itkKernelTransform.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 itkKernelTransform_h
#define itkKernelTransform_h
 
#include "itkTransform.h"
#if !defined(ITK_LEGACY_REMOVE) && !defined(ITK_FUTURE_LEGACY_REMOVE)
#  include "vnl/algo/vnl_svd.h" // transitional transitive include; dropped on ITK legacy removal
#endif
#include "itkMatrix.h"
#include "itkPointSet.h"
#include <deque>
#include <cmath>
#include "vnl/vnl_matrix_fixed.h"
#include "vnl/vnl_matrix.h"
#include "vnl/vnl_vector.h"
#include "vnl/vnl_vector_fixed.h"
 
namespace itk
{
template <typename TParametersValueType, unsigned int VDimension>
class ITK_TEMPLATE_EXPORT KernelTransform : public Transform<TParametersValueType, VDimension, VDimension>
{
public:
  ITK_DISALLOW_COPY_AND_MOVE(KernelTransform);

  using Self = KernelTransform;
  using Superclass = Transform<TParametersValueType, VDimension, VDimension>;
  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;

  itkOverrideGetNameOfClassMacro(KernelTransform);

  itkNewMacro(Self);

  static constexpr unsigned int SpaceDimension = VDimension;

  using typename Superclass::ScalarType;

  using typename Superclass::FixedParametersType;
  using typename Superclass::ParametersType;

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

  using typename Superclass::TransformCategoryEnum;

  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::NumberOfParametersType;

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

  using VectorSetType = itk::VectorContainer<InputVectorType>;
  using VectorSetPointer = typename VectorSetType::Pointer;

  itkGetModifiableObjectMacro(SourceLandmarks, PointSetType); // NOTE: This is used to circumvent the SetTargetLandmarks
  virtual void
  SetSourceLandmarks(PointSetType *);
  itkGetModifiableObjectMacro(TargetLandmarks, PointSetType); // NOTE: This is used to circumvent the SetTargetLandmarks
  virtual void
  SetTargetLandmarks(PointSetType *);
  itkGetModifiableObjectMacro(Displacements, VectorSetType);

  void
  ComputeWMatrix();

  OutputPointType
  TransformPoint(const InputPointType & thisPoint) const override;

  using Superclass::TransformVector;
  OutputVectorType
  TransformVector(const InputVectorType &) const override
  {
    itkExceptionStringMacro("TransformVector(const InputVectorType &) is not implemented for KernelTransform");
  }

  OutputVnlVectorType
  TransformVector(const InputVnlVectorType &) const override
  {
    itkExceptionStringMacro("TransformVector(const InputVnlVectorType &) is not implemented for KernelTransform");
  }

  using Superclass::TransformCovariantVector;
  OutputCovariantVectorType
  TransformCovariantVector(const InputCovariantVectorType &) const override
  {
    itkExceptionMacro(
      << "TransformCovariantVector(const InputCovariantVectorType &) is not implemented for KernelTransform");
  }

  using IMatrixType = vnl_matrix_fixed<TParametersValueType, VDimension, VDimension>;

  void
  ComputeJacobianWithRespectToParameters(const InputPointType & p, JacobianType & jacobian) const override;
 
  void
  ComputeJacobianWithRespectToPosition(const InputPointType &, JacobianPositionType &) const override
  {
    itkExceptionMacro("ComputeJacobianWithRespectToPosition not yet implemented for " << this->GetNameOfClass());
  }
  using Superclass::ComputeJacobianWithRespectToPosition;

  void
  SetParameters(const ParametersType &) override;

  void
  SetFixedParameters(const FixedParametersType &) override;

  virtual void
  UpdateParameters() const;

  const ParametersType &
  GetParameters() const override;

  const FixedParametersType &
  GetFixedParameters() const override;

  TransformCategoryEnum
  GetTransformCategory() const override
  {
    return Self::TransformCategoryEnum::Spline;
  }

  template <typename TTransform>
  bool
  GetInverse(TTransform * inverseTransform) const;
  template <typename TTransform>
  bool
  GetInverse(SmartPointer<TTransform> inverseTransform) const
  {
    return this->GetInverse(inverseTransform.GetPointer());
  }
 
  using InverseTransformBasePointer = typename Superclass::InverseTransformBasePointer;

  InverseTransformBasePointer
  GetInverseTransform() const override
  {
    return Superclass::InvertTransform(*this);
  }

  itkSetClampMacro(Stiffness, double, 0.0, NumericTraits<double>::max());
  itkGetConstMacro(Stiffness, double);
protected:
  KernelTransform();
  ~KernelTransform() override = default;
  void
  PrintSelf(std::ostream & os, Indent indent) const override;
 
public:
  using GMatrixType = vnl_matrix_fixed<TParametersValueType, VDimension, VDimension>;

  using LMatrixType = vnl_matrix<TParametersValueType>;

  using KMatrixType = vnl_matrix<TParametersValueType>;

  using PMatrixType = vnl_matrix<TParametersValueType>;

  using YMatrixType = vnl_matrix<TParametersValueType>;

  using WMatrixType = vnl_matrix<TParametersValueType>;

  using DMatrixType = vnl_matrix<TParametersValueType>;

  using AMatrixType = vnl_matrix_fixed<TParametersValueType, VDimension, VDimension>;

  using BMatrixType = vnl_vector_fixed<TParametersValueType, VDimension>;

  using RowMatrixType = vnl_matrix_fixed<TParametersValueType, 1, VDimension>;

  using ColumnMatrixType = vnl_matrix_fixed<TParametersValueType, VDimension, 1>;
 
protected:
  virtual void
  ComputeG(const InputVectorType & landmarkVector, GMatrixType & gmatrix) const;

  virtual const GMatrixType & ComputeReflexiveG(PointsIterator) const;

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

  void
  ComputeK();

  void
  ComputeL();

  void
  ComputeP();

  void
  ComputeY();

  void
  ComputeD();

  void
  ReorganizeW();

  double m_Stiffness{};

  VectorSetPointer m_Displacements{ VectorSetType::New() };

  LMatrixType m_LMatrix{};

  KMatrixType m_KMatrix{};

  PMatrixType m_PMatrix{};

  YMatrixType m_YMatrix{};

  WMatrixType m_WMatrix{};

  DMatrixType m_DMatrix{};

  AMatrixType m_AMatrix{};

  BMatrixType m_BVector{};

  mutable GMatrixType m_GMatrix{};

  bool m_WMatrixComputed{};

  IMatrixType m_I{};

  PointSetPointer m_SourceLandmarks{ PointSetType::New() };

  PointSetPointer m_TargetLandmarks{ PointSetType::New() };
};
} // end namespace itk
 
#ifndef ITK_MANUAL_INSTANTIATION
#  include "itkKernelTransform.hxx"
#endif
 
#endif // itkKernelTransform_h