itkKernelTransform2.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
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 *        http://www.apache.org/licenses/LICENSE-2.0.txt
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 *  distributed under the License is distributed on an "AS IS" BASIS,
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 *  See the License for the specific language governing permissions and
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/*=========================================================================
 
Program:   Insight Segmentation & Registration Toolkit
Module:    $RCSfile: itkKernelTransform2.h,v $
Language:  C++
Date:      $Date: 2006-11-28 14:22:18 $
Version:   $Revision: 1.1 $
 
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 itkKernelTransform2_h
#define itkKernelTransform2_h
 
#include "itkAdvancedTransform.h"
#include "itkPoint.h"
#include "itkVector.h"
#include "itkMatrix.h"
#include "itkPointSet.h"
#include <deque>
#include <math.h>
#include <vnl/vnl_matrix_fixed.h>
#include <vnl/vnl_matrix.h>
#include <vnl/vnl_vector.h>
#include <vnl/vnl_vector_fixed.h>
#include <vnl/vnl_sample.h>
#include <vnl/algo/vnl_svd.h>
#include <vnl/algo/vnl_qr.h>
 
namespace itk
{

 
template <typename TScalarType, // probably only float and double make sense here
          unsigned int NDimensions>
// Number of dimensions
class ITK_TEMPLATE_EXPORT KernelTransform2 : public AdvancedTransform<TScalarType, NDimensions, NDimensions>
{
public:
  ITK_DISALLOW_COPY_AND_MOVE(KernelTransform2);

  using Self = KernelTransform2;
  using Superclass = AdvancedTransform<TScalarType, NDimensions, NDimensions>;
  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;

  itkOverrideGetNameOfClassMacro(KernelTransform2);

  itkNewMacro(Self);

  itkStaticConstMacro(SpaceDimension, unsigned int, NDimensions);

  using typename Superclass::ScalarType;
  using typename Superclass::ParametersType;
  using typename Superclass::NumberOfParametersType;
  using typename Superclass::JacobianType;
  using typename Superclass::InputPointType;
  using typename Superclass::OutputPointType;
  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::NonZeroJacobianIndicesType;
  using typename Superclass::SpatialJacobianType;
  using typename Superclass::JacobianOfSpatialJacobianType;
  using typename Superclass::SpatialHessianType;
  using typename Superclass::JacobianOfSpatialHessianType;
  using typename Superclass::InternalMatrixType;

  using PointSetTraitsType = DefaultStaticMeshTraits<TScalarType, NDimensions, NDimensions, TScalarType, TScalarType>;
  using PointSetType = PointSet<InputPointType, NDimensions, PointSetTraitsType>;
  using PointSetPointer = typename PointSetType::Pointer;
  using PointsContainer = typename PointSetType::PointsContainer;
  using PointsIterator = typename PointSetType::PointsContainerIterator;
  using PointsConstIterator = typename PointSetType::PointsContainerConstIterator;

  using VectorSetType = VectorContainer<unsigned long, InputVectorType>;
  using VectorSetPointer = typename VectorSetType::Pointer;

  using IMatrixType = vnl_matrix_fixed<TScalarType, NDimensions, NDimensions>;

  NumberOfParametersType
  GetNumberOfParameters() const override
  {
    return (this->m_SourceLandmarks->GetNumberOfPoints() * SpaceDimension);
  }
 

  itkGetModifiableObjectMacro(SourceLandmarks, PointSetType);

  virtual void
  SetSourceLandmarks(PointSetType *);

  itkGetModifiableObjectMacro(TargetLandmarks, PointSetType);

  virtual void
  SetTargetLandmarks(PointSetType *);

  itkGetModifiableObjectMacro(Displacements, VectorSetType);

  void
  ComputeWMatrix();

  void
  ComputeLInverse();

  OutputPointType
  TransformPoint(const InputPointType & thisPoint) const override;

  OutputVectorType
  TransformVector(const InputVectorType &) const override
  {
    itkExceptionMacro("TransformVector(const InputVectorType &) is not implemented for KernelTransform");
  }
 
 
  OutputVnlVectorType
  TransformVector(const InputVnlVectorType &) const override
  {
    itkExceptionMacro("TransformVector(const InputVnlVectorType &) is not implemented for KernelTransform");
  }
 
 
  OutputCovariantVectorType
  TransformCovariantVector(const InputCovariantVectorType &) const override
  {
    itkExceptionMacro(
      "TransformCovariantVector(const InputCovariantVectorType &) is not implemented for KernelTransform");
  }
 

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

  virtual void
  SetIdentity();

  void
  SetParameters(const ParametersType &) override;

  void
  SetFixedParameters(const ParametersType &) override;

  virtual void
  UpdateParameters();

  const ParametersType &
  GetParameters() const override;

  const ParametersType &
  GetFixedParameters() const override;

  virtual void
  SetStiffness(double stiffness)
  {
    this->m_Stiffness = stiffness > 0 ? stiffness : 0.0;
    this->m_LMatrixComputed = false;
    this->m_LInverseComputed = false;
    this->m_WMatrixComputed = false;
  }
 
 
  itkGetConstMacro(Stiffness, double);

  virtual void
  SetAlpha(TScalarType itkNotUsed(Alpha))
  {}

  itkSetMacro(PoissonRatio, TScalarType);
  virtual const TScalarType
  GetPoissonRatio() const
  {
    return this->m_PoissonRatio;
  }
 

  itkSetMacro(MatrixInversionMethod, std::string);
  itkGetConstReferenceMacro(MatrixInversionMethod, std::string);

  void
  GetSpatialJacobian(const InputPointType &, SpatialJacobianType &) const override
  {
    itkExceptionMacro("Not implemented for KernelTransform2");
  }
 
 
  void
  GetSpatialHessian(const InputPointType &, SpatialHessianType &) const override
  {
    itkExceptionMacro("Not implemented for KernelTransform2");
  }
 
 
  void
  GetJacobianOfSpatialJacobian(const InputPointType &,
                               JacobianOfSpatialJacobianType &,
                               NonZeroJacobianIndicesType &) const override
  {
    itkExceptionMacro("Not implemented for KernelTransform2");
  }
 
 
  void
  GetJacobianOfSpatialJacobian(const InputPointType &,
                               SpatialJacobianType &,
                               JacobianOfSpatialJacobianType &,
                               NonZeroJacobianIndicesType &) const override
  {
    itkExceptionMacro("Not implemented for KernelTransform2");
  }
 
 
  void
  GetJacobianOfSpatialHessian(const InputPointType &,
                              JacobianOfSpatialHessianType &,
                              NonZeroJacobianIndicesType &) const override
  {
    itkExceptionMacro("Not implemented for KernelTransform2");
  }
 
 
  void
  GetJacobianOfSpatialHessian(const InputPointType &,
                              SpatialHessianType &,
                              JacobianOfSpatialHessianType &,
                              NonZeroJacobianIndicesType &) const override
  {
    itkExceptionMacro("Not implemented for KernelTransform2");
  }
 
 
protected:
  KernelTransform2();
  ~KernelTransform2() override;
  void
  PrintSelf(std::ostream & os, Indent indent) const override;
 
public:
  using GMatrixType = vnl_matrix_fixed<TScalarType, NDimensions, NDimensions>;

  using LMatrixType = vnl_matrix<TScalarType>;

  using KMatrixType = vnl_matrix<TScalarType>;

  using PMatrixType = vnl_matrix<TScalarType>;

  using YMatrixType = vnl_matrix<TScalarType>;

  using WMatrixType = vnl_matrix<TScalarType>;

  using DMatrixType = vnl_matrix<TScalarType>;

  using AMatrixType = vnl_matrix_fixed<TScalarType, NDimensions, NDimensions>;

  using BMatrixType = vnl_vector_fixed<TScalarType, NDimensions>;

  using RowMatrixType = vnl_matrix_fixed<TScalarType, 1, NDimensions>;

  using ColumnMatrixType = vnl_matrix_fixed<TScalarType, NDimensions, 1>;

  PointSetPointer m_SourceLandmarks{};

  PointSetPointer m_TargetLandmarks{};
 
protected:
  virtual void
  ComputeG(const InputVectorType & landmarkVector, GMatrixType & GMatrix) const;

  virtual void
  ComputeReflexiveG(PointsIterator, GMatrixType & GMatrix) const;

  virtual void
  ComputeDeformationContribution(const InputPointType & inputPoint, OutputPointType & result) const;

  void
  ComputeK();

  void
  ComputeL();

  void
  ComputeP();

  void
  ComputeY();

  void
  ComputeD();

  void
  ReorganizeW();

  double m_Stiffness{};

  VectorSetPointer m_Displacements{};

  LMatrixType m_LMatrix{};

  LMatrixType m_LMatrixInverse{};

  KMatrixType m_KMatrix{};

  PMatrixType m_PMatrix{};

  YMatrixType m_YMatrix{};

  WMatrixType m_WMatrix{};

  DMatrixType m_DMatrix{};

  AMatrixType m_AMatrix{};

  BMatrixType m_BVector{};

  // GMatrixType m_GMatrix;

  bool m_WMatrixComputed{};
  bool m_LMatrixComputed{};
  bool m_LInverseComputed{};
  bool m_LMatrixDecompositionComputed{};

  using SVDDecompositionType = vnl_svd<ScalarType>;
  using QRDecompositionType = vnl_qr<ScalarType>;
 
  SVDDecompositionType * m_LMatrixDecompositionSVD{};
  QRDecompositionType *  m_LMatrixDecompositionQR{};

  IMatrixType m_I{};

  NonZeroJacobianIndicesType m_NonZeroJacobianIndices{};

  bool m_FastComputationPossible{};
 
private:
  // Private using-declarations, to avoid `-Woverloaded-virtual` warnings from GCC (GCC 11.4).
  using Superclass::TransformCovariantVector;
  using Superclass::TransformVector;
 
  TScalarType m_PoissonRatio{};

  std::string m_MatrixInversionMethod{};
};
 
} // end namespace itk
 
#ifndef ITK_MANUAL_INSTANTIATION
#  include "itkKernelTransform2.hxx"
#endif
 
#endif // itkKernelTransform2_h