itkAdvancedMatrixOffsetTransformBase.h

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/*=========================================================================
 *
 *  Copyright UMC Utrecht and contributors
 *
 *  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.
 *
 *=========================================================================*/
 
/*
 
  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkAdvancedMatrixOffsetTransformBase.h,v $
  Date:      $Date: 2008-06-29 12:58:58 $
  Version:   $Revision: 1.20 $
 
  Copyright (c) Insight Software 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 itkAdvancedMatrixOffsetTransformBase_h
#define itkAdvancedMatrixOffsetTransformBase_h
 
#include <iostream>
 
#include "itkMatrix.h"
#include "itkAdvancedTransform.h"
#include "itkMacro.h"
#include "itkMacro.h"
 
namespace itk
{

 
template <typename TScalarType = double,     // Data type for scalars
          unsigned int NInputDimensions = 3, // Number of dimensions in the input space
          unsigned int NOutputDimensions = 3>
// Number of dimensions in the output space
class ITK_TEMPLATE_EXPORT AdvancedMatrixOffsetTransformBase
  : public AdvancedTransform<TScalarType, NInputDimensions, NOutputDimensions>
{
public:
  using Self = AdvancedMatrixOffsetTransformBase;
  using Superclass = AdvancedTransform<TScalarType, NInputDimensions, NOutputDimensions>;
  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;

  itkOverrideGetNameOfClassMacro(AdvancedMatrixOffsetTransformBase);

  itkNewMacro(Self);

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

  using typename Superclass::ScalarType;
  using typename Superclass::ParametersType;
  using typename Superclass::FixedParametersType;
 
  using typename Superclass::NumberOfParametersType;
  using typename Superclass::JacobianType;
  using typename Superclass::InputVectorType;
  using typename Superclass::OutputVectorType;
  using typename Superclass::InputCovariantVectorType;
  using typename Superclass::OutputCovariantVectorType;
  using typename Superclass::InputVnlVectorType;
  using typename Superclass::OutputVnlVectorType;
  using typename Superclass::InputPointType;
  using typename Superclass::OutputPointType;
  using typename Superclass::TransformCategoryEnum;
 
  using typename Superclass::NonZeroJacobianIndicesType;
  using typename Superclass::SpatialJacobianType;
  using typename Superclass::JacobianOfSpatialJacobianType;
  using typename Superclass::SpatialHessianType;
  using typename Superclass::JacobianOfSpatialHessianType;
  using typename Superclass::InternalMatrixType;

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

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

  using CenterType = InputPointType;
  using OffsetType = OutputVectorType;
  using TranslationType = OutputVectorType;

  virtual void
  SetIdentity();

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

  const MatrixType &
  GetMatrix() const
  {
    return this->m_Matrix;
  }
 

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

  const InputPointType &
  GetCenter() const
  {
    return this->m_Center;
  }
 

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

  const OutputVectorType &
  GetTranslation() const
  {
    return this->m_Translation;
  }
 

  void
  SetParameters(const ParametersType & parameters) override;

  const ParametersType &
  GetParameters() const override;

  void
  SetFixedParameters(const FixedParametersType &) override;

  const FixedParametersType &
  GetFixedParameters() const override;

  OutputPointType
  TransformPoint(const InputPointType & point) const override;
 
  OutputVectorType
  TransformVector(const InputVectorType & vector) const override;
 
  OutputVnlVectorType
  TransformVector(const InputVnlVectorType & vector) const override;
 
  OutputCovariantVectorType
  TransformCovariantVector(const InputCovariantVectorType & vector) const override;

  bool
  IsLinear() const override
  {
    return true;
  }
 

  TransformCategoryEnum
  GetTransformCategory() const override
  {
    return TransformCategoryEnum::Linear;
  }
 

  void
  GetJacobian(const InputPointType &, JacobianType &, NonZeroJacobianIndicesType &) const override;

  void
  GetSpatialJacobian(const InputPointType &, SpatialJacobianType &) const override;

  void
  GetSpatialHessian(const InputPointType &, SpatialHessianType &) const override;

  void
  GetJacobianOfSpatialJacobian(const InputPointType &,
                               JacobianOfSpatialJacobianType &,
                               NonZeroJacobianIndicesType &) const override;

  void
  GetJacobianOfSpatialJacobian(const InputPointType &,
                               SpatialJacobianType &,
                               JacobianOfSpatialJacobianType &,
                               NonZeroJacobianIndicesType &) const override;

  void
  GetJacobianOfSpatialHessian(const InputPointType &,
                              JacobianOfSpatialHessianType &,
                              NonZeroJacobianIndicesType &) const override;

  void
  GetJacobianOfSpatialHessian(const InputPointType &         inputPoint,
                              SpatialHessianType &           sh,
                              JacobianOfSpatialHessianType & jsh,
                              NonZeroJacobianIndicesType &   nonZeroJacobianIndices) const override;
 
protected:
  explicit AdvancedMatrixOffsetTransformBase(const unsigned int paramDims = ParametersDimension);

  ~AdvancedMatrixOffsetTransformBase() override = default;

  void
  PrintSelf(std::ostream & s, Indent indent) const override;
 
  virtual void
  ComputeMatrixParameters();
 
  virtual void
  ComputeMatrix();
 
  void
  SetVarMatrix(const MatrixType & matrix)
  {
    this->m_Matrix = matrix;
    this->m_MatrixMTime.Modified();
  }
 
  void
  ComputeTranslation();
 
  void
  SetVarTranslation(const OutputVectorType & translation)
  {
    this->m_Translation = translation;
  }
 
  virtual void
  ComputeOffset();

  const OutputVectorType &
  GetOffset() const
  {
    return this->m_Offset;
  }

  NonZeroJacobianIndicesType    m_NonZeroJacobianIndices{};
  SpatialHessianType            m_SpatialHessian{};
  JacobianOfSpatialJacobianType m_JacobianOfSpatialJacobian{};
  JacobianOfSpatialHessianType  m_JacobianOfSpatialHessian{};
 
private:
  // Private using-declarations, to avoid `-Woverloaded-virtual` warnings from GCC (GCC 11.4).
  using Superclass::TransformCovariantVector;
  using Superclass::TransformVector;
 
  AdvancedMatrixOffsetTransformBase(const Self & other);
  const Self &
  operator=(const Self &);

  void
  PrecomputeJacobians(unsigned int paramDims);
 
  const InverseMatrixType &
  GetInverseMatrix() const;
 

  MatrixType                m_Matrix{ MatrixType::GetIdentity() };               // Matrix of the transformation
  OutputVectorType          m_Offset{};                                          // Offset of the transformation
  mutable InverseMatrixType m_InverseMatrix{ InverseMatrixType::GetIdentity() }; // Inverse of the matrix
  mutable bool              m_Singular{ false };                                 // Is m_Inverse singular?
 
  InputPointType   m_Center{};
  OutputVectorType m_Translation{};

  TimeStamp         m_MatrixMTime{};
  mutable TimeStamp m_InverseMatrixMTime{};
};
 
} // namespace itk
 
#ifndef ITK_MANUAL_INSTANTIATION
#  include "itkAdvancedMatrixOffsetTransformBase.hxx"
#endif
 
#endif /* itkAdvancedMatrixOffsetTransformBase_h */