typedef Superclass::OutputVectorType itk::Rigid3DTransform< TScalarType >::OutputVectorType
template<class TScalarType = double>
typedef Superclass::OutputVectorValueType itk::Rigid3DTransform< TScalarType >::OutputVectorValueType

Standard vector type for this class

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

Reimplemented in itkv3::Rigid3DTransform< TScalarType >, and itk::QuaternionRigidTransform< TScalarType >.

Definition at line 80 of file itkRigid3DTransform.h.

template<class TScalarType = double>
typedef Superclass::OutputVnlVectorType itk::Rigid3DTransform< TScalarType >::OutputVnlVectorType
template<class TScalarType = double>
typedef Superclass::ParametersType itk::Rigid3DTransform< TScalarType >::ParametersType
template<class TScalarType = double>
typedef Superclass::ParametersValueType itk::Rigid3DTransform< TScalarType >::ParametersValueType
template<class TScalarType = double>
typedef SmartPointer< Self > itk::Rigid3DTransform< TScalarType >::Pointer
template<class TScalarType = double>
typedef Superclass::ScalarType itk::Rigid3DTransform< TScalarType >::ScalarType
template<class TScalarType = double>
typedef Rigid3DTransform itk::Rigid3DTransform< TScalarType >::Self
template<class TScalarType = double>
typedef MatrixOffsetTransformBase< TScalarType, 3, 3 > itk::Rigid3DTransform< TScalarType >::Superclass
template<class TScalarType = double>
typedef Superclass::TranslationType itk::Rigid3DTransform< TScalarType >::TranslationType

Constructor & Destructor Documentation

template<class TScalarType = double>
itk::Rigid3DTransform< TScalarType >::Rigid3DTransform ( const MatrixType matrix,
const OutputVectorType offset 
)
protected
template<class TScalarType = double>
itk::Rigid3DTransform< TScalarType >::Rigid3DTransform ( unsigned int  paramDim)
protected
template<class TScalarType = double>
itk::Rigid3DTransform< TScalarType >::Rigid3DTransform ( )
protected
template<class TScalarType = double>
itk::Rigid3DTransform< TScalarType >::~Rigid3DTransform ( )
protected
template<class TScalarType = double>
itk::Rigid3DTransform< TScalarType >::Rigid3DTransform ( const Self )
private

Member Function Documentation

template<class TScalarType = double>
virtual const char* itk::Rigid3DTransform< TScalarType >::GetNameOfClass ( ) const
virtual
template<class TScalarType = double>
itk::Rigid3DTransform< TScalarType >::itkLegacyMacro ( InputPointType BackTransform(const OutputPointType &point)  const)

Back transform by an affine transformation

This method finds the point or vector that maps to a given point or vector under the affine transformation defined by self. If no such point exists, an exception is thrown.

Deprecated:
Please use GetInverseTransform and then call the forward transform using the result.
template<class TScalarType = double>
itk::Rigid3DTransform< TScalarType >::itkLegacyMacro ( InputVectorType BackTransform(const OutputVectorType &vector)  const)

Back transform by an affine transformation

This method finds the point or vector that maps to a given point or vector under the affine transformation defined by self. If no such point exists, an exception is thrown.

Deprecated:
Please use GetInverseTransform and then call the forward transform using the result.
template<class TScalarType = double>
itk::Rigid3DTransform< TScalarType >::itkLegacyMacro ( InputVnlVectorType BackTransform(const OutputVnlVectorType &vector)  const)

Back transform by an affine transformation

This method finds the point or vector that maps to a given point or vector under the affine transformation defined by self. If no such point exists, an exception is thrown.

Deprecated:
Please use GetInverseTransform and then call the forward transform using the result.
template<class TScalarType = double>
itk::Rigid3DTransform< TScalarType >::itkLegacyMacro ( InputCovariantVectorType BackTransform(const OutputCovariantVectorType &vector)  const)

Back transform by an affine transformation

This method finds the point or vector that maps to a given point or vector under the affine transformation defined by self. If no such point exists, an exception is thrown.

Deprecated:
Please use GetInverseTransform and then call the forward transform using the result.
template<class TScalarType = double>
bool itk::Rigid3DTransform< TScalarType >::MatrixIsOrthogonal ( const MatrixType matrix,
double  tol = 1e-10 
)

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

template<class TScalarType = double>
void itk::Rigid3DTransform< TScalarType >::operator= ( const Self )
private
template<class TScalarType = double>
void itk::Rigid3DTransform< TScalarType >::PrintSelf ( std::ostream &  os,
Indent  indent 
) const
protectedvirtual
template<class TScalarType = double>
virtual void itk::Rigid3DTransform< TScalarType >::SetMatrix ( const MatrixType matrix)
virtual

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 in itk::ScaleSkewVersor3DTransform< TScalarType >, itk::Similarity3DTransform< TScalarType >, and itk::ScaleVersor3DTransform< TScalarType >.

template<class TScalarType = double>
virtual void itk::Rigid3DTransform< TScalarType >::SetParameters ( const ParametersType parameters)
virtual

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()

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

Reimplemented in itk::QuaternionRigidTransform< TScalarType >, itk::ScaleSkewVersor3DTransform< TScalarType >, itk::Similarity3DTransform< TScalarType >, itk::VersorTransform< TScalarType >, itk::ScaleVersor3DTransform< TScalarType >, itk::VersorRigid3DTransform< TScalarType >, itk::CenteredEuler3DTransform< TScalarType >, and itk::Euler3DTransform< TScalarType >.

template<class TScalarType = double>
void itk::Rigid3DTransform< TScalarType >::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

template<class TScalarType = double>
const unsigned int itk::Rigid3DTransform< TScalarType >::InputSpaceDimension = 3
static
template<class TScalarType = double>
const unsigned int itk::Rigid3DTransform< TScalarType >::OutputSpaceDimension = 3
static
template<class TScalarType = double>
const unsigned int itk::Rigid3DTransform< TScalarType >::ParametersDimension = 12
static
template<class TScalarType = double>
const unsigned int itk::Rigid3DTransform< TScalarType >::SpaceDimension = 3
static

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