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	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 )

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< 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

overrideprotected

Print contents of an AdvancedMatrixOffsetTransformBase.

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< 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()