itkKernelTransform.h

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/*=========================================================================

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkKernelTransform.h,v $
  Language:  C++
  Date:      $Date: 2003/02/01 02:17:17 $
  Version:   $Revision: 1.33 $

  Copyright (c) 2002 Insight Consortium. All rights reserved.
  See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.

     This software is distributed WITHOUT ANY WARRANTY; without even 
     the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 
     PURPOSE.  See the above copyright notices for more information.

=========================================================================*/
#ifndef __itkKernelTransform_h
#define __itkKernelTransform_h

#include "itkTransform.h"
#include "itkPoint.h"
#include "itkVector.h"
#include "itkMatrix.h"
#include "itkPointSet.h"
#include <deque>
#include <math.h>
#include "vnl/vnl_matrix_fixed.h"
#include "vnl/vnl_matrix.h"
#include "vnl/vnl_vector.h"
#include "vnl/vnl_vector_fixed.h"
#include "vnl/algo/vnl_svd.h"

namespace itk
{

template <class TScalarType, // probably only float and double make sense here
          unsigned int NDimensions>   // Number of dimensions
class ITK_EXPORT KernelTransform : 
                    public Transform<TScalarType, NDimensions,NDimensions>
{
public:
  typedef KernelTransform Self;
  typedef Transform<TScalarType, NDimensions, NDimensions >   Superclass;
  typedef SmartPointer<Self>        Pointer;
  typedef SmartPointer<const Self>  ConstPointer;
  
  itkTypeMacro( KernelTransform, Transform );

  itkNewMacro( Self );

  itkStaticConstMacro(SpaceDimension, unsigned int, NDimensions);

  typedef typename Superclass::ScalarType  ScalarType;

  typedef typename Superclass::ParametersType  ParametersType;

  typedef typename Superclass::JacobianType  JacobianType;

  typedef typename Superclass::InputPointType   InputPointType;
  typedef typename Superclass::OutputPointType  OutputPointType;
  
  typedef typename Superclass::InputVectorType   InputVectorType;
  typedef typename Superclass::OutputVectorType  OutputVectorType;
  
  typedef DefaultStaticMeshTraits<TScalarType,
                                  NDimensions,
                                  NDimensions,
                                  TScalarType,
                                  TScalarType> PointSetTraitsType;
  typedef PointSet<InputPointType, NDimensions, PointSetTraitsType> PointSetType;
  typedef typename PointSetType::Pointer                        PointSetPointer;
  typedef typename PointSetType::PointsContainer                PointsContainer;
  typedef typename PointSetType::PointsContainerIterator        PointsIterator;
  typedef typename PointSetType::PointsContainerConstIterator   PointsConstIterator;
    
  typedef itk::VectorContainer<unsigned long,InputVectorType> VectorSetType;
  typedef typename VectorSetType::Pointer        VectorSetPointer;
  
  itkGetObjectMacro( SourceLandmarks, PointSetType );
  
  itkSetObjectMacro( SourceLandmarks, PointSetType );
  
  itkGetObjectMacro( TargetLandmarks, PointSetType );
  
  itkSetObjectMacro( TargetLandmarks, PointSetType );
  
  itkGetObjectMacro( Displacements, VectorSetType );
  
  void ComputeWMatrix(void);
  
  virtual OutputPointType TransformPoint(const InputPointType& thisPoint) const;
  
  typedef vnl_matrix_fixed<TScalarType, NDimensions, NDimensions> IMatrixType;


  virtual const JacobianType & GetJacobian(const InputPointType  &point ) const;

  virtual void SetParameters(const ParametersType &);

  virtual const ParametersType& GetParameters(void) const;

  itkSetClampMacro(Stiffness, double, 0.0, NumericTraits<double>::max());
  itkGetMacro(Stiffness, double);


protected:
  KernelTransform();
  virtual ~KernelTransform();
  void PrintSelf(std::ostream& os, Indent indent) const;

public:  
  typedef vnl_matrix_fixed<TScalarType, NDimensions, NDimensions> GMatrixType;
  
  typedef vnl_matrix<TScalarType> LMatrixType;
  
  typedef vnl_matrix<TScalarType> KMatrixType;
  
  typedef vnl_matrix<TScalarType> PMatrixType;
  
  typedef vnl_matrix<TScalarType> YMatrixType;

  typedef vnl_matrix<TScalarType> WMatrixType;
  
  typedef vnl_matrix<TScalarType> DMatrixType;
  
  typedef vnl_matrix_fixed<TScalarType,NDimensions,NDimensions> AMatrixType;
  
  typedef vnl_vector_fixed<TScalarType,NDimensions> BMatrixType;
  
  typedef vnl_matrix_fixed<TScalarType, 1, NDimensions> RowMatrixType;
  
  typedef vnl_matrix_fixed<TScalarType, NDimensions, 1> ColumnMatrixType;

protected:
  virtual const GMatrixType & ComputeG(const InputVectorType & landmarkVector) const;

  virtual const GMatrixType & ComputeReflexiveG(PointsIterator) const;

  
  virtual void ComputeDeformationContribution( const InputPointType & inputPoint,
                                                     OutputPointType & result ) const;

  void ComputeK();
  
  void ComputeL();
  
  void ComputeP();
  
  void ComputeY();
  
  void ComputeD();

  void ReorganizeW(void);

  PointSetPointer m_SourceLandmarks;
  
  PointSetPointer m_TargetLandmarks;
  
  double m_Stiffness;

  VectorSetPointer m_Displacements;

  LMatrixType m_LMatrix;

  KMatrixType m_KMatrix;

  PMatrixType m_PMatrix;

  YMatrixType m_YMatrix;
  
  WMatrixType m_WMatrix;

  DMatrixType m_DMatrix;

  AMatrixType m_AMatrix;

  BMatrixType m_BVector;

  mutable GMatrixType m_GMatrix;

  bool m_WMatrixComputed;

  IMatrixType m_I;

 private:
  KernelTransform(const Self&); //purposely not implemented
  void operator=(const Self&); //purposely not implemented

};

} // end namespace itk

#ifndef ITK_MANUAL_INSTANTIATION
#include "itkKernelTransform.txx"
#endif

#endif // __itkKernelTransform_h

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