itkTransform.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 itkTransform_h
#define itkTransform_h

#include "itkTransformBase.h"
#include "itkVector.h"
#include "itkSymmetricSecondRankTensor.h"
#include "itkDiffusionTensor3D.h"
#include "itkVariableLengthVector.h"
#include "vnl/vnl_vector_fixed.h"
#include "vnl/vnl_matrix_fixed.h"
#include "itkMatrix.h"

namespace itk
{
template<typename TParametersValueType,
          unsigned int NInputDimensions = 3,
          unsigned int NOutputDimensions = 3>
class ITK_TEMPLATE_EXPORT Transform : public TransformBaseTemplate<TParametersValueType>
{
public:
  ITK_DISALLOW_COPY_AND_ASSIGN(Transform);

  using Self = Transform;
  using Superclass = TransformBaseTemplate<TParametersValueType>;
  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;

  itkTypeMacro(Transform, TransformBaseTemplate);

  static constexpr unsigned int InputSpaceDimension = NInputDimensions;
  static constexpr unsigned int OutputSpaceDimension = NOutputDimensions;

  itkCloneMacro(Self);

  unsigned int GetInputSpaceDimension() const override
  {
    return NInputDimensions;
  }

  unsigned int GetOutputSpaceDimension() const override
  {
    return NOutputDimensions;
  }

  using FixedParametersType = typename Superclass::FixedParametersType;
  using FixedParametersValueType = typename Superclass::FixedParametersValueType;
  using ParametersType = typename Superclass::ParametersType;
  using ParametersValueType = typename Superclass::ParametersValueType;
  using DerivativeType = Array<ParametersValueType>;

  using ScalarType = ParametersValueType;

  using JacobianType = Array2D<ParametersValueType>;
  using JacobianPositionType = vnl_matrix_fixed<ParametersValueType, NOutputDimensions, NInputDimensions>;
  using InverseJacobianPositionType = vnl_matrix_fixed<ParametersValueType, NInputDimensions, NOutputDimensions>;

  using InputVectorType = Vector<TParametersValueType, NInputDimensions>;
  using OutputVectorType = Vector<TParametersValueType, NOutputDimensions>;

  using InputVectorPixelType = VariableLengthVector<TParametersValueType>;
  using OutputVectorPixelType = VariableLengthVector<TParametersValueType>;

  /* Standard symmetric second rank tenosr type for this class */
  using InputSymmetricSecondRankTensorType =
      SymmetricSecondRankTensor<TParametersValueType,NInputDimensions>;
  using OutputSymmetricSecondRankTensorType =
      SymmetricSecondRankTensor<TParametersValueType,NOutputDimensions>;

  /* Standard tensor type for this class */
  using InputDiffusionTensor3DType = DiffusionTensor3D<TParametersValueType>;
  using OutputDiffusionTensor3DType = DiffusionTensor3D<TParametersValueType>;

  using InputCovariantVectorType =
      CovariantVector<TParametersValueType, NInputDimensions>;
  using OutputCovariantVectorType =
      CovariantVector<TParametersValueType, NOutputDimensions>;

  using InputVnlVectorType = vnl_vector_fixed<TParametersValueType, NInputDimensions>;
  using OutputVnlVectorType = vnl_vector_fixed<TParametersValueType, NOutputDimensions>;

  using InputPointType = Point<TParametersValueType, NInputDimensions>;
  using OutputPointType = Point<TParametersValueType, NOutputDimensions>;

  using InverseTransformBaseType = Transform<TParametersValueType,
                     NOutputDimensions, NInputDimensions>;

  using InverseTransformBasePointer = typename InverseTransformBaseType::Pointer;

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

  using OutputDirectionMatrix = Matrix<double,
                 Self::OutputSpaceDimension,
                 Self::OutputSpaceDimension>;
  using InputDirectionMatrix = Matrix<double,
                 Self::InputSpaceDimension,
                 Self::InputSpaceDimension>;
  using DirectionChangeMatrix = Matrix<double,
                 Self::OutputSpaceDimension,
                 Self::InputSpaceDimension>;

  using NumberOfParametersType = typename Superclass::NumberOfParametersType;

  virtual OutputPointType TransformPoint(const InputPointType  &) const = 0;

  virtual OutputVectorType  TransformVector(const InputVectorType &) const
  {
    itkExceptionMacro( "TransformVector(const InputVectorType &)"
                       "is unimplemented for " << this->GetNameOfClass() );
  }

  virtual OutputVectorType    TransformVector(
    const InputVectorType & vector,
    const InputPointType & point ) const;

  virtual OutputVnlVectorType TransformVector(const InputVnlVectorType &) const
  {
    itkExceptionMacro( "TransformVector( const InputVnlVectorType & ) is "
                       "unimplemented for " << this->GetNameOfClass() );
  }

  virtual OutputVnlVectorType TransformVector(
    const InputVnlVectorType & vector,
    const InputPointType & point ) const;

  virtual OutputVectorPixelType TransformVector(
    const InputVectorPixelType & itkNotUsed(vector) ) const
  {
    itkExceptionMacro( "TransformVector( const InputVectorPixelType & ) is "
                       "unimplemented for " << this->GetNameOfClass() );
  }

  virtual OutputVectorPixelType TransformVector(
    const InputVectorPixelType & vector,
    const InputPointType & point ) const;

  virtual OutputCovariantVectorType TransformCovariantVector(const InputCovariantVectorType &) const
  {
    itkExceptionMacro( "TransformCovariantVector( const InputCovariantVectorType & ) is "
                       "unimplemented for " << this->GetNameOfClass() );
  }

  virtual OutputCovariantVectorType TransformCovariantVector(
    const InputCovariantVectorType & vector,
    const InputPointType & point ) const;


  virtual OutputVectorPixelType TransformCovariantVector(
    const InputVectorPixelType & itkNotUsed(vector) ) const
  {
    itkExceptionMacro( "TransformCovariantVector(const InputVectorPixelType &)"
                       "is unimplemented for " << this->GetNameOfClass() );
  }

  virtual OutputVectorPixelType TransformCovariantVector(
    const InputVectorPixelType & vector,
    const InputPointType & point ) const;

  virtual OutputDiffusionTensor3DType TransformDiffusionTensor3D(
    const InputDiffusionTensor3DType & itkNotUsed(tensor) )
  const
  {
    itkExceptionMacro(
      "TransformDiffusionTensor3D( const InputDiffusionTensor3DType & ) is "
      "unimplemented for " << this->GetNameOfClass() );
  }

  virtual OutputDiffusionTensor3DType TransformDiffusionTensor3D(
    const InputDiffusionTensor3DType & tensor,
    const InputPointType & point ) const;

  virtual OutputVectorPixelType TransformDiffusionTensor3D(
    const InputVectorPixelType & itkNotUsed(tensor) ) const
  {
    itkExceptionMacro(
      "TransformDiffusionTensor( const InputVectorPixelType & ) is "
      "unimplemented for " << this->GetNameOfClass() );
  }

  virtual OutputVectorPixelType TransformDiffusionTensor3D(
    const InputVectorPixelType & tensor,
    const InputPointType & point ) const;

  virtual OutputSymmetricSecondRankTensorType TransformSymmetricSecondRankTensor(
    const InputSymmetricSecondRankTensorType & tensor,
    const InputPointType & point ) const;

  virtual OutputSymmetricSecondRankTensorType TransformSymmetricSecondRankTensor(
    const InputSymmetricSecondRankTensorType & itkNotUsed(tensor) ) const
  {
    itkExceptionMacro(
      "TransformSymmetricSecondRankTensor( const InputSymmetricSecondRankTensorType & ) is "
      "unimplemented for " << this->GetNameOfClass() );
  }

  virtual OutputVectorPixelType TransformSymmetricSecondRankTensor(
    const InputVectorPixelType & itkNotUsed(tensor) ) const
  {
    itkExceptionMacro(
      "TransformSymmetricSecondRankTensor( const InputVectorPixelType & ) is "
      "unimplemented for " << this->GetNameOfClass() );
  }

  virtual OutputVectorPixelType TransformSymmetricSecondRankTensor(
    const InputVectorPixelType & tensor,
    const InputPointType & point ) const;

  void SetParameters(const ParametersType &) override = 0;

  void SetParametersByValue(const ParametersType & p) override
  {
    this->SetParameters(p);
  }

  void CopyInParameters(const ParametersValueType * const begin,
                                const ParametersValueType * const end) override;

  void CopyInFixedParameters(const FixedParametersValueType * const begin,
                                     const FixedParametersValueType * const end) override;

  const ParametersType & GetParameters() const override
  {
    return m_Parameters;
  }

  void SetFixedParameters(const FixedParametersType &) override = 0;

  const FixedParametersType & GetFixedParameters() const override
  {
    return m_FixedParameters;
  }

  virtual void UpdateTransformParameters( const DerivativeType & update,
                                          ParametersValueType factor = 1.0 );

  virtual NumberOfParametersType GetNumberOfLocalParameters() const
  {
    return this->GetNumberOfParameters();
  }

  NumberOfParametersType GetNumberOfParameters() const override
  {
    return this->m_Parameters.Size();
  }

  virtual NumberOfParametersType GetNumberOfFixedParameters() const
    {
    return this->m_FixedParameters.Size();
    }

  bool GetInverse( Self *itkNotUsed(inverseTransform) ) const
  {
    return false;
  }

  virtual InverseTransformBasePointer GetInverseTransform() const
  {
    return nullptr;
  }

  std::string GetTransformTypeAsString() const override;

  using TransformCategoryType = typename Superclass::TransformCategoryType;

  TransformCategoryType GetTransformCategory() const override
  {
    return Superclass::UnknownTransformCategory;
  }

  virtual bool IsLinear() const
  {
    return ( this->GetTransformCategory() == Superclass::Linear );
  }

  virtual void ComputeJacobianWithRespectToParameters(const InputPointType  & itkNotUsed(p), JacobianType & itkNotUsed(jacobian) ) const = 0;

  virtual void ComputeJacobianWithRespectToParametersCachedTemporaries(const InputPointType  & p, JacobianType & jacobian, JacobianType & itkNotUsed(cachedJacobian) ) const
  {
    //NOTE: default implementation is not optimized, and just falls back to original methods.
    this->ComputeJacobianWithRespectToParameters(p, jacobian);
  }


  virtual void ComputeJacobianWithRespectToPosition(const InputPointType & itkNotUsed(x), JacobianPositionType & itkNotUsed(jacobian) ) const
  {
    itkExceptionMacro(
      "ComputeJacobianWithRespectToPosition( InputPointType, JacobianType )"
      " is unimplemented for " << this->GetNameOfClass() );
  }
  itkLegacyMacro(virtual void ComputeJacobianWithRespectToPosition(const InputPointType & x, JacobianType & jacobian ) const);


  virtual void ComputeInverseJacobianWithRespectToPosition(const InputPointType & x,
                                                           InverseJacobianPositionType & jacobian ) const;
  itkLegacyMacro(virtual void ComputeInverseJacobianWithRespectToPosition(const InputPointType & x, JacobianType & jacobian ) const);

protected:
  typename LightObject::Pointer InternalClone() const override;

  Transform();
  Transform(NumberOfParametersType NumberOfParameters);
#if defined(__GNUC__) && __GNUC__ < 6
  ~Transform() override {};
#else
  ~Transform() override = default;
#endif
  mutable ParametersType      m_Parameters;
  mutable FixedParametersType m_FixedParameters;

  OutputDiffusionTensor3DType PreservationOfPrincipalDirectionDiffusionTensor3DReorientation(
    const InputDiffusionTensor3DType &,
    const InverseJacobianPositionType &) const;

  mutable DirectionChangeMatrix m_DirectionChange;

private:
  template <typename TType>
  static std::string GetTransformTypeAsString(TType *)
  {
    std::string rval("other");

    return rval;
  }

  static std::string GetTransformTypeAsString(float *)
  {
    std::string rval("float");

    return rval;
  }

  static std::string GetTransformTypeAsString(double *)
  {
    std::string rval("double");

    return rval;
  }

};
} // end namespace itk

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

#endif