itkMatrixOffsetTransformBase.h

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/*=========================================================================
 *
 *  Copyright Insight Software Consortium
 *
 *  Licensed under the Apache License, Version 2.0 (the "License");
 *  you may not use this file except in compliance with the License.
 *  You may obtain a copy of the License at
 *
 *         http://www.apache.org/licenses/LICENSE-2.0.txt
 *
 *  Unless required by applicable law or agreed to in writing, software
 *  distributed under the License is distributed on an "AS IS" BASIS,
 *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 *  See the License for the specific language governing permissions and
 *  limitations under the License.
 *
 *=========================================================================*/
#ifndef itkMatrixOffsetTransformBase_h
#define itkMatrixOffsetTransformBase_h


#include "itkMacro.h"
#include "itkMatrix.h"
#include "itkTransform.h"

#include <iostream>

namespace itk
{

/* MatrixOrthogonalityTolerance is a utility to
 * allow setting the tolerance limits used for
 * checking if a matrix meet the orthogonality
 * constraints of being a rigid rotation matrix.
 * The tolerance needs to be different for
 * matricies of type float vs. double.
 */
template<typename T>
class MatrixOrthogonalityTolerance;

template <>
class ITK_TEMPLATE_EXPORT MatrixOrthogonalityTolerance<double>
{
public:
  static double GetTolerance() { return 1e-10; }
};

template <>
class ITK_TEMPLATE_EXPORT MatrixOrthogonalityTolerance<float>
{
public:
  static float GetTolerance() { return 1e-5f; }
};

template<typename TParametersValueType=double,
         unsigned int NInputDimensions = 3,
         unsigned int NOutputDimensions = 3>
class ITK_TEMPLATE_EXPORT MatrixOffsetTransformBase :
  public Transform<TParametersValueType, NInputDimensions, NOutputDimensions>
{
public:
  typedef MatrixOffsetTransformBase Self;
  typedef Transform<TParametersValueType,
                    NInputDimensions,
                    NOutputDimensions>        Superclass;

  typedef SmartPointer<Self>       Pointer;
  typedef SmartPointer<const Self> ConstPointer;

  itkTypeMacro(MatrixOffsetTransformBase, Transform);

  itkNewMacro(Self);

  itkStaticConstMacro(InputSpaceDimension, unsigned int, NInputDimensions);
  itkStaticConstMacro(OutputSpaceDimension, unsigned int, NOutputDimensions);
  itkStaticConstMacro( ParametersDimension, unsigned int,
                       NOutputDimensions * ( NInputDimensions + 1 ) );

  typedef typename Superclass::FixedParametersType      FixedParametersType;
  typedef typename Superclass::FixedParametersValueType FixedParametersValueType;
  typedef typename Superclass::ParametersType           ParametersType;
  typedef typename Superclass::ParametersValueType      ParametersValueType;

  typedef typename Superclass::JacobianType JacobianType;

  typedef typename Superclass::TransformCategoryType TransformCategoryType;

  typedef typename Superclass::ScalarType ScalarType;

  typedef Vector<TParametersValueType,
                 itkGetStaticConstMacro(InputSpaceDimension)>  InputVectorType;
  typedef Vector<TParametersValueType,
                 itkGetStaticConstMacro(OutputSpaceDimension)> OutputVectorType;
  typedef typename OutputVectorType::ValueType OutputVectorValueType;

  typedef CovariantVector<TParametersValueType,
                          itkGetStaticConstMacro(InputSpaceDimension)>
  InputCovariantVectorType;
  typedef CovariantVector<TParametersValueType,
                          itkGetStaticConstMacro(OutputSpaceDimension)>
  OutputCovariantVectorType;

  typedef typename Superclass::InputVectorPixelType  InputVectorPixelType;
  typedef typename Superclass::OutputVectorPixelType OutputVectorPixelType;

  typedef typename Superclass::InputDiffusionTensor3DType
  InputDiffusionTensor3DType;
  typedef typename Superclass::OutputDiffusionTensor3DType
  OutputDiffusionTensor3DType;

  typedef typename Superclass::InputSymmetricSecondRankTensorType
  InputSymmetricSecondRankTensorType;
  typedef typename Superclass::OutputSymmetricSecondRankTensorType
  OutputSymmetricSecondRankTensorType;

  typedef CovariantVector<TParametersValueType, InputDiffusionTensor3DType::Dimension>
  InputTensorEigenVectorType;

  typedef vnl_vector_fixed<TParametersValueType,
                           itkGetStaticConstMacro(InputSpaceDimension)>
  InputVnlVectorType;
  typedef vnl_vector_fixed<TParametersValueType,
                           itkGetStaticConstMacro(OutputSpaceDimension)>
  OutputVnlVectorType;

  typedef Point<TParametersValueType,
                itkGetStaticConstMacro(InputSpaceDimension)>
  InputPointType;
  typedef typename InputPointType::ValueType InputPointValueType;
  typedef Point<TParametersValueType,
                itkGetStaticConstMacro(OutputSpaceDimension)>
  OutputPointType;
  typedef typename OutputPointType::ValueType OutputPointValueType;

  typedef Matrix<TParametersValueType, itkGetStaticConstMacro(OutputSpaceDimension),
                 itkGetStaticConstMacro(InputSpaceDimension)>
  MatrixType;
  typedef typename MatrixType::ValueType MatrixValueType;

  typedef Matrix<TParametersValueType, itkGetStaticConstMacro(InputSpaceDimension),
                 itkGetStaticConstMacro(OutputSpaceDimension)>
  InverseMatrixType;

  typedef InputPointType CenterType;

  typedef OutputVectorType               OffsetType;
  typedef typename OffsetType::ValueType OffsetValueType;

  typedef OutputVectorType TranslationType;

  typedef typename TranslationType::ValueType TranslationValueType;

  typedef typename Superclass::InverseTransformBaseType InverseTransformBaseType;
  typedef typename InverseTransformBaseType::Pointer    InverseTransformBasePointer;

  virtual void SetIdentity();

  virtual TransformCategoryType GetTransformCategory() const ITK_OVERRIDE
  {
    return Self::Linear;
  }

  virtual void SetMatrix(const MatrixType & matrix)
  {
    m_Matrix = matrix; this->ComputeOffset();
    this->ComputeMatrixParameters();
    m_MatrixMTime.Modified(); this->Modified(); return;
  }

  virtual const MatrixType & GetMatrix() const
  {
    return m_Matrix;
  }

  void SetOffset(const OutputVectorType & offset)
  {
    m_Offset = offset; this->ComputeTranslation();
    this->Modified(); return;
  }

  const OutputVectorType & GetOffset() const
  {
    return m_Offset;
  }

  void SetCenter(const InputPointType & center)
  {
    m_Center = center; this->ComputeOffset();
    this->Modified(); return;
  }

  const InputPointType & GetCenter() const
  {
    return m_Center;
  }

  void SetTranslation(const OutputVectorType & translation)
  {
    m_Translation = translation; this->ComputeOffset();
    this->Modified(); return;
  }

  const OutputVectorType & GetTranslation() const
  {
    return m_Translation;
  }

  void SetParameters(const ParametersType & parameters) ITK_OVERRIDE;

  const ParametersType & GetParameters() const ITK_OVERRIDE;

  virtual void SetFixedParameters(const FixedParametersType &) ITK_OVERRIDE;

  virtual const FixedParametersType & GetFixedParameters() const ITK_OVERRIDE;

  void Compose(const Self *other, bool pre = 0);

  OutputPointType       TransformPoint(const InputPointType & point) const ITK_OVERRIDE;

  using Superclass::TransformVector;

  OutputVectorType      TransformVector(const InputVectorType & vector) const ITK_OVERRIDE;

  OutputVnlVectorType   TransformVector(const InputVnlVectorType & vector) const ITK_OVERRIDE;

  OutputVectorPixelType TransformVector(const InputVectorPixelType & vector) const ITK_OVERRIDE;

  using Superclass::TransformCovariantVector;

  OutputCovariantVectorType TransformCovariantVector(const InputCovariantVectorType & vector) const ITK_OVERRIDE;

  OutputVectorPixelType TransformCovariantVector(const InputVectorPixelType & vector) const ITK_OVERRIDE;

  using Superclass::TransformDiffusionTensor3D;

  OutputDiffusionTensor3DType TransformDiffusionTensor3D(const InputDiffusionTensor3DType & tensor) const ITK_OVERRIDE;

  OutputVectorPixelType TransformDiffusionTensor3D(const InputVectorPixelType & tensor ) const ITK_OVERRIDE;

  using Superclass::TransformSymmetricSecondRankTensor;
  OutputSymmetricSecondRankTensorType TransformSymmetricSecondRankTensor( const InputSymmetricSecondRankTensorType & tensor ) const ITK_OVERRIDE;

  OutputVectorPixelType TransformSymmetricSecondRankTensor( const InputVectorPixelType & tensor ) const ITK_OVERRIDE;

  virtual void ComputeJacobianWithRespectToParameters(const InputPointType  & x, JacobianType & j) const ITK_OVERRIDE;

  virtual void ComputeJacobianWithRespectToPosition(const InputPointType  & x, JacobianType & jac) const ITK_OVERRIDE;

  virtual void ComputeInverseJacobianWithRespectToPosition(const InputPointType  & x, JacobianType & jac) const ITK_OVERRIDE;

  bool GetInverse(Self *inverse) const;

  virtual InverseTransformBasePointer GetInverseTransform() const ITK_OVERRIDE;

  virtual bool IsLinear() const ITK_OVERRIDE
  {
    return true;
  }

#if !defined(ITK_LEGACY_REMOVE)

public:
#else

protected:
#endif

  const InverseMatrixType & GetInverseMatrix() const;

protected:
  MatrixOffsetTransformBase(const MatrixType & matrix, const OutputVectorType & offset);
  MatrixOffsetTransformBase(unsigned int paramDims);
  MatrixOffsetTransformBase();

  virtual ~MatrixOffsetTransformBase() ITK_OVERRIDE;

  virtual void PrintSelf(std::ostream & s, Indent indent) const ITK_OVERRIDE;

  const InverseMatrixType & GetVarInverseMatrix() const
  {
    return m_InverseMatrix;
  }
  void SetVarInverseMatrix(const InverseMatrixType & matrix) const
  {
    m_InverseMatrix = matrix; m_InverseMatrixMTime.Modified();
  }
  bool InverseMatrixIsOld() const
  {
    if( m_MatrixMTime != m_InverseMatrixMTime )
      {
      return true;
      }
    else
      {
      return false;
      }
  }

  virtual void ComputeMatrixParameters();

  virtual void ComputeMatrix();

  void SetVarMatrix(const MatrixType & matrix)
  {
    m_Matrix = matrix; m_MatrixMTime.Modified();
  }

  virtual void ComputeTranslation();

  void SetVarTranslation(const OutputVectorType & translation)
  {
    m_Translation = translation;
  }

  virtual void ComputeOffset();

  void SetVarOffset(const OutputVectorType & offset)
  {
    m_Offset = offset;
  }

  void SetVarCenter(const InputPointType & center)
  {
    m_Center = center;
  }

  itkGetConstMacro(Singular, bool);
private:

  MatrixOffsetTransformBase(const Self & other);
  const Self & operator=(const Self &);

  MatrixType                m_Matrix;           // Matrix of the transformation
  OutputVectorType          m_Offset;           // Offset of the transformation
  mutable InverseMatrixType m_InverseMatrix;    // Inverse of the matrix
  mutable bool              m_Singular;         // Is m_Inverse singular?

  InputPointType   m_Center;
  OutputVectorType m_Translation;

  TimeStamp         m_MatrixMTime;
  mutable TimeStamp m_InverseMatrixMTime;
}; // class MatrixOffsetTransformBase
}  // namespace itk

#ifndef ITK_MANUAL_INSTANTIATION
#include "itkMatrixOffsetTransformBase.hxx"
#endif

#endif /* itkMatrixOffsetTransformBase_h */