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:
  using Self = MatrixOffsetTransformBase;
  using Superclass = Transform<TParametersValueType,
                    NInputDimensions,
                    NOutputDimensions>;

  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;

  itkTypeMacro(MatrixOffsetTransformBase, Transform);

  itkNewMacro(Self);

  static constexpr unsigned int InputSpaceDimension = NInputDimensions;
  static constexpr unsigned int OutputSpaceDimension = NOutputDimensions;
  static constexpr unsigned int ParametersDimension = NOutputDimensions * ( NInputDimensions + 1 );

  using FixedParametersType = typename Superclass::FixedParametersType;
  using FixedParametersValueType = typename Superclass::FixedParametersValueType;
  using ParametersType = typename Superclass::ParametersType;
  using ParametersValueType = typename Superclass::ParametersValueType;

  using JacobianType = typename Superclass::JacobianType;
  using JacobianPositionType = typename Superclass::JacobianPositionType;
  using InverseJacobianPositionType = typename Superclass::InverseJacobianPositionType;

  using TransformCategoryType = typename Superclass::TransformCategoryType;

  using ScalarType = typename Superclass::ScalarType;

  using InputVectorType = Vector<TParametersValueType,
                 Self::InputSpaceDimension>;
  using OutputVectorType = Vector<TParametersValueType,
                 Self::OutputSpaceDimension>;
  using OutputVectorValueType = typename OutputVectorType::ValueType;

  using InputCovariantVectorType = CovariantVector<TParametersValueType,
                          Self::InputSpaceDimension>;
  using OutputCovariantVectorType = CovariantVector<TParametersValueType,
                          Self::OutputSpaceDimension>;

  using InputVectorPixelType = typename Superclass::InputVectorPixelType;
  using OutputVectorPixelType = typename Superclass::OutputVectorPixelType;

  using InputDiffusionTensor3DType = typename Superclass::InputDiffusionTensor3DType;
  using OutputDiffusionTensor3DType = typename Superclass::OutputDiffusionTensor3DType;

  using InputSymmetricSecondRankTensorType = typename Superclass::InputSymmetricSecondRankTensorType;
  using OutputSymmetricSecondRankTensorType = typename Superclass::OutputSymmetricSecondRankTensorType;

  using InputTensorEigenVectorType =
      CovariantVector<TParametersValueType, InputDiffusionTensor3DType::Dimension>;

  using InputVnlVectorType = vnl_vector_fixed<TParametersValueType,
                           Self::InputSpaceDimension>;
  using OutputVnlVectorType = vnl_vector_fixed<TParametersValueType,
                           Self::OutputSpaceDimension>;

  using InputPointType = Point<TParametersValueType,
                Self::InputSpaceDimension>;
  using InputPointValueType = typename InputPointType::ValueType;
  using OutputPointType = Point<TParametersValueType,
                Self::OutputSpaceDimension>;
  using OutputPointValueType = typename OutputPointType::ValueType;

  using MatrixType = Matrix<TParametersValueType, Self::OutputSpaceDimension,
                 Self::InputSpaceDimension>;
  using MatrixValueType = typename MatrixType::ValueType;

  using InverseMatrixType = Matrix<TParametersValueType, Self::InputSpaceDimension,
                 Self::OutputSpaceDimension>;

  using CenterType = InputPointType;

  using OffsetType = OutputVectorType;
  using OffsetValueType = typename OffsetType::ValueType;

  using TranslationType = OutputVectorType;

  using TranslationValueType = typename TranslationType::ValueType;

  using InverseTransformBaseType = typename Superclass::InverseTransformBaseType;
  using InverseTransformBasePointer = typename InverseTransformBaseType::Pointer;

  virtual void SetIdentity();

  TransformCategoryType GetTransformCategory() const 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) override;

  const ParametersType & GetParameters() const override;

  void SetFixedParameters(const FixedParametersType &) override;

  const FixedParametersType & GetFixedParameters() const override;

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

  OutputPointType       TransformPoint(const InputPointType & point) const override;

  using Superclass::TransformVector;

  OutputVectorType      TransformVector(const InputVectorType & vector) const override;

  OutputVnlVectorType   TransformVector(const InputVnlVectorType & vector) const override;

  OutputVectorPixelType TransformVector(const InputVectorPixelType & vector) const override;

  using Superclass::TransformCovariantVector;

  OutputCovariantVectorType TransformCovariantVector(const InputCovariantVectorType & vector) const override;

  OutputVectorPixelType TransformCovariantVector(const InputVectorPixelType & vector) const override;

  using Superclass::TransformDiffusionTensor3D;

  OutputDiffusionTensor3DType TransformDiffusionTensor3D(const InputDiffusionTensor3DType & tensor) const override;

  OutputVectorPixelType TransformDiffusionTensor3D(const InputVectorPixelType & tensor ) const override;

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

  OutputVectorPixelType TransformSymmetricSecondRankTensor( const InputVectorPixelType & tensor ) const override;


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


  void ComputeJacobianWithRespectToPosition(const InputPointType  & x, JacobianPositionType & jac) const override;
  using Superclass::ComputeJacobianWithRespectToPosition;

  void ComputeInverseJacobianWithRespectToPosition(const InputPointType  & x,
                                                   InverseJacobianPositionType & jac) const override;
  using Superclass::ComputeInverseJacobianWithRespectToPosition;

  bool GetInverse(Self *inverse) const;

  InverseTransformBasePointer GetInverseTransform() const override;

  bool IsLinear() const override
  {
    return true;
  }

protected:
  const InverseMatrixType & GetInverseMatrix() const;

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

  ~MatrixOffsetTransformBase() override = default;

  void PrintSelf(std::ostream & s, Indent indent) const 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) = delete;
  const Self & operator=(const Self &) = delete;

  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 */