Detailed Description

template<typename TScalar = double>
class itk::VersorRigid3DTransform< TScalar >

VersorRigid3DTransform of a vector space (e.g. space coordinates)

This transform applies a rotation and translation to the space 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 6 elements. The first 3 elements are the components of the versor representation of 3D rotation. 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.

Examples:: RegistrationITKv3/DeformableRegistration15.cxx, RegistrationITKv3/ImageRegistration8.cxx, RegistrationITKv4/DeformableRegistration15.cxx, and RegistrationITKv4/ImageRegistration8.cxx.

Definition at line 47 of file itkVersorRigid3DTransform.h.

Public Types
typedef Superclass::AngleType	AngleType

typedef Superclass::AxisType	AxisType

typedef Superclass::AxisValueType	AxisValueType

typedef Superclass::CenterType	CenterType

typedef SmartPointer< const Self >	ConstPointer

typedef Array< ParameterValueType >	DerivativeType

typedef Superclass::InputCovariantVectorType	InputCovariantVectorType

typedef Superclass::InputPointType	InputPointType

typedef Superclass::InputVectorType	InputVectorType

typedef Superclass::InputVnlVectorType	InputVnlVectorType

typedef Superclass::InverseMatrixType	InverseMatrixType

typedef Superclass::JacobianType	JacobianType

typedef Superclass::MatrixType	MatrixType

typedef Superclass::OffsetType	OffsetType

typedef Superclass::OutputCovariantVectorType	OutputCovariantVectorType

typedef Superclass::OutputPointType	OutputPointType

typedef Superclass::OutputVectorType	OutputVectorType

typedef Superclass::OutputVnlVectorType	OutputVnlVectorType

typedef Superclass::ParametersType	ParametersType

typedef Superclass::ParameterValueType	ParameterValueType

typedef SmartPointer< Self >	Pointer

typedef Superclass::ScalarType	ScalarType

typedef VersorRigid3DTransform	Self

typedef VersorTransform< TScalar >	Superclass

typedef Superclass::TranslationType	TranslationType

typedef Superclass::TranslationValueType	TranslationValueType

typedef VersorType::VectorType	VectorType

typedef Superclass::VersorType	VersorType

Public Types inherited from itk::VersorTransform< TScalar >
typedef VersorType::ValueType	AngleType

typedef VersorType::VectorType	AxisType

typedef AxisType::ValueType	AxisValueType

typedef Superclass::CenterType	CenterType

typedef 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 Superclass::JacobianType	JacobianType

typedef Superclass::MatrixType	MatrixType

typedef Superclass::OffsetType	OffsetType

typedef Superclass::OutputCovariantVectorType	OutputCovariantVectorType

typedef Superclass::OutputPointType	OutputPointType

typedef Superclass::OutputVectorType	OutputVectorType

typedef Superclass::OutputVnlVectorType	OutputVnlVectorType

typedef Superclass::ParametersType	ParametersType

typedef ParametersType::ValueType	ParameterValueType

typedef SmartPointer< Self >	Pointer

typedef Superclass::ScalarType	ScalarType

typedef VersorTransform	Self

typedef Rigid3DTransform< TScalar >	Superclass

typedef Versor< TScalar >	VersorType

typedef vnl_quaternion< TScalar >	VnlQuaternionType

Public Types inherited from itk::Rigid3DTransform< TScalar >
typedef Superclass::CenterType	CenterType

typedef 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 SmartPointer< Self >	Pointer

typedef Superclass::ScalarType	ScalarType

typedef Rigid3DTransform	Self

typedef MatrixOffsetTransformBase < TScalar, 3, 3 >	Superclass

typedef Superclass::TranslationType	TranslationType

Public Types inherited from itk::MatrixOffsetTransformBase< TScalar, 3, 3 >
typedef InputPointType	CenterType

typedef SmartPointer< const Self >	ConstPointer

typedef Superclass::InputDiffusionTensor3DType	InputDiffusionTensor3DType

typedef Superclass::InputSymmetricSecondRankTensorType	InputSymmetricSecondRankTensorType

typedef CovariantVector < TScalar, InputDiffusionTensor3DType::Dimension >	InputTensorEigenVectorType

typedef Superclass::InputVectorPixelType	InputVectorPixelType

typedef Matrix< TScalar, itkGetStaticConstMacro(InputSpaceDimension), itkGetStaticConstMacro(OutputSpaceDimension)>	InverseMatrixType

typedef InverseTransformBaseType::Pointer	InverseTransformBasePointer

typedef Superclass::InverseTransformBaseType	InverseTransformBaseType

typedef Superclass::JacobianType	JacobianType

typedef OutputVectorType	OffsetType

typedef OffsetType::ValueType	OffsetValueType

typedef Superclass::OutputDiffusionTensor3DType	OutputDiffusionTensor3DType

typedef Superclass::OutputSymmetricSecondRankTensorType	OutputSymmetricSecondRankTensorType

typedef Superclass::OutputVectorPixelType	OutputVectorPixelType

typedef Superclass::ParametersType	ParametersType

typedef Superclass::ParametersValueType	ParametersValueType

typedef SmartPointer< Self >	Pointer

typedef Superclass::ScalarType	ScalarType

typedef MatrixOffsetTransformBase	Self

typedef Transform< TScalar, NInputDimensions, NOutputDimensions >	Superclass

typedef Superclass::TransformCategoryType	TransformCategoryType

typedef OutputVectorType	TranslationType

typedef TranslationType::ValueType	TranslationValueType

typedef Vector< TScalar, itkGetStaticConstMacro(InputSpaceDimension)>	InputVectorType

typedef Vector< TScalar, itkGetStaticConstMacro(OutputSpaceDimension)>	OutputVectorType

typedef OutputVectorType::ValueType	OutputVectorValueType

typedef CovariantVector < TScalar, itkGetStaticConstMacro(InputSpaceDimension)>	InputCovariantVectorType

typedef CovariantVector < TScalar, itkGetStaticConstMacro(OutputSpaceDimension)>	OutputCovariantVectorType

typedef vnl_vector_fixed < TScalar, itkGetStaticConstMacro(InputSpaceDimension)>	InputVnlVectorType

typedef vnl_vector_fixed < TScalar, itkGetStaticConstMacro(OutputSpaceDimension)>	OutputVnlVectorType

typedef Point< TScalar, itkGetStaticConstMacro(InputSpaceDimension)>	InputPointType

typedef InputPointType::ValueType	InputPointValueType

typedef Point< TScalar, itkGetStaticConstMacro(OutputSpaceDimension)>	OutputPointType

typedef OutputPointType::ValueType	OutputPointValueType

typedef Matrix< TScalar, itkGetStaticConstMacro(OutputSpaceDimension), itkGetStaticConstMacro(InputSpaceDimension)>	MatrixType

typedef MatrixType::ValueType	MatrixValueType

Public Types inherited from itk::Transform< TScalar, NInputDimensions, NOutputDimensions >
typedef SmartPointer< const Self >	ConstPointer

typedef Array < ParametersValueType >	DerivativeType

typedef Matrix< double, itkGetStaticConstMacro(OutputSpaceDimension), itkGetStaticConstMacro(InputSpaceDimension)>	DirectionChangeMatrix

typedef CovariantVector < TScalar, NInputDimensions >	InputCovariantVectorType

typedef DiffusionTensor3D < TScalar >	InputDiffusionTensor3DType

typedef Matrix< double, itkGetStaticConstMacro(InputSpaceDimension), itkGetStaticConstMacro(InputSpaceDimension)>	InputDirectionMatrix

typedef Point< TScalar, NInputDimensions >	InputPointType

typedef SymmetricSecondRankTensor < TScalar, NInputDimensions >	InputSymmetricSecondRankTensorType

typedef VariableLengthVector < TScalar >	InputVectorPixelType

typedef Vector< TScalar, NInputDimensions >	InputVectorType

typedef vnl_vector_fixed < TScalar, NInputDimensions >	InputVnlVectorType

typedef InverseTransformBaseType::Pointer	InverseTransformBasePointer

typedef Transform< TScalar, NOutputDimensions, NInputDimensions >	InverseTransformBaseType

typedef Array2D < ParametersValueType >	JacobianType

typedef Matrix< TScalar, itkGetStaticConstMacro(OutputSpaceDimension), itkGetStaticConstMacro(InputSpaceDimension)>	MatrixType

typedef Superclass::NumberOfParametersType	NumberOfParametersType

typedef CovariantVector < TScalar, NOutputDimensions >	OutputCovariantVectorType

typedef DiffusionTensor3D < TScalar >	OutputDiffusionTensor3DType

typedef Matrix< double, itkGetStaticConstMacro(OutputSpaceDimension), itkGetStaticConstMacro(OutputSpaceDimension)>	OutputDirectionMatrix

typedef Point< TScalar, NOutputDimensions >	OutputPointType

typedef SymmetricSecondRankTensor < TScalar, NOutputDimensions >	OutputSymmetricSecondRankTensorType

typedef VariableLengthVector < TScalar >	OutputVectorPixelType

typedef Vector< TScalar, NOutputDimensions >	OutputVectorType

typedef vnl_vector_fixed < TScalar, NOutputDimensions >	OutputVnlVectorType

typedef Superclass::ParametersType	ParametersType

typedef Superclass::ParametersValueType	ParametersValueType

typedef SmartPointer< Self >	Pointer

typedef TScalar	ScalarType

typedef Transform	Self

typedef TransformBaseTemplate < TScalar >	Superclass

typedef Superclass::TransformCategoryType	TransformCategoryType

Public Types inherited from itk::TransformBaseTemplate< TScalar >
typedef SmartPointer< const Self >	ConstPointer

typedef IdentifierType	NumberOfParametersType

typedef OptimizerParameters < ParametersValueType >	ParametersType

typedef TScalar	ParametersValueType

typedef SmartPointer< Self >	Pointer

typedef TransformBaseTemplate	Self

typedef Object	Superclass

enum	TransformCategoryType { UnknownTransformCategory =0, Linear =1, BSpline =2, Spline =3, DisplacementField =4, VelocityField =5 }

Public Types inherited from itk::Object
typedef SmartPointer< const Self >	ConstPointer

typedef SmartPointer< Self >	Pointer

typedef Object	Self

typedef LightObject	Superclass

Public Types inherited from itk::LightObject
typedef SmartPointer< const Self >	ConstPointer

typedef SmartPointer< Self >	Pointer

typedef LightObject	Self

Public Member Functions
virtual void	ComputeJacobianWithRespectToParameters (const InputPointType &p, JacobianType &jacobian) const

virtual ::itk::LightObject::Pointer	CreateAnother (void) const

virtual const char *	GetNameOfClass () const

virtual const ParametersType &	GetParameters (void) const

void	SetParameters (const ParametersType &parameters)

virtual void	UpdateTransformParameters (const DerivativeType &update, TScalar factor=1.0)

Public Member Functions inherited from itk::VersorTransform< TScalar >
virtual ::itk::LightObject::Pointer	CreateAnother (void) const

const ParametersType &	GetParameters (void) const

virtual const VersorType &	GetVersor () const

virtual void	SetIdentity (void)

void	SetParameters (const ParametersType &parameters)

void	SetRotation (const VersorType &versor)

void	SetRotation (const AxisType &axis, AngleType angle)

Public Member Functions inherited from itk::Rigid3DTransform< TScalar >
bool	MatrixIsOrthogonal (const MatrixType &matrix, double tol=1e-10)

virtual void	SetMatrix (const MatrixType &matrix)

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< TScalar, 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 InputPointType &	GetCenter () const

virtual const ParametersType &	GetFixedParameters (void) const

virtual InverseTransformBasePointer	GetInverseTransform () const

virtual const MatrixType &	GetMatrix () const

const OutputVectorType &	GetOffset (void) const

const ParametersType &	GetParameters (void) const

virtual TransformCategoryType	GetTransformCategory () const

const OutputVectorType &	GetTranslation (void) const

virtual bool	IsLinear () const

virtual void	SetFixedParameters (const ParametersType &)

void	SetParameters (const ParametersType &parameters)

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< TScalar, NInputDimensions, NOutputDimensions >
virtual void	ComputeJacobianWithRespectToParametersCachedTemporaries (const InputPointType &p, JacobianType &jacobian, JacobianType &) const

unsigned int	GetInputSpaceDimension (void) const

bool	GetInverse (Self *) const

virtual NumberOfParametersType	GetNumberOfLocalParameters (void) const

virtual NumberOfParametersType	GetNumberOfParameters (void) const

unsigned int	GetOutputSpaceDimension (void) const

virtual std::string	GetTransformTypeAsString () 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

Public Member Functions inherited from itk::TransformBaseTemplate< TScalar >
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 ModifiedTimeType	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 ITK_OVERRIDE

void	RemoveAllObservers ()

void	RemoveObserver (unsigned long tag)

void	SetDebug (bool debugFlag) const

void	SetMetaDataDictionary (const MetaDataDictionary &rhs)

virtual void	SetReferenceCount (int) ITK_OVERRIDE

virtual void	UnRegister () const ITK_OVERRIDE

virtual void	SetObjectName (std::string _arg)

virtual const std::string &	GetObjectName () const

Public Member Functions inherited from itk::LightObject
virtual void	Delete ()

virtual int	GetReferenceCount () const

	itkCloneMacro (Self)

void	Print (std::ostream &os, Indent indent=0) const

Static Public Member Functions
static Pointer	New ()

Static Public Member Functions inherited from itk::VersorTransform< TScalar >
static Pointer	New ()

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

Static Public Member Functions inherited from itk::Object
static bool	GetGlobalWarningDisplay ()

static void	GlobalWarningDisplayOff ()

static void	GlobalWarningDisplayOn ()

static Pointer	New ()

static void	SetGlobalWarningDisplay (bool flag)

Static Public Member Functions inherited from itk::LightObject
static void	BreakOnError ()

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 = 6

Static Public Attributes inherited from itk::VersorTransform< TScalar >
static const unsigned int	SpaceDimension = 3

static const unsigned int	InputSpaceDimension = 3

static const unsigned int	OutputSpaceDimension = 3

static const unsigned int	ParametersDimension = 3

Static Public Attributes inherited from itk::Rigid3DTransform< TScalar >
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< TScalar, 3, 3 >
static const unsigned int	InputSpaceDimension

static const unsigned int	OutputSpaceDimension

static const unsigned int	ParametersDimension

Static Public Attributes inherited from itk::Transform< TScalar, NInputDimensions, NOutputDimensions >
static const unsigned int	InputSpaceDimension = NInputDimensions

static const unsigned int	OutputSpaceDimension = NOutputDimensions

Protected Member Functions
void	PrintSelf (std::ostream &os, Indent indent) const

	VersorRigid3DTransform (const MatrixType &matrix, const OutputVectorType &offset)

	VersorRigid3DTransform (unsigned int paramDim)

	VersorRigid3DTransform ()

	~VersorRigid3DTransform ()

Protected Member Functions inherited from itk::VersorTransform< TScalar >
void	ComputeMatrix (void)

void	ComputeMatrixParameters (void)

void	PrintSelf (std::ostream &os, Indent indent) const

void	SetVarVersor (const VersorType &newVersor)

	~VersorTransform ()

	VersorTransform (const MatrixType &matrix, const OutputVectorType &offset)

	VersorTransform (unsigned int paramDims)

	VersorTransform ()

Protected Member Functions inherited from itk::Rigid3DTransform< TScalar >
	Rigid3DTransform (const MatrixType &matrix, const OutputVectorType &offset)

	Rigid3DTransform (unsigned int paramDim)

	Rigid3DTransform ()

	~Rigid3DTransform ()

Protected Member Functions inherited from itk::MatrixOffsetTransformBase< TScalar, 3, 3 >
virtual void	ComputeOffset (void)

virtual void	ComputeTranslation (void)

const InverseMatrixType &	GetInverseMatrix (void) const

const InverseMatrixType &	GetVarInverseMatrix (void) const

bool	InverseMatrixIsOld (void) const

void	PrintSelf (std::ostream &s, Indent indent) 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< TScalar, 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::TransformBaseTemplate< TScalar >
	TransformBaseTemplate ()

virtual	~TransformBaseTemplate ()

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 &)

	VersorRigid3DTransform (const Self &)

Additional Inherited Members
Protected Types inherited from itk::LightObject
typedef int	InternalReferenceCountType

Protected Attributes inherited from itk::Transform< TScalar, NInputDimensions, NOutputDimensions >
DirectionChangeMatrix	m_DirectionChange

ParametersType	m_FixedParameters

ParametersType	m_Parameters

Protected Attributes inherited from itk::LightObject
InternalReferenceCountType	m_ReferenceCount

SimpleFastMutexLock	m_ReferenceCountLock