Main Page Groups Namespace List Class Hierarchy Alphabetical List Compound List File List Namespace Members Compound Members File Members Concepts

itk::Rigid3DTransform< TScalarType > Class Template Reference
[Transforms]

#include <itkRigid3DTransform.h>

Inheritance diagram for itk::Rigid3DTransform< TScalarType >:

[legend]Collaboration diagram for itk::Rigid3DTransform< TScalarType >:

[legend]List of all members.

Detailed Description

template<class TScalarType = double>
class itk::Rigid3DTransform< TScalarType >

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 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.

Member Typedef Documentation

template<class TScalarType = double>

typedef Superclass::CenterType itk::Rigid3DTransform< TScalarType >::CenterType

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Reimplemented in itk::CenteredEuler3DTransform< TScalarType >, itk::Euler3DTransform< TScalarType >, itk::QuaternionRigidTransform< TScalarType >, itk::ScaleSkewVersor3DTransform< TScalarType >, itk::Similarity3DTransform< TScalarType >, itk::VersorRigid3DTransform< TScalarType >, and itk::VersorTransform< TScalarType >.

Definition at line 87 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef SmartPointer<const Self> itk::Rigid3DTransform< TScalarType >::ConstPointer

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 57 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef Superclass::InputCovariantVectorType itk::Rigid3DTransform< TScalarType >::InputCovariantVectorType

Standard covariant vector type for this class

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 78 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef Superclass::InputPointType itk::Rigid3DTransform< TScalarType >::InputPointType

Standard coordinate point type for this class

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 83 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef Superclass::InputVectorType itk::Rigid3DTransform< TScalarType >::InputVectorType

Standard vector type for this class

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 75 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef Superclass::InputVnlVectorType itk::Rigid3DTransform< TScalarType >::InputVnlVectorType

Standard vnl_vector type for this class

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 81 of file itkRigid3DTransform.h.

typedef int itk::LightObject::InternalReferenceCountType [protected, inherited]

Define the type of the reference count according to the target. This allows the use of atomic operations

Definition at line 139 of file itkLightObject.h.

template<class TScalarType = double>

typedef Superclass::InverseMatrixType itk::Rigid3DTransform< TScalarType >::InverseMatrixType

Standard inverse matrix type for this class

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 86 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef Superclass::JacobianType itk::Rigid3DTransform< TScalarType >::JacobianType

Jacobian Type

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 73 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef Superclass::MatrixType itk::Rigid3DTransform< TScalarType >::MatrixType

Standard matrix type for this class

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 85 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef Superclass::OffsetType itk::Rigid3DTransform< TScalarType >::OffsetType

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 89 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef Superclass::OutputCovariantVectorType itk::Rigid3DTransform< TScalarType >::OutputCovariantVectorType

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 80 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef Superclass::OutputPointType itk::Rigid3DTransform< TScalarType >::OutputPointType

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 84 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef Superclass::OutputVectorType itk::Rigid3DTransform< TScalarType >::OutputVectorType

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 76 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef Superclass::OutputVnlVectorType itk::Rigid3DTransform< TScalarType >::OutputVnlVectorType

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 82 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef Superclass::ParametersType itk::Rigid3DTransform< TScalarType >::ParametersType

Parameters Type

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 72 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef SmartPointer<Self> itk::Rigid3DTransform< TScalarType >::Pointer

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 56 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef Superclass::ScalarType itk::Rigid3DTransform< TScalarType >::ScalarType

Standard scalar type for this class

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 74 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef Rigid3DTransform itk::Rigid3DTransform< TScalarType >::Self

Standard class typedefs.

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 54 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef MatrixOffsetTransformBase< TScalarType, 3, 3 > itk::Rigid3DTransform< TScalarType >::Superclass

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 55 of file itkRigid3DTransform.h.

template<class TScalarType = double>

typedef Superclass::TranslationType itk::Rigid3DTransform< TScalarType >::TranslationType

Reimplemented from itk::MatrixOffsetTransformBase< TScalarType, 3, 3 >.

Definition at line 88 of file itkRigid3DTransform.h.

Constructor & Destructor Documentation

template<class TScalarType = double>

itk::Rigid3DTransform< TScalarType >::Rigid3DTransform	(	unsigned int	spaceDim,
		unsigned int	paramDim
	)			`[protected]`

template<class TScalarType = double>

itk::Rigid3DTransform< TScalarType >::Rigid3DTransform	(	const MatrixType &	matrix,
		const OutputVectorType &	offset
	)			`[protected]`

template<class TScalarType = double>

itk::Rigid3DTransform< TScalarType >::Rigid3DTransform ( ) [protected]

template<class TScalarType = double>

itk::Rigid3DTransform< TScalarType >::~Rigid3DTransform ( ) [protected]

Member Function Documentation

unsigned long itk::Object::AddObserver	(	const EventObject &	event,
		Command *
	)			const `[inherited]`

unsigned long itk::Object::AddObserver	(	const EventObject &	event,
		Command *
	)			`[inherited]`

Allow people to add/remove/invoke observers (callbacks) to any ITK object. This is an implementation of the subject/observer design pattern. An observer is added by specifying an event to respond to and an itk::Command to execute. It returns an unsigned long tag which can be used later to remove the event or retrieve the command. The memory for the Command becomes the responsibility of this object, so don't pass the same instance of a command to two different objects

template<class TScalarType = double>

InputCovariantVectorType itk::Rigid3DTransform< TScalarType >::BackTransform ( const OutputCovariantVectorType & vector ) const

template<class TScalarType = double>

InputVnlVectorType itk::Rigid3DTransform< TScalarType >::BackTransform ( const OutputVnlVectorType & vector ) const

template<class TScalarType = double>

InputVectorType itk::Rigid3DTransform< TScalarType >::BackTransform ( const OutputVectorType & vector ) const

template<class TScalarType = double>

InputPointType itk::Rigid3DTransform< TScalarType >::BackTransform ( const OutputPointType & point ) const

Back transform by an affine transformation

This method finds the point or vector that maps to a given point or vector under the affine transformation defined by self. If no such point exists, an exception is thrown.

Deprecated:: Please use GetInverseTransform and then call the forward transform using the result.

static void itk::LightObject::BreakOnError ( ) [static, inherited]

This method is called when itkExceptionMacro executes. It allows the debugger to break on error.

void itk::MatrixOffsetTransformBase< TScalarType , NInputDimensions, NOutputDimensions >::Compose	(	const Self *	other,
		bool	pre = `0`
	)			`[inherited]`

Compose with another MatrixOffsetTransformBase

This method composes self with another MatrixOffsetTransformBase of the same dimension, modifying self to be the composition of self and other. If the argument pre is true, then other is precomposed with self; that is, the resulting transformation consists of first applying other to the source, followed by self. If pre is false or omitted, then other is post-composed with self; that is the resulting transformation consists of first applying self to the source, followed by other. This updates the Translation based on current center.

virtual void itk::MatrixOffsetTransformBase< TScalarType , NInputDimensions, NOutputDimensions >::ComputeMatrix ( void ) [protected, virtual, inherited]

Reimplemented in itk::Euler3DTransform< TScalarType >, itk::QuaternionRigidTransform< TScalarType >, itk::ScaleSkewVersor3DTransform< TScalarType >, itk::Similarity3DTransform< TScalarType >, and itk::VersorTransform< TScalarType >.

virtual void itk::MatrixOffsetTransformBase< TScalarType , NInputDimensions, NOutputDimensions >::ComputeMatrixParameters ( void ) [protected, virtual, inherited]

virtual void itk::MatrixOffsetTransformBase< TScalarType , NInputDimensions, NOutputDimensions >::ComputeOffset ( void ) [protected, virtual, inherited]

virtual void itk::MatrixOffsetTransformBase< TScalarType , NInputDimensions, NOutputDimensions >::ComputeTranslation ( void ) [protected, virtual, inherited]

virtual LightObject::Pointer itk::Object::CreateAnother ( ) const [virtual, inherited]

Create an object from an instance, potentially deferring to a factory. This method allows you to create an instance of an object that is exactly the same type as the referring object. This is useful in cases where an object has been cast back to a base class.

Reimplemented from itk::LightObject.

virtual void itk::Object::DebugOff ( ) const [virtual, inherited]

Turn debugging output off.

virtual void itk::Object::DebugOn ( ) const [virtual, inherited]

Turn debugging output on.

virtual void itk::LightObject::Delete ( ) [virtual, inherited]

Delete an itk object. This method should always be used to delete an object when the new operator was used to create it. Using the C delete method will not work with reference counting.

const InputPointType& itk::MatrixOffsetTransformBase< TScalarType , NInputDimensions, NOutputDimensions >::GetCenter ( void ) const [inline, inherited]

Get center of rotation of the MatrixOffsetTransformBase

This method returns the point used as the fixed center of rotation for the MatrixOffsetTransformBase. To define an affine transform, you must set the matrix, center, and translation OR the matrix and offset

Definition at line 250 of file itkMatrixOffsetTransformBase.h.

Command* itk::Object::GetCommand ( unsigned long tag ) [inherited]

Get the command associated with the given tag. NOTE: This returns a pointer to a Command, but it is safe to asign this to a Command::Pointer. Since Command inherits from LightObject, at this point in the code, only a pointer or a reference to the Command can be used.

bool itk::Object::GetDebug ( ) const [inherited]

Get the value of the debug flag.

virtual const ParametersType& itk::MatrixOffsetTransformBase< TScalarType , NInputDimensions, NOutputDimensions >::GetFixedParameters ( void ) const [virtual, inherited]

Get the Fixed Parameters.

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

static bool itk::Object::GetGlobalWarningDisplay ( ) [static, inherited]

template<class TScalarType, unsigned int NInputDimensions = 3, unsigned int NOutputDimensions = 3>

unsigned int itk::Transform< TScalarType, NInputDimensions, NOutputDimensions >::GetInputSpaceDimension ( void ) const [inline, virtual, inherited]

Get the size of the input space

Implements itk::TransformBase.

Definition at line 87 of file itkTransform.h.

bool itk::MatrixOffsetTransformBase< TScalarType , NInputDimensions, NOutputDimensions >::GetInverse ( Self * inverse ) const [inherited]

Create inverse of an affine transformation

This populates the parameters an affine transform such that the transform is the inverse of self. If self is not invertible, an exception is thrown. Note that by default the inverese transform is centered at the origin. If you need to compute the inverse centered at a point, p,

 transform2->SetCenter( p );
 transform1->GetInverse( transform2 );

transform2 will now contain the inverse of transform1 and will with its center set to p. Flipping the two statements will produce an incorrect transform.

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

const InverseMatrixType& itk::MatrixOffsetTransformBase< TScalarType , NInputDimensions, NOutputDimensions >::GetInverseMatrix ( void ) const [inherited]

Deprecated:: Use GetInverse instead.

Method will eventually be made a protected member function

Reimplemented in itk::QuaternionRigidTransform< TScalarType >.

const JacobianType& itk::MatrixOffsetTransformBase< TScalarType , NInputDimensions, NOutputDimensions >::GetJacobian ( const InputPointType & point ) const [virtual, inherited]

Compute the Jacobian of the transformation

This method computes the Jacobian matrix of the transformation. given point or vector, returning the transformed point or vector. The rank of the Jacobian will also indicate if the transform is invertible at this point.

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

const MatrixType& itk::MatrixOffsetTransformBase< TScalarType , NInputDimensions, NOutputDimensions >::GetMatrix ( void ) const [inline, inherited]

Get matrix of an MatrixOffsetTransformBase

This method returns the value of the matrix of the MatrixOffsetTransformBase. To define an affine transform, you must set the matrix, center, and translation OR the matrix and offset

Definition at line 193 of file itkMatrixOffsetTransformBase.h.

const MetaDataDictionary& itk::Object::GetMetaDataDictionary ( void ) const [inherited]

Returns:: A constant reference to this objects MetaDataDictionary.

MetaDataDictionary& itk::Object::GetMetaDataDictionary ( void ) [inherited]

Returns:: A reference to this objects MetaDataDictionary.

Warning:: This reference may be changed.

virtual unsigned long itk::Object::GetMTime ( ) const [virtual, inherited]

Return this objects modified time.

Reimplemented in itk::ImageRegistrationMethod< TFixedImage, TMovingImage >, itk::ImageToSpatialObjectRegistrationMethod< TFixedImage, TMovingSpatialObject >, itk::MultiResolutionImageRegistrationMethod< TFixedImage, TMovingImage >, itk::PointSetToImageRegistrationMethod< TFixedPointSet, TMovingImage >, itk::PointSetToPointSetRegistrationMethod< TFixedPointSet, TMovingPointSet >, itk::DeformationFieldSource< TOutputImage >, itk::InverseDeformationFieldImageFilter< TInputImage, TOutputImage >, itk::ResampleImageFilter< TInputImage, TOutputImage, TInterpolatorPrecisionType >, itk::VectorResampleImageFilter< TInputImage, TOutputImage, TInterpolatorPrecisionType >, itk::BoundingBox< TPointIdentifier, VPointDimension, TCoordRep, TPointsContainer >, itk::ImageAdaptor< TImage, TAccessor >,


Public Types
typedef Superclass::CenterType	CenterType
typedef SmartPointer< const Self >	ConstPointer
typedef Superclass::InputCovariantVectorType	InputCovariantVectorType
typedef Superclass::InputPointType	InputPointType
typedef Superclass::InputVectorType	InputVectorType
typedef Superclass::InputVnlVectorType	InputVnlVectorType
typedef Superclass::InverseMatrixType	InverseMatrixType
typedef Superclass::JacobianType	JacobianType
typedef Superclass::MatrixType	MatrixType
typedef Superclass::OffsetType	OffsetType
typedef Superclass::OutputCovariantVectorType	OutputCovariantVectorType
typedef Superclass::OutputPointType	OutputPointType
typedef Superclass::OutputVectorType	OutputVectorType
typedef Superclass::OutputVnlVectorType	OutputVnlVectorType
typedef Superclass::ParametersType	ParametersType
typedef SmartPointer< Self >	Pointer
typedef Superclass::ScalarType	ScalarType
typedef Rigid3DTransform	Self
typedef MatrixOffsetTransformBase< TScalarType, 3, 3 >	Superclass
typedef Superclass::TranslationType	TranslationType
Public Member Functions
void	Compose (const Self *other, bool pre=0)
virtual LightObject::Pointer	CreateAnother () const
virtual void	DebugOff () const
virtual void	DebugOn () const
virtual void	Delete ()
const InputPointType &	GetCenter () const
Command *	GetCommand (unsigned long tag)
bool	GetDebug () const
virtual const ParametersType &	GetFixedParameters (void) const
unsigned int	GetInputSpaceDimension (void) const
bool	GetInverse (Self *inverse) const
const InverseMatrixType &	GetInverseMatrix (void) const
const JacobianType &	GetJacobian (const InputPointType &point) const
const MatrixType &	GetMatrix () const
const MetaDataDictionary &	GetMetaDataDictionary (void) const
MetaDataDictionary &	GetMetaDataDictionary (void)
virtual unsigned long	GetMTime () const
virtual const char *	GetNameOfClass () const
virtual unsigned int	GetNumberOfParameters (void) const
const OutputVectorType &	GetOffset (void) const
unsigned int	GetOutputSpaceDimension (void) const
const ParametersType &	GetParameters (void) const
virtual int	GetReferenceCount () const
const MatrixType &	GetRotationMatrix ()
virtual std::string	GetTransformTypeAsString () const
const OutputVectorType &	GetTranslation (void) const
bool	HasObserver (const EventObject &event) const
void	InvokeEvent (const EventObject &) const
void	InvokeEvent (const EventObject &)
virtual bool	IsLinear () const
	itkStaticConstMacro (ParametersDimension, unsigned int, NOutputDimensions *(NInputDimensions+1))
	itkStaticConstMacro (OutputSpaceDimension, unsigned int, NOutputDimensions)
	itkStaticConstMacro (InputSpaceDimension, unsigned int, NInputDimensions)
bool	MatrixIsOrthogonal (const MatrixType &matrix, double tol=1e-10)
virtual void	Modified () const
void	Print (std::ostream &os, Indent indent=0) const
virtual void	Register () const
void	RemoveAllObservers ()
void	RemoveObserver (unsigned long tag)
void	SetCenter (const InputPointType &center)
void	SetDebug (bool debugFlag) const
virtual void	SetFixedParameters (const ParametersType &)=0
virtual void	SetFixedParameters (const ParametersType &)
virtual void	SetIdentity (void)
virtual void	SetMatrix (const MatrixType &matrix)
virtual void	SetMatrix (const MatrixType &matrix)
void	SetMetaDataDictionary (const MetaDataDictionary &rhs)
void	SetOffset (const OutputVectorType &offset)
virtual void	SetParameters (const ParametersType &)=0
virtual void	SetParameters (const ParametersType &parameters)
virtual void	SetParametersByValue (const ParametersType &p)=0
virtual void	SetParametersByValue (const ParametersType &p)
virtual void	SetReferenceCount (int)
virtual void	SetRotationMatrix (const MatrixType &matrix)
void	SetTranslation (const OutputVectorType &translation)
OutputCovariantVectorType	TransformCovariantVector (const InputCovariantVectorType &vector) const
OutputPointType	TransformPoint (const InputPointType &point) const
virtual OutputVnlVectorType	TransformVector (const InputVnlVectorType &) const
OutputVnlVectorType	TransformVector (const InputVnlVectorType &vector) const
OutputVectorType	TransformVector (const InputVectorType &vector) const
void	Translate (const OffsetType &offset, bool pre=false)
virtual void	UnRegister () const

unsigned long	AddObserver (const EventObject &event, Command *) const
unsigned long	AddObserver (const EventObject &event, Command *)

InputCovariantVectorType	BackTransform (const OutputCovariantVectorType &vector) const
InputVnlVectorType	BackTransform (const OutputVnlVectorType &vector) const
InputVectorType	BackTransform (const OutputVectorType &vector) const
InputPointType	BackTransform (const OutputPointType &point) const

	itkStaticConstMacro (ParametersDimension, unsigned int, 12)
	itkStaticConstMacro (OutputSpaceDimension, unsigned int, 3)
	itkStaticConstMacro (InputSpaceDimension, unsigned int, 3)
	itkStaticConstMacro (SpaceDimension, unsigned int, 3)
Static Public Member Functions
static void	BreakOnError ()
static Pointer	New ()

static bool	GetGlobalWarningDisplay ()
static void	GlobalWarningDisplayOff ()
static void	GlobalWarningDisplayOn ()
static void	SetGlobalWarningDisplay (bool flag)
Protected Types

typedef int	InternalReferenceCountType
Protected Member Functions
virtual void	ComputeMatrix (void)
virtual void	ComputeMatrixParameters (void)
virtual void	ComputeOffset (void)
virtual void	ComputeTranslation (void)
const InverseMatrixType &	GetVarInverseMatrix (void) const
bool	InverseMatrixIsOld (void) const
bool	PrintObservers (std::ostream &os, Indent indent) const
void	PrintSelf (std::ostream &os, Indent indent) const
	Rigid3DTransform ()
	Rigid3DTransform (const MatrixType &matrix, const OutputVectorType &offset)
	Rigid3DTransform (unsigned int spaceDim, unsigned int paramDim)
void	SetVarCenter (const InputPointType &center)
void	SetVarInverseMatrix (const InverseMatrixType &matrix) const
void	SetVarMatrix (const MatrixType &matrix)
void	SetVarOffset (const OutputVectorType &offset)
void	SetVarTranslation (const OutputVectorType &translation)
	~Rigid3DTransform ()

virtual void	PrintHeader (std::ostream &os, Indent indent) const
virtual void	PrintTrailer (std::ostream &os, Indent indent) const
Protected Attributes
ParametersType	m_FixedParameters
JacobianType	m_Jacobian
ParametersType	m_Parameters
InternalReferenceCountType	m_ReferenceCount
SimpleFastMutexLock	m_ReferenceCountLock

itk::Rigid3DTransform< TScalarType > Class Template Reference [Transforms]

Detailed Description

template<class TScalarType = double> class itk::Rigid3DTransform< TScalarType >

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

itk::Rigid3DTransform< TScalarType > Class Template Reference
[Transforms]

template<class TScalarType = double>
class itk::Rigid3DTransform< TScalarType >