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rigid transformation is for same modality(CT-CT) nad it can only perform translation, rotation and scaling translation. whereas non rigid for multimodality and it can do streching and shriking too. it use demon algorithm .
Rigid is immovable, unbending. Semi-rigid can move in a limited way.
In 2 dimensional space it is a translation vector which is a 2x1 column vector.
no they are not rigid.
Yes, it is non-rigid.