itkMatrixOffsetTransformBase.h

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/*=========================================================================
 *
 *  Copyright NumFOCUS
 *
 *  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
 *
 *         https://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
 * matrices 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 VInputDimension = 3, unsigned int VOutputDimension = 3>
class ITK_TEMPLATE_EXPORT MatrixOffsetTransformBase
  : public Transform<TParametersValueType, VInputDimension, VOutputDimension>
{
public:
  ITK_DISALLOW_COPY_AND_MOVE(MatrixOffsetTransformBase);

  using Self = MatrixOffsetTransformBase;
  using Superclass = Transform<TParametersValueType, VInputDimension, VOutputDimension>;
 
  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;

  itkOverrideGetNameOfClassMacro(MatrixOffsetTransformBase);

  itkNewMacro(Self);

  static constexpr unsigned int InputSpaceDimension = VInputDimension;
  static constexpr unsigned int OutputSpaceDimension = VOutputDimension;
  static constexpr unsigned int ParametersDimension = VOutputDimension * (VInputDimension + 1);

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

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

  using typename Superclass::TransformCategoryEnum;

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

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

  using typename Superclass::InputSymmetricSecondRankTensorType;
  using 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;
 
  using InverseTransformType = MatrixOffsetTransformBase<TParametersValueType, VOutputDimension, VInputDimension>;
  friend class MatrixOffsetTransformBase<TParametersValueType, VOutputDimension, VInputDimension>;

  virtual void
  SetIdentity();

  TransformCategoryEnum
  GetTransformCategory() const override
  {
    return Self::TransformCategoryEnum::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 & vect) const override;
 
  OutputVnlVectorType
  TransformVector(const InputVnlVectorType & vect) const override;
 
  OutputVectorPixelType
  TransformVector(const InputVectorPixelType & vect) const override;
 
  using Superclass::TransformCovariantVector;
 
  OutputCovariantVectorType
  TransformCovariantVector(const InputCovariantVectorType & vec) const override;
 
  OutputVectorPixelType
  TransformCovariantVector(const InputVectorPixelType & vect) 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 & inputTensor) const override;
 
  OutputVectorPixelType
  TransformSymmetricSecondRankTensor(const InputVectorPixelType & inputTensor) const override;
 

  void
  ComputeJacobianWithRespectToParameters(const InputPointType & p, JacobianType & jacobian) 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(InverseTransformType * inverse) const;

  InverseTransformBasePointer
  GetInverseTransform() const override;

  bool
  IsLinear() const override
  {
    return true;
  }
 
protected:
  const InverseMatrixType &
  GetInverseMatrix() const;
 
protected:
#if !defined(ITK_LEGACY_REMOVE)
  [[deprecated("Removed unused constructor")]] MatrixOffsetTransformBase(const MatrixType &       matrix,
                                                                         const OutputVectorType & offset);
#endif
  explicit MatrixOffsetTransformBase(unsigned int paramDims = ParametersDimension);

  ~MatrixOffsetTransformBase() override = default;

  void
  PrintSelf(std::ostream & os, 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;
    }
 
    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:
  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{};
}; // class MatrixOffsetTransformBase
} // namespace itk
 
#ifndef ITK_MANUAL_INSTANTIATION
#  include "itkMatrixOffsetTransformBase.hxx"
#endif
 
#endif /* itkMatrixOffsetTransformBase_h */