libinsighttoolkit4-dev 4.5.0-3 / usr / include / ITK-4.5 / itkKernelTransform.hxx

/*=========================================================================
 *
 *  Copyright Insight Software Consortium
 *
 *  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.
 *
 *=========================================================================*/
#ifndef __itkKernelTransform_hxx
#define __itkKernelTransform_hxx
#include "itkKernelTransform.h"

namespace itk
{
/**
 *
 */
template <typename TScalar, unsigned int NDimensions>
KernelTransform<TScalar, NDimensions>::KernelTransform() : Superclass(NDimensions)
// the second NDimensions is associated is provided as
// a tentative number for initializing the Jacobian.
// The matrix can be resized at run time so this number
// here is irrelevant. The correct size of the Jacobian
// will be NDimension X NDimension.NumberOfLandMarks.
{
  this->m_I.set_identity();
  this->m_SourceLandmarks = PointSetType::New();
  this->m_TargetLandmarks = PointSetType::New();
  this->m_Displacements   = VectorSetType::New();
  this->m_WMatrixComputed = false;

  this->m_Stiffness = 0.0;
}

/**
 *
 */
template <typename TScalar, unsigned int NDimensions>
KernelTransform<TScalar, NDimensions>::
~KernelTransform()
{
}

/**
 *
 */
template <typename TScalar, unsigned int NDimensions>
void
KernelTransform<TScalar, NDimensions>::SetSourceLandmarks(PointSetType *landmarks)
{
  itkDebugMacro("setting SourceLandmarks to " << landmarks);
  if( this->m_SourceLandmarks != landmarks )
    {
    this->m_SourceLandmarks = landmarks;
    this->UpdateParameters();
    this->Modified();
    }
}

/**
 *
 */
template <typename TScalar, unsigned int NDimensions>
void
KernelTransform<TScalar, NDimensions>::SetTargetLandmarks(PointSetType *landmarks)
{
  itkDebugMacro("setting TargetLandmarks to " << landmarks);
  if( this->m_TargetLandmarks != landmarks )
    {
    this->m_TargetLandmarks = landmarks;
    this->UpdateParameters();
    this->Modified();
    }
}

/**
 *
 */
template <typename TScalar, unsigned int NDimensions>
void
KernelTransform<TScalar, NDimensions>::ComputeG( const InputVectorType &,
                                                     GMatrixType & itkNotUsed(gmatrix) ) const
{
  itkExceptionMacro(<< "ComputeG(vector,gmatrix) must be reimplemented"
                    << " in subclasses of KernelTransform.");
}

/**
 *
 */
template <typename TScalar, unsigned int NDimensions>
const typename KernelTransform<TScalar, NDimensions>::GMatrixType
& KernelTransform<TScalar, NDimensions>::ComputeReflexiveG(PointsIterator) const
  {
  m_GMatrix.fill(NumericTraits<TScalar>::Zero);
  m_GMatrix.fill_diagonal(m_Stiffness);

  return m_GMatrix;
  }

/**
 * Default implementation of the the method. This can be overloaded
 * in transforms whose kernel produce diagonal G matrices.
 */
template <typename TScalar, unsigned int NDimensions>
void
KernelTransform<TScalar, NDimensions>::ComputeDeformationContribution(const InputPointType  & thisPoint,
                                                                          OutputPointType & result) const
{
  PointIdentifier numberOfLandmarks = this->m_SourceLandmarks
    ->GetNumberOfPoints();

  PointsIterator sp  = this->m_SourceLandmarks->GetPoints()->Begin();

  GMatrixType Gmatrix;

  for( unsigned int lnd = 0; lnd < numberOfLandmarks; lnd++ )
    {
    this->ComputeG(thisPoint - sp->Value(), Gmatrix);
    for( unsigned int dim = 0; dim < NDimensions; dim++ )
      {
      for( unsigned int odim = 0; odim < NDimensions; odim++ )
        {
        result[odim] += Gmatrix(dim, odim) * m_DMatrix(dim, lnd);
        }
      }
    ++sp;
    }
}

/**
 *
 */
template <typename TScalar, unsigned int NDimensions>
void KernelTransform<TScalar, NDimensions>
::ComputeD(void)
{
  PointIdentifier numberOfLandmarks = this->m_SourceLandmarks
    ->GetNumberOfPoints();

  PointsIterator sp  = this->m_SourceLandmarks->GetPoints()->Begin();
  PointsIterator tp  = this->m_TargetLandmarks->GetPoints()->Begin();
  PointsIterator end = this->m_SourceLandmarks->GetPoints()->End();

  this->m_Displacements->Reserve(numberOfLandmarks);
  typename VectorSetType::Iterator vt = this->m_Displacements->Begin();

  while( sp != end )
    {
    vt->Value() = tp->Value() - sp->Value();
    ++vt;
    ++sp;
    ++tp;
    }
}

/**
 *
 */
template <typename TScalar, unsigned int NDimensions>
void KernelTransform<TScalar, NDimensions>
::ComputeWMatrix(void)
{
  typedef vnl_svd<TScalar> SVDSolverType;

  this->ComputeL();
  this->ComputeY();
  SVDSolverType svd(this->m_LMatrix, 1e-8);
  this->m_WMatrix = svd.solve(this->m_YMatrix);

  this->ReorganizeW();
}

/**
 *
 */
template <typename TScalar, unsigned int NDimensions>
void KernelTransform<TScalar, NDimensions>::ComputeL(void)
{
  PointIdentifier numberOfLandmarks = this->m_SourceLandmarks
    ->GetNumberOfPoints();

  vnl_matrix<TScalar> O2(NDimensions * ( NDimensions + 1 ),
                             NDimensions * ( NDimensions + 1 ), 0);

  this->ComputeP();
  this->ComputeK();

  this->m_LMatrix.set_size(
    NDimensions * ( numberOfLandmarks + NDimensions + 1 ),
    NDimensions * ( numberOfLandmarks + NDimensions + 1 ) );

  this->m_LMatrix.fill(0.0);

  this->m_LMatrix.update(this->m_KMatrix, 0, 0);
  this->m_LMatrix.update( this->m_PMatrix, 0, this->m_KMatrix.columns() );
  this->m_LMatrix.update(this->m_PMatrix.transpose(),
                         this->m_KMatrix.rows(), 0);
  this->m_LMatrix.update( O2, this->m_KMatrix.rows(),
                          this->m_KMatrix.columns() );
}

/**
 *
 */
template <typename TScalar, unsigned int NDimensions>
void KernelTransform<TScalar, NDimensions>::ComputeK(void)
{
  PointIdentifier numberOfLandmarks = this->m_SourceLandmarks
    ->GetNumberOfPoints();
  GMatrixType G;

  this->ComputeD();

  this->m_KMatrix.set_size(NDimensions * numberOfLandmarks,
                           NDimensions * numberOfLandmarks);

  this->m_KMatrix.fill(0.0);

  PointsIterator p1  = this->m_SourceLandmarks->GetPoints()->Begin();
  PointsIterator end = this->m_SourceLandmarks->GetPoints()->End();

  // K matrix is symmetric, so only evaluate the upper triangle and
  // store the values in bot the upper and lower triangle
  unsigned int i = 0;
  while( p1 != end )
    {
    PointsIterator p2 = p1; // start at the diagonal element
    unsigned int   j = i;

    // Compute the block diagonal element, i.e. kernel for pi->pi
    G = this->ComputeReflexiveG(p1);
    this->m_KMatrix.update(G, i * NDimensions, i * NDimensions);
    ++p2;
    ++j;

    // Compute the upper (and copy into lower) triangular part of K
    while( p2 != end )
      {
      const InputVectorType s = p1.Value() - p2.Value();
      this->ComputeG(s, G);
      // write value in upper and lower triangle of matrix
      this->m_KMatrix.update(G, i * NDimensions, j * NDimensions);
      this->m_KMatrix.update(G, j * NDimensions, i * NDimensions);
      ++p2;
      ++j;
      }

    ++p1;
    ++i;
    }
}

/**
 *
 */
template <typename TScalar, unsigned int NDimensions>
void KernelTransform<TScalar, NDimensions>::ComputeP()
{
  PointIdentifier numberOfLandmarks = this->m_SourceLandmarks
    ->GetNumberOfPoints();
  IMatrixType    I;
  IMatrixType    temp;
  InputPointType p;

  p.Fill( NumericTraits<ScalarType>::Zero );

  I.set_identity();
  this->m_PMatrix.set_size( NDimensions * numberOfLandmarks,
                            NDimensions * ( NDimensions + 1 ) );
  this->m_PMatrix.fill(0.0);
  for( unsigned long i = 0; i < numberOfLandmarks; i++ )
    {
    this->m_SourceLandmarks->GetPoint(i, &p);
    for( unsigned int j = 0; j < NDimensions; j++ )
      {
      temp = I * p[j];
      this->m_PMatrix.update(temp, i * NDimensions, j * NDimensions);
      }
    this->m_PMatrix.update(I, i * NDimensions, NDimensions * NDimensions);
    }
}

/**
 *
 */
template <typename TScalar, unsigned int NDimensions>
void KernelTransform<TScalar, NDimensions>::ComputeY(void)
{
  PointIdentifier numberOfLandmarks = this->m_SourceLandmarks
    ->GetNumberOfPoints();

  typename VectorSetType::ConstIterator displacement =
    this->m_Displacements->Begin();

  this->m_YMatrix.set_size(NDimensions * ( numberOfLandmarks + NDimensions + 1 ), 1);

  this->m_YMatrix.fill(0.0);
  for( unsigned int i = 0; i < numberOfLandmarks; i++ )
    {
    for( unsigned int j = 0; j < NDimensions; j++ )
      {
      this->m_YMatrix.put(i * NDimensions + j, 0, displacement.Value()[j]);
      }
    ++displacement;
    }
  for( unsigned int i = 0; i < NDimensions * ( NDimensions + 1 ); i++ )
    {
    this->m_YMatrix.put(numberOfLandmarks * NDimensions + i, 0, 0);
    }
}

/**
 *
 */
template <typename TScalar, unsigned int NDimensions>
void
KernelTransform<TScalar, NDimensions>
::ReorganizeW(void)
{
  PointIdentifier numberOfLandmarks = this->m_SourceLandmarks
    ->GetNumberOfPoints();

  // The deformable (non-affine) part of the registration goes here
  this->m_DMatrix.set_size(NDimensions, numberOfLandmarks);
  unsigned int ci = 0;
  for( unsigned int lnd = 0; lnd < numberOfLandmarks; lnd++ )
    {
    for( unsigned int dim = 0; dim < NDimensions; dim++ )
      {
      this->m_DMatrix(dim, lnd) = this->m_WMatrix(ci++, 0);
      }
    }
  // This matrix holds the rotational part of the Affine component
  for( unsigned int j = 0; j < NDimensions; j++ )
    {
    for( unsigned int i = 0; i < NDimensions; i++ )
      {
      this->m_AMatrix(i, j) = this->m_WMatrix(ci++, 0);
      }
    }
  // This vector holds the translational part of the Affine component
  for( unsigned int k = 0; k < NDimensions; k++ )
    {
    this->m_BVector(k) = this->m_WMatrix(ci++, 0);
    }

  // release WMatrix memory by assigning a small one.
  this->m_WMatrix = WMatrixType(1, 1);
}

/**
 *
 */
template <typename TScalar, unsigned int NDimensions>
typename KernelTransform<TScalar, NDimensions>::OutputPointType
KernelTransform<TScalar, NDimensions>
::TransformPoint(const InputPointType & thisPoint) const
{
  OutputPointType result;

  typedef typename OutputPointType::ValueType ValueType;

  result.Fill(NumericTraits<ValueType>::Zero);

  //TODO:  It is unclear if the following line is needed.
  this->ComputeDeformationContribution(thisPoint, result);

  // Add the rotational part of the Affine component
  for( unsigned int j = 0; j < NDimensions; j++ )
    {
    for( unsigned int i = 0; i < NDimensions; i++ )
      {
      result[i] += this->m_AMatrix(i, j) * thisPoint[j];
      }
    }
  // This vector holds the translational part of the Affine component
  for( unsigned int k = 0; k < NDimensions; k++ )
    {
    result[k] += this->m_BVector(k) + thisPoint[k];
    }

  return result;
}

template <typename TScalar, unsigned int NDimensions>
void
KernelTransform<TScalar, NDimensions>
::ComputeJacobianWithRespectToParameters(const InputPointType &, JacobianType & jacobian) const
{
  jacobian.Fill(0.0);

  // FIXME: TODO
  // The Jacobian should be computable in terms of the matrices
  // used to Transform points...
  itkExceptionMacro(<< "Get[Local]Jacobian must be implemented in subclasses"
                    << " of KernelTransform.");
}

// Set the parameters
// NOTE that in this transformation both the Source and Target
// landmarks could be considered as parameters. It is assumed
// here that the Target landmarks are provided by the user and
// are not changed during the optimization process required for
// registration.
template <typename TScalar, unsigned int NDimensions>
void
KernelTransform<TScalar, NDimensions>::SetParameters(const ParametersType & parameters)
{
  // Save parameters. Needed for proper operation of TransformUpdateParameters.
  if( &parameters != &(this->m_Parameters) )
    {
    this->m_Parameters = parameters;
    }

  typename PointsContainer::Pointer landmarks = PointsContainer::New();
  const unsigned int numberOfLandmarks =  parameters.Size() / NDimensions;
  landmarks->Reserve(numberOfLandmarks);

  PointsIterator itr = landmarks->Begin();
  PointsIterator end = landmarks->End();

  InputPointType landMark;

  unsigned int pcounter = 0;
  while( itr != end )
    {
    for( unsigned int dim = 0; dim < NDimensions; dim++ )
      {
      landMark[dim] = parameters[pcounter];
      ++pcounter;
      }
    itr.Value() = landMark;
    ++itr;
    }

  this->m_SourceLandmarks->SetPoints(landmarks);

  // Modified is always called since we just have a pointer to the
  // parameters and cannot know if the parameters have changed.
  this->Modified();
}

// Set the fixed parameters
// Since the API of the SetParameters() function sets the
// source landmarks, this function was added to support the
// setting of the target landmarks, and allowing the Transform
// I/O mechanism to be supported.
template <typename TScalar, unsigned int NDimensions>
void
KernelTransform<TScalar, NDimensions>::SetFixedParameters(const ParametersType & parameters)
{
  typename PointsContainer::Pointer landmarks = PointsContainer::New();
  const unsigned int numberOfLandmarks =  parameters.Size() / NDimensions;

  landmarks->Reserve(numberOfLandmarks);

  PointsIterator itr = landmarks->Begin();
  PointsIterator end = landmarks->End();

  InputPointType landMark;

  unsigned int pcounter = 0;
  while( itr != end )
    {
    for( unsigned int dim = 0; dim < NDimensions; dim++ )
      {
      landMark[dim] = parameters[pcounter];
      ++pcounter;
      }
    itr.Value() = landMark;
    ++itr;
    }

  this->m_TargetLandmarks->SetPoints(landmarks);
}

// Update parameters array
// They are the components of all the landmarks in the source space
template <typename TScalar, unsigned int NDimensions>
void
KernelTransform<TScalar, NDimensions>::UpdateParameters(void) const
{
  this->m_Parameters = ParametersType(this->m_SourceLandmarks
                                      ->GetNumberOfPoints()
                                      * NDimensions);

  PointsIterator itr = this->m_SourceLandmarks->GetPoints()->Begin();
  PointsIterator end = this->m_SourceLandmarks->GetPoints()->End();

  unsigned int pcounter = 0;
  while( itr != end )
    {
    InputPointType landmark = itr.Value();
    for( unsigned int dim = 0; dim < NDimensions; dim++ )
      {
      this->m_Parameters[pcounter] = landmark[dim];
      ++pcounter;
      }
    ++itr;
    }
}

// Get the parameters
// They are the components of all the landmarks in the source space
template <typename TScalar, unsigned int NDimensions>
const typename KernelTransform<TScalar, NDimensions>::ParametersType
& KernelTransform<TScalar, NDimensions>::GetParameters(void) const
  {
  this->UpdateParameters();
  return this->m_Parameters;
  }

// Get the fixed parameters
// This returns the target landmark locations
// This was added to support the Transform Reader/Writer mechanism
template <typename TScalar, unsigned int NDimensions>
const typename KernelTransform<TScalar, NDimensions>::ParametersType
& KernelTransform<TScalar, NDimensions>::GetFixedParameters(void) const
  {
  this->m_FixedParameters = ParametersType(this->m_TargetLandmarks
                                           ->GetNumberOfPoints()
                                           * NDimensions);

  PointsIterator itr = this->m_TargetLandmarks->GetPoints()->Begin();
  PointsIterator end = this->m_TargetLandmarks->GetPoints()->End();

  unsigned int pcounter = 0;
  while( itr != end )
    {
    InputPointType landmark = itr.Value();
    for( unsigned int dim = 0; dim < NDimensions; dim++ )
      {
      this->m_FixedParameters[pcounter] = landmark[dim];
      ++pcounter;
      }
    ++itr;
    }

  return this->m_FixedParameters;
  }

template <typename TScalar, unsigned int NDimensions>
void
KernelTransform<TScalar, NDimensions>::PrintSelf(std::ostream & os, Indent indent) const
{
  Superclass::PrintSelf(os, indent);
  if( this->m_SourceLandmarks )
    {
    os << indent << "SourceLandmarks: " << std::endl;
    this->m_SourceLandmarks->Print( os, indent.GetNextIndent() );
    }
  if( this->m_TargetLandmarks )
    {
    os << indent << "TargetLandmarks: " << std::endl;
    this->m_TargetLandmarks->Print( os, indent.GetNextIndent() );
    }
  if( this->m_Displacements )
    {
    os << indent << "Displacements: " << std::endl;
    this->m_Displacements->Print( os, indent.GetNextIndent() );
    }
  os << indent << "Stiffness: " << this->m_Stiffness << std::endl;
}

} // namespace itk

#endif