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 >:

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 MatrixType &	GetMatrix () 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

template<class TScalarType = double>

using itk::AdvancedRigid3DTransform< TScalarType >::Self = AdvancedRigid3DTransform

Standard class typedefs.

Definition at line 72 of file itkAdvancedRigid3DTransform.h.

Superclass

template<class TScalarType = double>

using itk::AdvancedRigid3DTransform< TScalarType >::Superclass = AdvancedMatrixOffsetTransformBase<TScalarType, 3, 3>

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

Run-time type information (and related methods).

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

Reimplemented in itk::GPUAdvancedEuler3DTransform< TScalarType, TParentTransform >, itk::GPUAdvancedSimilarity3DTransform< TScalarType, TParentTransform >, itk::AdvancedEuler3DTransform< TScalarType >, itk::AdvancedEuler3DTransform< float >, itk::AdvancedSimilarity3DTransform< TScalarType >, itk::AdvancedSimilarity3DTransform< float >, itk::AdvancedVersorRigid3DTransform< TScalarType >, itk::AdvancedVersorRigid3DTransform< double >, itk::AdvancedVersorRigid3DTransform< float >, itk::AdvancedVersorTransform< TScalarType >, itk::AdvancedVersorTransform< double >, and itk::AdvancedVersorTransform< float >.

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	,
		3
	)

itkStaticConstMacro() [2/4]

template<class TScalarType = double>

itk::AdvancedRigid3DTransform< TScalarType >::itkStaticConstMacro	(	OutputSpaceDimension	,
		unsigned int	,
		3
	)

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	,
		3
	)

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()