#include <itkv3Rigid3DTransform.h>

Inheritance diagram for itkv3::Rigid3DTransform< TScalarType >:

Collaboration diagram for itkv3::Rigid3DTransform< TScalarType >:

Public Types
typedef Superclass::CenterType	CenterType
typedef itk::SmartPointer < const Self >	ConstPointer
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 itk::SmartPointer< Self >	Pointer
typedef Superclass::ScalarType	ScalarType
typedef Rigid3DTransform	Self
typedef itk::Rigid3DTransform < TScalarType >	Superclass
typedef Superclass::TranslationType	TranslationType
Public Types inherited from itk::Rigid3DTransform< TScalarType >
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 ::itk::LightObject::Pointer	CreateAnother (void) const
bool	GetInverse (Self *inverse) const
virtual const char *	GetNameOfClass () const
Public Member Functions inherited from itk::Rigid3DTransform< TScalarType >
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
const InputPointType &	GetCenter () const
virtual const ParametersType &	GetFixedParameters (void) const
virtual const MatrixType &	GetMatrix () const
const OutputVectorType &	GetOffset (void) const
const ParametersType &	GetParameters (void) const
const OutputVectorType &	GetTranslation (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)
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
Command *	GetCommand (unsigned long tag)
bool	GetDebug () const
MetaDataDictionary &	GetMetaDataDictionary (void)
const MetaDataDictionary &	GetMetaDataDictionary (void) const
virtual unsigned long	GetMTime () const
virtual const TimeStamp &	GetTimeStamp () 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 Member Functions
static Pointer	New ()

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::Rigid3DTransform< TScalarType >
Static Public Attributes inherited from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >
Static Public Attributes inherited from itk::Transform< TScalarType, NInputDimensions, NOutputDimensions >
Protected Member Functions inherited from itk::Rigid3DTransform< TScalarType >
void	PrintSelf (std::ostream &os, Indent indent) const
	Rigid3DTransform (const MatrixType &matrix, const OutputVectorType &offset)
	Rigid3DTransform (unsigned int paramDim)
	~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 InverseMatrixType &	GetInverseMatrix (void) const
const InverseMatrixType &	GetVarInverseMatrix (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 &)
virtual InverseTransformBasePointer	GetInverseTransform () const
	Rigid3DTransform ()

Additional Inherited Members

Detailed Description

template<class TScalarType = double>
class itkv3::Rigid3DTransform< TScalarType >

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 while allowing the user to turn off ITKV3_COMPATIBILITY.

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 proceedures 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 62 of file itkv3Rigid3DTransform.h.