itkAdvancedMatrixOffsetTransformBase.h

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/*======================================================================

This file is part of the elastix software.

Copyright (c) University Medical Center Utrecht. All rights reserved.
See src/CopyrightElastix.txt or http://elastix.isi.uu.nl/legal.php 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.

======================================================================*/

/*

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkAdvancedMatrixOffsetTransformBase.h,v $
  Language:  C++
  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 "itkExceptionObject.h"
#include "itkMacro.h"

namespace itk
{

template<
class 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 AdvancedMatrixOffsetTransformBase :
  public AdvancedTransform< TScalarType, NInputDimensions, NOutputDimensions >
{
public:

  typedef AdvancedMatrixOffsetTransformBase Self;
  typedef AdvancedTransform< TScalarType,
    NInputDimensions, NOutputDimensions >       Superclass;
  typedef SmartPointer< Self >       Pointer;
  typedef SmartPointer< const Self > ConstPointer;

  itkTypeMacro( AdvancedMatrixOffsetTransformBase, AdvancedTransform );

  itkNewMacro( Self );

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

  typedef typename Superclass::ScalarType             ScalarType;
  typedef typename Superclass::ParametersType         ParametersType;
  typedef typename Superclass::NumberOfParametersType NumberOfParametersType;
  typedef typename Superclass::JacobianType           JacobianType;
  typedef typename Superclass::InputVectorType        InputVectorType;
  typedef typename Superclass::OutputVectorType       OutputVectorType;
  typedef typename Superclass
    ::InputCovariantVectorType InputCovariantVectorType;
  typedef typename Superclass
    ::OutputCovariantVectorType OutputCovariantVectorType;
  typedef typename Superclass::InputVnlVectorType    InputVnlVectorType;
  typedef typename Superclass::OutputVnlVectorType   OutputVnlVectorType;
  typedef typename Superclass::InputPointType        InputPointType;
  typedef typename Superclass::OutputPointType       OutputPointType;
  typedef typename Superclass::TransformCategoryType TransformCategoryType;

  typedef typename Superclass
    ::NonZeroJacobianIndicesType NonZeroJacobianIndicesType;
  typedef typename Superclass::SpatialJacobianType SpatialJacobianType;
  typedef typename Superclass
    ::JacobianOfSpatialJacobianType JacobianOfSpatialJacobianType;
  typedef typename Superclass::SpatialHessianType SpatialHessianType;
  typedef typename Superclass
    ::JacobianOfSpatialHessianType JacobianOfSpatialHessianType;
  typedef typename Superclass::InternalMatrixType InternalMatrixType;

  typedef Matrix< TScalarType,
    itkGetStaticConstMacro( OutputSpaceDimension ),
    itkGetStaticConstMacro( InputSpaceDimension ) >  MatrixType;

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

  typedef InputPointType   CenterType;
  typedef OutputVectorType OffsetType;
  typedef OutputVectorType TranslationType;

  virtual void SetIdentity( void );

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


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


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


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


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


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


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


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


  void SetParameters( const ParametersType & parameters );

  const ParametersType & GetParameters( void ) const;

  virtual void SetFixedParameters( const ParametersType & );

  virtual const ParametersType & GetFixedParameters( void ) const;

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

  OutputPointType     TransformPoint( const InputPointType & point ) const;

  OutputVectorType    TransformVector( const InputVectorType & vector ) const;

  OutputVnlVectorType TransformVector( const InputVnlVectorType & vector ) const;

  OutputCovariantVectorType TransformCovariantVector(
    const InputCovariantVectorType & vector ) const;

  bool GetInverse( Self * inverse ) const;

  const InverseMatrixType & GetInverseMatrix( void ) const;

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


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


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

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

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

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

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

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

  virtual void GetJacobianOfSpatialHessian(
    const InputPointType & ipp,
    SpatialHessianType & sh,
    JacobianOfSpatialHessianType & jsh,
    NonZeroJacobianIndicesType & nonZeroJacobianIndices ) const;

protected:

  AdvancedMatrixOffsetTransformBase( const MatrixType & matrix,
    const OutputVectorType & offset );
  AdvancedMatrixOffsetTransformBase( unsigned int paramDims );
  AdvancedMatrixOffsetTransformBase();

  virtual void PrecomputeJacobians( unsigned int paramDims );

  virtual ~AdvancedMatrixOffsetTransformBase() {}

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

  const InverseMatrixType & GetVarInverseMatrix( void ) const
  {
    return this->m_InverseMatrix;
  }


  void SetVarInverseMatrix( const InverseMatrixType & matrix ) const
  {
    this->m_InverseMatrix = matrix;
    this->m_InverseMatrixMTime.Modified();
  }


  bool InverseMatrixIsOld( void ) const
  {
    if( this->m_MatrixMTime != this->m_InverseMatrixMTime )
    {
      return true;
    }
    else
    {
      return false;
    }
  }


  virtual void ComputeMatrixParameters( void );

  virtual void ComputeMatrix( void );

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


  virtual void ComputeTranslation( void );

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


  virtual void ComputeOffset( void );

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


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


  NonZeroJacobianIndicesType    m_NonZeroJacobianIndices;
  SpatialHessianType            m_SpatialHessian;
  JacobianOfSpatialJacobianType m_JacobianOfSpatialJacobian;
  JacobianOfSpatialHessianType  m_JacobianOfSpatialHessian;

private:

  AdvancedMatrixOffsetTransformBase( 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;

  mutable NonZeroJacobianIndicesType m_NonZeroJacobianIndicesTemp;

};

}  // namespace itk

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

#endif /* __itkAdvancedMatrixOffsetTransformBase_h */