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itk::AdvancedRigid3DTransform< TScalarType > Class Template Reference
Components » Transforms

`#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 >:
[legend]

## Public Types

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

## 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< double, 3, 3 >
const InputPointType & | GetCenter () const
const FixedParametersType & | GetFixedParameters () const override
void | GetJacobian (const InputPointType &, JacobianType &, NonZeroJacobianIndicesType &) const override
void | GetJacobianOfSpatialHessian (const InputPointType &, JacobianOfSpatialHessianType &, NonZeroJacobianIndicesType &) const override
void | GetJacobianOfSpatialJacobian (const InputPointType &, 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)
void | SetCenter (const InputPointType &center)
void | SetFixedParameters (const FixedParametersType &) override
virtual void | SetIdentity ()
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
Public Member Functions inherited from itk::AdvancedTransform< double, NInputDimensions, NOutputDimensions >
void | ComputeJacobianWithRespectToParameters (const InputPointType &, JacobianType &) const override
virtual void | EvaluateJacobianWithImageGradientProduct (const InputPointType &inputPoint, const MovingImageGradientType &movingImageGradient, DerivativeType &imageJacobian, NonZeroJacobianIndicesType &nonZeroJacobianIndices) const
virtual bool | GetHasNonZeroJacobianOfSpatialHessian () const
virtual bool | GetHasNonZeroSpatialHessian () const
virtual NumberOfParametersType | GetNumberOfNonZeroJacobianIndices () const
| ITK_DISALLOW_COPY_AND_MOVE (AdvancedTransform)
| itkStaticConstMacro (InputSpaceDimension, unsigned int, NInputDimensions)

## Static Public Member Functions

static Pointer | New ()
Static Public Member Functions inherited from itk::AdvancedMatrixOffsetTransformBase< double, 3, 3 >
static Pointer | New ()

## Protected Member Functions

| AdvancedRigid3DTransform ()
| AdvancedRigid3DTransform (unsigned int paramDim)
void | PrintSelf (std::ostream &s, Indent indent) const override
| ~AdvancedRigid3DTransform () override=default
Protected Member Functions inherited from itk::AdvancedMatrixOffsetTransformBase< double, 3, 3 >
| 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< double, NInputDimensions, NOutputDimensions >
| AdvancedTransform ()=default
| ~AdvancedTransform () override=default

## Additional Inherited Members

Protected Attributes inherited from itk::AdvancedMatrixOffsetTransformBase< double, 3, 3 >
JacobianOfSpatialHessianType | m_JacobianOfSpatialHessian
JacobianOfSpatialJacobianType | m_JacobianOfSpatialJacobian
NonZeroJacobianIndicesType | m_NonZeroJacobianIndices
SpatialHessianType | m_SpatialHessian
Protected Attributes inherited from itk::AdvancedTransform< double, NInputDimensions, NOutputDimensions >
bool | m_HasNonZeroJacobianOfSpatialHessian
bool | m_HasNonZeroSpatialHessian

## Member Typedef Documentation

## ConstPointer

template<class TScalarType = double>

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

Definition at line 75 of file itkAdvancedRigid3DTransform.h.

## InternalMatrixType

template<class TScalarType = double>

## JacobianOfSpatialHessianType

template<class TScalarType = double>

## JacobianOfSpatialJacobianType

template<class TScalarType = double>

## NonZeroJacobianIndicesType

template<class TScalarType = double>

Types for the (Spatial)Jacobian/Hessian. Using an itk::FixedArray instead of an std::vector gives a performance gain for the SpatialHessianType.

## 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.

## SpatialHessianType

template<class TScalarType = double>

## SpatialJacobianType

template<class TScalarType = double>

## Superclass

template<class TScalarType = double>

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

Definition at line 73 of file itkAdvancedRigid3DTransform.h.

## Constructor & Destructor Documentation

## AdvancedRigid3DTransform() [1/2]

template<class TScalarType = double>

itk::AdvancedRigid3DTransform< TScalarType >::AdvancedRigid3DTransform | ( | unsigned int | paramDim | ) |

explicit protected

## AdvancedRigid3DTransform() [2/2]

template<class TScalarType = double>

itk::AdvancedRigid3DTransform< TScalarType >::AdvancedRigid3DTransform | ( |  | ) |

protected

## ~AdvancedRigid3DTransform()

template<class TScalarType = double>

itk::AdvancedRigid3DTransform< TScalarType >::~AdvancedRigid3DTransform | ( |  | ) |

override protected default

## 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< double, 3, 3 >.

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

## 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>

Pointer itk::AdvancedRigid3DTransform< TScalarType >::New | ( |  | ) |

static

New macro for creation of through a Smart Pointer

## PrintSelf()

template<class TScalarType = double>

void itk::AdvancedMatrixOffsetTransformBase< TScalarType, NInputDimensions, NOutputDimensions >::PrintSelf | ( | std::ostream & | s,
|  | Indent | indent ) const

override protected

Print contents of an AdvancedMatrixOffsetTransformBase.

## SetMatrix()

template<class TScalarType = double>

void itk::AdvancedRigid3DTransform< TScalarType >::SetMatrix | ( | const MatrixType & | matrix | ) |

override 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
  AdvancedMatrixOffsetTransformBase::SetMatrix()

Reimplemented from itk::AdvancedMatrixOffsetTransformBase< double, 3, 3 >.

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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