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itk::AdvancedRigid3DTransform< TScalarType > Class Template Reference

#include <itkAdvancedRigid3DTransform.h>

Detailed Description

template<class TScalarType = double>
class itk::AdvancedRigid3DTransform< TScalarType >

AdvancedRigid3DTransform 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 column-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 66 of file itkAdvancedRigid3DTransform.h.

Inheritance diagram for itk::AdvancedRigid3DTransform< TScalarType >:
Inheritance graph
[legend]

Public Types

using CenterType = InputPointType
 
using ConstPointer = SmartPointer< const Self >
 
using InverseMatrixType = Matrix< TScalarType, Self::InputSpaceDimension, Self::OutputSpaceDimension >
 
using MatrixType = Matrix< TScalarType, Self::OutputSpaceDimension, Self::InputSpaceDimension >
 
using OffsetType = OutputVectorType
 
using Pointer = SmartPointer< Self >
 
using Self = AdvancedRigid3DTransform
 
using Superclass = AdvancedMatrixOffsetTransformBase< TScalarType, 3, 3 >
 
using TranslationType = OutputVectorType
 
- Public Types inherited from itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >
using CenterType = InputPointType
 
using ConstPointer = SmartPointer< const Self >
 
using InverseMatrixType = Matrix< TScalarType, Self::InputSpaceDimension, Self::OutputSpaceDimension >
 
using MatrixType = Matrix< TScalarType, Self::OutputSpaceDimension, Self::InputSpaceDimension >
 
using OffsetType = OutputVectorType
 
using Pointer = SmartPointer< Self >
 
using Self = AdvancedMatrixOffsetTransformBase
 
using Superclass = AdvancedTransform< TScalarType, NInputDimensions, NOutputDimensions >
 
using TranslationType = OutputVectorType
 
- Public Types inherited from itk::AdvancedTransform< TScalarType, NInputDimensions, NOutputDimensions >
using ConstPointer = SmartPointer< const Self >
 
using InternalMatrixType = typename SpatialJacobianType::InternalMatrixType
 
using InverseTransformBaseType = typename Superclass::InverseTransformBaseType
 
using JacobianOfSpatialHessianType = std::vector< SpatialHessianType >
 
using JacobianOfSpatialJacobianType = std::vector< SpatialJacobianType >
 
using MovingImageGradientType = OutputCovariantVectorType
 
using MovingImageGradientValueType = typename MovingImageGradientType::ValueType
 
using NonZeroJacobianIndicesType = std::vector< unsigned long >
 
using Pointer = SmartPointer< Self >
 
using Self = AdvancedTransform
 
using SpatialHessianType = FixedArray< Matrix< ScalarType, InputSpaceDimension, InputSpaceDimension >, OutputSpaceDimension >
 
using SpatialJacobianType = Matrix< ScalarType, OutputSpaceDimension, InputSpaceDimension >
 
using Superclass = Transform< TScalarType, NInputDimensions, NOutputDimensions >
 
using TransformType = Transform< TScalarType, NInputDimensions, NOutputDimensions >
 
using TransformTypeConstPointer = typename TransformType::ConstPointer
 
using TransformTypePointer = typename TransformType::Pointer
 

Public Member Functions

virtual const char * GetClassName () const
 
 ITK_DISALLOW_COPY_AND_MOVE (AdvancedRigid3DTransform)
 
 itkStaticConstMacro (InputSpaceDimension, unsigned int, 3)
 
 itkStaticConstMacro (OutputSpaceDimension, unsigned int, 3)
 
 itkStaticConstMacro (ParametersDimension, unsigned int, 12)
 
 itkStaticConstMacro (SpaceDimension, unsigned int, 3)
 
bool MatrixIsOrthogonal (const MatrixType &matrix, double tol=1e-10)
 
void SetMatrix (const MatrixType &matrix) override
 
void SetParameters (const ParametersType &parameters) override
 
- Public Member Functions inherited from itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >
const InputPointType & GetCenter () const
 
virtual const char * GetClassName () const
 
const FixedParametersType & GetFixedParameters () const override
 
void GetJacobian (const InputPointType &, JacobianType &, NonZeroJacobianIndicesType &) const override
 
void GetJacobianOfSpatialHessian (const InputPointType &, JacobianOfSpatialHessianType &, NonZeroJacobianIndicesType &) const override
 
void GetJacobianOfSpatialHessian (const InputPointType &inputPoint, SpatialHessianType &sh, JacobianOfSpatialHessianType &jsh, NonZeroJacobianIndicesType &nonZeroJacobianIndices) const override
 
void GetJacobianOfSpatialJacobian (const InputPointType &, JacobianOfSpatialJacobianType &, NonZeroJacobianIndicesType &) const override
 
void GetJacobianOfSpatialJacobian (const InputPointType &, SpatialJacobianType &, JacobianOfSpatialJacobianType &, NonZeroJacobianIndicesType &) const override
 
const MatrixTypeGetMatrix () const
 
const ParametersType & GetParameters () const override
 
void GetSpatialHessian (const InputPointType &, SpatialHessianType &) const override
 
void GetSpatialJacobian (const InputPointType &, SpatialJacobianType &) const override
 
TransformCategoryEnum GetTransformCategory () const override
 
const OutputVectorType & GetTranslation () const
 
bool IsLinear () const override
 
 itkStaticConstMacro (InputSpaceDimension, unsigned int, NInputDimensions)
 
 itkStaticConstMacro (OutputSpaceDimension, unsigned int, NOutputDimensions)
 
 itkStaticConstMacro (ParametersDimension, unsigned int, NOutputDimensions *(NInputDimensions+1))
 
void SetCenter (const InputPointType &center)
 
void SetFixedParameters (const FixedParametersType &) override
 
virtual void SetIdentity ()
 
virtual void SetMatrix (const MatrixType &matrix)
 
void SetParameters (const ParametersType &parameters) override
 
void SetTranslation (const OutputVectorType &translation)
 
OutputCovariantVectorType TransformCovariantVector (const InputCovariantVectorType &vector) const override
 
OutputPointType TransformPoint (const InputPointType &point) const override
 
OutputVectorType TransformVector (const InputVectorType &vector) const override
 
OutputVnlVectorType TransformVector (const InputVnlVectorType &vector) const override
 
- Public Member Functions inherited from itk::AdvancedTransform< TScalarType, NInputDimensions, NOutputDimensions >
void ComputeJacobianWithRespectToParameters (const InputPointType &, JacobianType &) const override
 
virtual void EvaluateJacobianWithImageGradientProduct (const InputPointType &inputPoint, const MovingImageGradientType &movingImageGradient, DerivativeType &imageJacobian, NonZeroJacobianIndicesType &nonZeroJacobianIndices) const
 
virtual const char * GetClassName () const
 
virtual bool GetHasNonZeroJacobianOfSpatialHessian () const
 
virtual bool GetHasNonZeroSpatialHessian () const
 
virtual void GetJacobian (const InputPointType &inputPoint, JacobianType &j, NonZeroJacobianIndicesType &nonZeroJacobianIndices) const =0
 
virtual void GetJacobianOfSpatialHessian (const InputPointType &inputPoint, JacobianOfSpatialHessianType &jsh, NonZeroJacobianIndicesType &nonZeroJacobianIndices) const =0
 
virtual void GetJacobianOfSpatialHessian (const InputPointType &inputPoint, SpatialHessianType &sh, JacobianOfSpatialHessianType &jsh, NonZeroJacobianIndicesType &nonZeroJacobianIndices) const =0
 
virtual void GetJacobianOfSpatialJacobian (const InputPointType &inputPoint, JacobianOfSpatialJacobianType &jsj, NonZeroJacobianIndicesType &nonZeroJacobianIndices) const =0
 
virtual void GetJacobianOfSpatialJacobian (const InputPointType &inputPoint, SpatialJacobianType &sj, JacobianOfSpatialJacobianType &jsj, NonZeroJacobianIndicesType &nonZeroJacobianIndices) const =0
 
virtual NumberOfParametersType GetNumberOfNonZeroJacobianIndices () const
 
virtual void GetSpatialHessian (const InputPointType &inputPoint, SpatialHessianType &sh) const =0
 
virtual void GetSpatialJacobian (const InputPointType &inputPoint, SpatialJacobianType &sj) const =0
 
 ITK_DISALLOW_COPY_AND_MOVE (AdvancedTransform)
 
 itkStaticConstMacro (InputSpaceDimension, unsigned int, NInputDimensions)
 
 itkStaticConstMacro (OutputSpaceDimension, unsigned int, NOutputDimensions)
 

Static Public Member Functions

static Pointer New ()
 
- Static Public Member Functions inherited from itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >
static Pointer New ()
 

Protected Member Functions

 AdvancedRigid3DTransform ()
 
 AdvancedRigid3DTransform (unsigned int paramDim)
 
void PrintSelf (std::ostream &os, Indent indent) const override
 
 ~AdvancedRigid3DTransform () override=default
 
- Protected Member Functions inherited from itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >
 AdvancedMatrixOffsetTransformBase (const unsigned int paramDims=ParametersDimension)
 
virtual void ComputeMatrix ()
 
virtual void ComputeMatrixParameters ()
 
virtual void ComputeOffset ()
 
void ComputeTranslation ()
 
const OutputVectorType & GetOffset () const
 
void PrintSelf (std::ostream &s, Indent indent) const override
 
void SetVarMatrix (const MatrixType &matrix)
 
void SetVarTranslation (const OutputVectorType &translation)
 
 ~AdvancedMatrixOffsetTransformBase () override=default
 
- Protected Member Functions inherited from itk::AdvancedTransform< TScalarType, NInputDimensions, NOutputDimensions >
 AdvancedTransform ()=default
 
 ~AdvancedTransform () override=default
 

Additional Inherited Members

- Protected Attributes inherited from itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >
JacobianOfSpatialHessianType m_JacobianOfSpatialHessian
 
JacobianOfSpatialJacobianType m_JacobianOfSpatialJacobian
 
NonZeroJacobianIndicesType m_NonZeroJacobianIndices
 
SpatialHessianType m_SpatialHessian
 
- Protected Attributes inherited from itk::AdvancedTransform< TScalarType, NInputDimensions, NOutputDimensions >
bool m_HasNonZeroJacobianOfSpatialHessian { true }
 
bool m_HasNonZeroSpatialHessian { true }
 

Member Typedef Documentation

◆ CenterType

template<class TScalarType = double>
using itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >::CenterType = InputPointType

Typedefs.

Definition at line 147 of file itkAdvancedMatrixOffsetTransformBase.h.

◆ ConstPointer

template<class TScalarType = double>
using itk::AdvancedRigid3DTransform< TScalarType >::ConstPointer = SmartPointer<const Self>

Definition at line 75 of file itkAdvancedRigid3DTransform.h.

◆ InverseMatrixType

template<class TScalarType = double>
using itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >::InverseMatrixType = Matrix<TScalarType, Self::InputSpaceDimension, Self::OutputSpaceDimension>

Standard inverse matrix type for this class.

Definition at line 144 of file itkAdvancedMatrixOffsetTransformBase.h.

◆ MatrixType

template<class TScalarType = double>
using itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >::MatrixType = Matrix<TScalarType, Self::OutputSpaceDimension, Self::InputSpaceDimension>

Standard matrix type for this class.

Definition at line 141 of file itkAdvancedMatrixOffsetTransformBase.h.

◆ OffsetType

template<class TScalarType = double>
using itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >::OffsetType = OutputVectorType

Definition at line 148 of file itkAdvancedMatrixOffsetTransformBase.h.

◆ Pointer

template<class TScalarType = double>
using itk::AdvancedRigid3DTransform< TScalarType >::Pointer = SmartPointer<Self>

Definition at line 74 of file itkAdvancedRigid3DTransform.h.

◆ Self

Standard class typedefs.

Definition at line 72 of file itkAdvancedRigid3DTransform.h.

◆ Superclass

Definition at line 73 of file itkAdvancedRigid3DTransform.h.

◆ TranslationType

template<class TScalarType = double>
using itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >::TranslationType = OutputVectorType

Definition at line 149 of file itkAdvancedMatrixOffsetTransformBase.h.

Constructor & Destructor Documentation

◆ AdvancedRigid3DTransform() [1/2]

template<class TScalarType = double>
itk::AdvancedRigid3DTransform< TScalarType >::AdvancedRigid3DTransform ( unsigned int  paramDim)
explicitprotected

◆ AdvancedRigid3DTransform() [2/2]

template<class TScalarType = double>
itk::AdvancedRigid3DTransform< TScalarType >::AdvancedRigid3DTransform ( )
protected

◆ ~AdvancedRigid3DTransform()

template<class TScalarType = double>
itk::AdvancedRigid3DTransform< TScalarType >::~AdvancedRigid3DTransform ( )
overrideprotecteddefault

Member Function Documentation

◆ GetClassName()

template<class TScalarType = double>
virtual const char * itk::AdvancedRigid3DTransform< TScalarType >::GetClassName ( ) const
virtual

◆ ITK_DISALLOW_COPY_AND_MOVE()

template<class TScalarType = double>
itk::AdvancedRigid3DTransform< TScalarType >::ITK_DISALLOW_COPY_AND_MOVE ( AdvancedRigid3DTransform< TScalarType )

◆ itkStaticConstMacro() [1/4]

template<class TScalarType = double>
itk::AdvancedRigid3DTransform< TScalarType >::itkStaticConstMacro ( InputSpaceDimension  ,
unsigned int  ,
 
)

◆ itkStaticConstMacro() [2/4]

template<class TScalarType = double>
itk::AdvancedRigid3DTransform< TScalarType >::itkStaticConstMacro ( OutputSpaceDimension  ,
unsigned int  ,
 
)

◆ itkStaticConstMacro() [3/4]

template<class TScalarType = double>
itk::AdvancedRigid3DTransform< TScalarType >::itkStaticConstMacro ( ParametersDimension  ,
unsigned int  ,
12   
)

◆ itkStaticConstMacro() [4/4]

template<class TScalarType = double>
itk::AdvancedRigid3DTransform< TScalarType >::itkStaticConstMacro ( SpaceDimension  ,
unsigned int  ,
 
)

Dimension of the space.

◆ MatrixIsOrthogonal()

template<class TScalarType = double>
bool itk::AdvancedRigid3DTransform< TScalarType >::MatrixIsOrthogonal ( const MatrixType matrix,
double  tol = 1e-10 
)

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

◆ New()

template<class TScalarType = double>
static Pointer itk::AdvancedRigid3DTransform< TScalarType >::New ( )
static

New macro for creation of through a Smart Pointer

◆ PrintSelf()

template<class TScalarType = double>
void itk::AdvancedRigid3DTransform< TScalarType >::PrintSelf ( std::ostream &  os,
Indent  indent 
) const
overrideprotected

Print contents of an AdvancedRigid3DTransform

◆ SetMatrix()

template<class TScalarType = double>
void itk::AdvancedRigid3DTransform< TScalarType >::SetMatrix ( const MatrixType matrix)
overridevirtual

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
AdvancedMatrixOffsetTransformBase::SetMatrix()

Reimplemented from itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >.

Reimplemented in itk::AdvancedSimilarity3DTransform< TScalarType >, and itk::AdvancedSimilarity3DTransform< float >.

◆ SetParameters()

template<class TScalarType = double>
void itk::AdvancedRigid3DTransform< TScalarType >::SetParameters ( const ParametersType &  parameters)
override

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 column-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()


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