template<typename TParametersValueType = double>
class itk::Rigid3DTransform< TParametersValueType >
Rigid3DTransform 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 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.
The Rigid3DTransform is intended to be a base class that defines a consistent family of transform types that respect rigid transformations. Only classes that derive from Rigid3DTransform should be used.
- See also
- Euler3DTransform
-
QuaternionRigidTransform
-
VersorTransform
Definition at line 57 of file itkRigid3DTransform.h.
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using | ConstPointer = SmartPointer< const Self > |
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using | InverseTransformBasePointer = typename InverseTransformBaseType::Pointer |
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using | InverseTransformBaseType = typename Superclass::InverseTransformBaseType |
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using | Pointer = SmartPointer< Self > |
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using | Self = Rigid3DTransform |
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using | Superclass = MatrixOffsetTransformBase< TParametersValueType, 3, 3 > |
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using | CenterType = InputPointType |
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using | ConstPointer = SmartPointer< const Self > |
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using | InputCovariantVectorType = CovariantVector< double, Self::InputSpaceDimension > |
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using | InputPointType = Point< double, Self::InputSpaceDimension > |
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using | InputPointValueType = typename InputPointType::ValueType |
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using | InputTensorEigenVectorType = CovariantVector< double, InputDiffusionTensor3DType::Dimension > |
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using | InputVectorType = Vector< double, Self::InputSpaceDimension > |
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using | InputVnlVectorType = vnl_vector_fixed< double, Self::InputSpaceDimension > |
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using | InverseMatrixType = Matrix< double, Self::InputSpaceDimension, Self::OutputSpaceDimension > |
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using | InverseTransformBasePointer = typename InverseTransformBaseType::Pointer |
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using | InverseTransformBaseType = typename Superclass::InverseTransformBaseType |
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using | InverseTransformType = MatrixOffsetTransformBase< double, VOutputDimension, VInputDimension > |
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using | MatrixType = Matrix< double, Self::OutputSpaceDimension, Self::InputSpaceDimension > |
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using | MatrixValueType = typename MatrixType::ValueType |
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using | OffsetType = OutputVectorType |
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using | OffsetValueType = typename OffsetType::ValueType |
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using | OutputCovariantVectorType = CovariantVector< double, Self::OutputSpaceDimension > |
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using | OutputPointType = Point< double, Self::OutputSpaceDimension > |
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using | OutputPointValueType = typename OutputPointType::ValueType |
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using | OutputVectorType = Vector< double, Self::OutputSpaceDimension > |
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using | OutputVectorValueType = typename OutputVectorType::ValueType |
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using | OutputVnlVectorType = vnl_vector_fixed< double, Self::OutputSpaceDimension > |
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using | Pointer = SmartPointer< Self > |
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using | Self = MatrixOffsetTransformBase |
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using | Superclass = Transform< double, VInputDimension, VOutputDimension > |
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using | TranslationType = OutputVectorType |
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using | TranslationValueType = typename TranslationType::ValueType |
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using | ConstPointer = SmartPointer< const Self > |
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using | DerivativeType = Array< ParametersValueType > |
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using | DirectionChangeMatrix = Matrix< double, Self::OutputSpaceDimension, Self::InputSpaceDimension > |
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using | InputCovariantVectorType = CovariantVector< double, VInputDimension > |
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using | InputDiffusionTensor3DType = DiffusionTensor3D< double > |
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using | InputDirectionMatrix = Matrix< double, Self::InputSpaceDimension, Self::InputSpaceDimension > |
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using | InputPointType = Point< double, VInputDimension > |
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using | InputSymmetricSecondRankTensorType = SymmetricSecondRankTensor< double, VInputDimension > |
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using | InputVectorPixelType = VariableLengthVector< double > |
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using | InputVectorType = Vector< double, VInputDimension > |
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using | InputVnlVectorType = vnl_vector_fixed< double, VInputDimension > |
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using | InverseJacobianPositionType = vnl_matrix_fixed< ParametersValueType, VInputDimension, VOutputDimension > |
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using | InverseTransformBasePointer = typename InverseTransformBaseType::Pointer |
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using | InverseTransformBaseType = Transform< double, VOutputDimension, VInputDimension > |
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using | JacobianPositionType = vnl_matrix_fixed< ParametersValueType, VOutputDimension, VInputDimension > |
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using | JacobianType = Array2D< ParametersValueType > |
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using | MatrixType = Matrix< double, Self::OutputSpaceDimension, Self::InputSpaceDimension > |
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using | OutputCovariantVectorType = CovariantVector< double, VOutputDimension > |
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using | OutputDiffusionTensor3DType = DiffusionTensor3D< double > |
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using | OutputDirectionMatrix = Matrix< double, Self::OutputSpaceDimension, Self::OutputSpaceDimension > |
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using | OutputPointType = Point< double, VOutputDimension > |
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using | OutputSymmetricSecondRankTensorType = SymmetricSecondRankTensor< double, VOutputDimension > |
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using | OutputVectorPixelType = VariableLengthVector< double > |
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using | OutputVectorType = Vector< double, VOutputDimension > |
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using | OutputVnlVectorType = vnl_vector_fixed< double, VOutputDimension > |
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using | Pointer = SmartPointer< Self > |
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using | ScalarType = ParametersValueType |
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using | Self = Transform |
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using | Superclass = TransformBaseTemplate< double > |
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using | ConstPointer = SmartPointer< const Self > |
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using | FixedParametersType = OptimizerParameters< FixedParametersValueType > |
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using | FixedParametersValueType = double |
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using | NumberOfParametersType = IdentifierType |
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using | ParametersType = OptimizerParameters< ParametersValueType > |
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using | ParametersValueType = double |
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using | Pointer = SmartPointer< Self > |
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using | Self = TransformBaseTemplate |
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using | Superclass = Object |
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using | TransformCategoryEnum = TransformBaseTemplateEnums::TransformCategory |
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using | ConstPointer = SmartPointer< const Self > |
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using | Pointer = SmartPointer< Self > |
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using | Self = Object |
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using | Superclass = LightObject |
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using | ConstPointer = SmartPointer< const Self > |
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using | Pointer = SmartPointer< Self > |
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using | Self = LightObject |
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const char * | GetNameOfClass () const override |
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bool | MatrixIsOrthogonal (const MatrixType &matrix, const TParametersValueType tolerance=MatrixOrthogonalityTolerance< TParametersValueType >::GetTolerance()) |
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void | SetMatrix (const MatrixType &matrix) override |
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virtual void | SetMatrix (const MatrixType &matrix, const TParametersValueType tolerance) |
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void | SetParameters (const ParametersType ¶meters) override |
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void | Translate (const OffsetType &offset, bool pre=false) |
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void | Compose (const Self *other, bool pre=false) |
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void | ComputeInverseJacobianWithRespectToPosition (const InputPointType &x, InverseJacobianPositionType &jac) const override |
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void | ComputeJacobianWithRespectToParameters (const InputPointType &p, JacobianType &jacobian) const override |
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void | ComputeJacobianWithRespectToPosition (const InputPointType &x, JacobianPositionType &jac) const override |
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const InputPointType & | GetCenter () const |
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const FixedParametersType & | GetFixedParameters () const override |
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InverseTransformBasePointer | GetInverseTransform () const override |
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virtual const MatrixType & | GetMatrix () const |
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const char * | GetNameOfClass () const override |
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const OutputVectorType & | GetOffset () const |
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const ParametersType & | GetParameters () const override |
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TransformCategoryEnum | GetTransformCategory () const override |
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const OutputVectorType & | GetTranslation () const |
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bool | IsLinear () const override |
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void | SetFixedParameters (const FixedParametersType &) override |
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virtual void | SetIdentity () |
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void | SetParameters (const ParametersType ¶meters) override |
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OutputCovariantVectorType | TransformCovariantVector (const InputCovariantVectorType &vec) const override |
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OutputVectorPixelType | TransformCovariantVector (const InputVectorPixelType &vect) const override |
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OutputDiffusionTensor3DType | TransformDiffusionTensor3D (const InputDiffusionTensor3DType &tensor) const override |
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OutputVectorPixelType | TransformDiffusionTensor3D (const InputVectorPixelType &tensor) const override |
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OutputPointType | TransformPoint (const InputPointType &point) const override |
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OutputSymmetricSecondRankTensorType | TransformSymmetricSecondRankTensor (const InputSymmetricSecondRankTensorType &inputTensor) const override |
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OutputVectorPixelType | TransformSymmetricSecondRankTensor (const InputVectorPixelType &inputTensor) const override |
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OutputVectorPixelType | TransformVector (const InputVectorPixelType &vect) const override |
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OutputVectorType | TransformVector (const InputVectorType &vect) const override |
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OutputVnlVectorType | TransformVector (const InputVnlVectorType &vect) const override |
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void | SetOffset (const OutputVectorType &offset) |
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void | SetCenter (const InputPointType ¢er) |
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void | SetTranslation (const OutputVectorType &translation) |
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bool | GetInverse (InverseTransformType *inverse) const |
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virtual void | ComputeJacobianWithRespectToParametersCachedTemporaries (const InputPointType &p, JacobianType &jacobian, JacobianType &) const |
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void | CopyInFixedParameters (const FixedParametersValueType *const begin, const FixedParametersValueType *const end) override |
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void | CopyInParameters (const ParametersValueType *const begin, const ParametersValueType *const end) override |
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const FixedParametersType & | GetFixedParameters () const override |
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unsigned int | GetInputSpaceDimension () const override |
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virtual const std::string & | GetInputSpaceName () const |
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bool | GetInverse (Self *) const |
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virtual InverseTransformBasePointer | GetInverseTransform () const |
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const char * | GetNameOfClass () const override |
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virtual NumberOfParametersType | GetNumberOfFixedParameters () const |
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virtual NumberOfParametersType | GetNumberOfLocalParameters () const |
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NumberOfParametersType | GetNumberOfParameters () const override |
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unsigned int | GetOutputSpaceDimension () const override |
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virtual const std::string & | GetOutputSpaceName () const |
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const ParametersType & | GetParameters () const override |
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TransformCategoryEnum | GetTransformCategory () const override |
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std::string | GetTransformTypeAsString () const override |
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virtual bool | IsLinear () const |
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| itkCloneMacro (Self) |
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void | SetFixedParameters (const FixedParametersType &) override=0 |
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virtual void | SetInputSpaceName (std::string _arg) |
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virtual void | SetOutputSpaceName (std::string _arg) |
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void | SetParameters (const ParametersType &) override=0 |
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void | SetParametersByValue (const ParametersType &p) override |
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virtual OutputCovariantVectorType | TransformCovariantVector (const InputCovariantVectorType &) const |
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virtual OutputCovariantVectorType | TransformCovariantVector (const InputCovariantVectorType &vector, const InputPointType &point) const |
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virtual OutputVectorPixelType | TransformCovariantVector (const InputVectorPixelType &) const |
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virtual OutputVectorPixelType | TransformCovariantVector (const InputVectorPixelType &vector, const InputPointType &point) const |
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virtual OutputDiffusionTensor3DType | TransformDiffusionTensor3D (const InputDiffusionTensor3DType &) const |
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virtual OutputDiffusionTensor3DType | TransformDiffusionTensor3D (const InputDiffusionTensor3DType &inputTensor, const InputPointType &point) const |
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virtual OutputVectorPixelType | TransformDiffusionTensor3D (const InputVectorPixelType &) const |
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virtual OutputVectorPixelType | TransformDiffusionTensor3D (const InputVectorPixelType &inputTensor, const InputPointType &point) const |
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virtual OutputPointType | TransformPoint (const InputPointType &) const=0 |
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virtual OutputSymmetricSecondRankTensorType | TransformSymmetricSecondRankTensor (const InputSymmetricSecondRankTensorType &) const |
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virtual OutputSymmetricSecondRankTensorType | TransformSymmetricSecondRankTensor (const InputSymmetricSecondRankTensorType &inputTensor, const InputPointType &point) const |
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virtual OutputVectorPixelType | TransformSymmetricSecondRankTensor (const InputVectorPixelType &) const |
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virtual OutputVectorPixelType | TransformSymmetricSecondRankTensor (const InputVectorPixelType &inputTensor, const InputPointType &point) const |
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virtual OutputVectorPixelType | TransformVector (const InputVectorPixelType &) const |
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virtual OutputVectorPixelType | TransformVector (const InputVectorPixelType &vector, const InputPointType &point) const |
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virtual OutputVectorType | TransformVector (const InputVectorType &) const |
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virtual OutputVectorType | TransformVector (const InputVectorType &vector, const InputPointType &point) const |
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virtual OutputVnlVectorType | TransformVector (const InputVnlVectorType &) const |
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virtual OutputVnlVectorType | TransformVector (const InputVnlVectorType &vector, const InputPointType &point) const |
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virtual void | UpdateTransformParameters (const DerivativeType &update, ParametersValueType factor=1.0) |
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virtual void | ComputeJacobianWithRespectToParameters (const InputPointType &, JacobianType &) const=0 |
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virtual void | ComputeJacobianWithRespectToPosition (const InputPointType &, JacobianPositionType &) const |
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| itkLegacyMacro (virtual void ComputeJacobianWithRespectToPosition(const InputPointType &x, JacobianType &jacobian) const) |
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| itkLegacyMacro (virtual void ComputeInverseJacobianWithRespectToPosition(const InputPointType &x, JacobianType &jacobian) const) |
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virtual void | ComputeInverseJacobianWithRespectToPosition (const InputPointType &pnt, InverseJacobianPositionType &jacobian) const |
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std::enable_if_t< TImage::ImageDimension==VInputDimension &&TImage::ImageDimension==VOutputDimension, void > | ApplyToImageMetadata (TImage *image) const |
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std::enable_if_t< TImage::ImageDimension==VInputDimension &&TImage::ImageDimension==VOutputDimension, void > | ApplyToImageMetadata (SmartPointer< TImage > image) const |
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virtual void | CopyInFixedParameters (const FixedParametersValueType *const begin, const FixedParametersValueType *const end)=0 |
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virtual void | CopyInParameters (const ParametersValueType *const begin, const ParametersValueType *const end)=0 |
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virtual const FixedParametersType & | GetFixedParameters () const=0 |
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virtual unsigned int | GetInputSpaceDimension () const=0 |
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const char * | GetNameOfClass () const override |
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virtual NumberOfParametersType | GetNumberOfParameters () const=0 |
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virtual unsigned int | GetOutputSpaceDimension () const=0 |
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virtual const ParametersType & | GetParameters () const=0 |
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virtual TransformCategoryEnum | GetTransformCategory () const=0 |
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virtual std::string | GetTransformTypeAsString () const=0 |
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virtual void | SetFixedParameters (const FixedParametersType &)=0 |
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virtual void | SetParameters (const ParametersType &)=0 |
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virtual void | SetParametersByValue (const ParametersType &p)=0 |
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unsigned long | AddObserver (const EventObject &event, Command *) |
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unsigned long | AddObserver (const EventObject &event, Command *) const |
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unsigned long | AddObserver (const EventObject &event, std::function< void(const EventObject &)> function) const |
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LightObject::Pointer | CreateAnother () const override |
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virtual void | DebugOff () const |
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virtual void | DebugOn () const |
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Command * | GetCommand (unsigned long tag) |
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bool | GetDebug () const |
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MetaDataDictionary & | GetMetaDataDictionary () |
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const MetaDataDictionary & | GetMetaDataDictionary () const |
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virtual ModifiedTimeType | GetMTime () const |
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const char * | GetNameOfClass () const override |
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virtual const TimeStamp & | GetTimeStamp () const |
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bool | HasObserver (const EventObject &event) const |
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void | InvokeEvent (const EventObject &) |
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void | InvokeEvent (const EventObject &) const |
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virtual void | Modified () const |
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void | Register () const override |
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void | RemoveAllObservers () |
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void | RemoveObserver (unsigned long tag) |
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void | SetDebug (bool debugFlag) const |
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void | SetReferenceCount (int) override |
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void | UnRegister () const noexcept override |
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void | SetMetaDataDictionary (const MetaDataDictionary &rhs) |
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void | SetMetaDataDictionary (MetaDataDictionary &&rrhs) |
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virtual void | SetObjectName (std::string _arg) |
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virtual const std::string & | GetObjectName () const |
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Pointer | Clone () const |
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virtual Pointer | CreateAnother () const |
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virtual void | Delete () |
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virtual const char * | GetNameOfClass () const |
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virtual int | GetReferenceCount () const |
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void | Print (std::ostream &os, Indent indent=0) const |
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virtual void | Register () const |
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virtual void | SetReferenceCount (int) |
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virtual void | UnRegister () const noexcept |
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void | PrintSelf (std::ostream &os, Indent indent) const override |
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| Rigid3DTransform () |
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| Rigid3DTransform (const MatrixType &matrix, const OutputVectorType &offset) |
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| Rigid3DTransform (unsigned int paramDim) |
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| ~Rigid3DTransform () override=default |
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virtual void | ComputeMatrix () |
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virtual void | ComputeMatrixParameters () |
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virtual void | ComputeOffset () |
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virtual void | ComputeTranslation () |
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const InverseMatrixType & | GetInverseMatrix () const |
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virtual bool | GetSingular () const |
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const InverseMatrixType & | GetVarInverseMatrix () const |
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bool | InverseMatrixIsOld () const |
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void | PrintSelf (std::ostream &os, Indent indent) const override |
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void | SetVarCenter (const InputPointType ¢er) |
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void | SetVarInverseMatrix (const InverseMatrixType &matrix) const |
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void | SetVarMatrix (const MatrixType &matrix) |
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void | SetVarOffset (const OutputVectorType &offset) |
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void | SetVarTranslation (const OutputVectorType &translation) |
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| ~MatrixOffsetTransformBase () override=default |
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| MatrixOffsetTransformBase (const MatrixType &matrix, const OutputVectorType &offset) |
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| MatrixOffsetTransformBase (unsigned int paramDims=ParametersDimension) |
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LightObject::Pointer | InternalClone () const override |
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OutputDiffusionTensor3DType | PreservationOfPrincipalDirectionDiffusionTensor3DReorientation (const InputDiffusionTensor3DType &, const InverseJacobianPositionType &) const |
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| Transform ()=default |
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| Transform (NumberOfParametersType numberOfParameters) |
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| ~Transform () override=default |
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| TransformBaseTemplate ()=default |
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| ~TransformBaseTemplate () override=default |
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| Object () |
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bool | PrintObservers (std::ostream &os, Indent indent) const |
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void | PrintSelf (std::ostream &os, Indent indent) const override |
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virtual void | SetTimeStamp (const TimeStamp &timeStamp) |
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| ~Object () override |
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virtual LightObject::Pointer | InternalClone () const |
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| LightObject () |
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virtual void | PrintHeader (std::ostream &os, Indent indent) const |
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virtual void | PrintSelf (std::ostream &os, Indent indent) const |
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virtual void | PrintTrailer (std::ostream &os, Indent indent) const |
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virtual | ~LightObject () |
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