itkAffineTransform.h

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/*=========================================================================
 *
 *  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 __itkAffineTransform_h
#define __itkAffineTransform_h

#include <iostream>

#include "itkMatrixOffsetTransformBase.h"

namespace itk
{

template<
  class TScalarType = double,      // Data type for scalars
                                   //    (e.g. float or double)
  unsigned int NDimensions = 3 >
// Number of dimensions in the input space
class AffineTransform:
  public MatrixOffsetTransformBase< TScalarType, NDimensions, NDimensions >
{
public:
  typedef AffineTransform Self;
  typedef MatrixOffsetTransformBase< TScalarType,
                                     NDimensions,
                                     NDimensions >  Superclass;

  typedef SmartPointer< Self >       Pointer;
  typedef SmartPointer< const Self > ConstPointer;

  itkTypeMacro(AffineTransform, MatrixOffsetTransformBase);

  itkNewMacro(Self);

  itkStaticConstMacro(InputSpaceDimension, unsigned int, NDimensions);
  itkStaticConstMacro(OutputSpaceDimension, unsigned int, NDimensions);
  itkStaticConstMacro(SpaceDimension, unsigned int, NDimensions);
  itkStaticConstMacro( ParametersDimension, unsigned int,
                       NDimensions *( NDimensions + 1 ) );

  itkTransformCloneMacro();

  typedef typename Superclass::ParametersType            ParametersType;
  typedef typename Superclass::JacobianType              JacobianType;
  typedef typename Superclass::ScalarType                ScalarType;
  typedef typename Superclass::InputPointType            InputPointType;
  typedef typename Superclass::OutputPointType           OutputPointType;
  typedef typename Superclass::InputVectorType           InputVectorType;
  typedef typename Superclass::OutputVectorType          OutputVectorType;
  typedef typename Superclass::InputVnlVectorType        InputVnlVectorType;
  typedef typename Superclass::OutputVnlVectorType       OutputVnlVectorType;
  typedef typename Superclass::InputCovariantVectorType  InputCovariantVectorType;
  typedef typename Superclass::OutputCovariantVectorType OutputCovariantVectorType;
  typedef typename Superclass::MatrixType                MatrixType;
  typedef typename Superclass::InverseMatrixType         InverseMatrixType;
  typedef typename Superclass::CenterType                CenterType;
  typedef typename Superclass::OffsetType                OffsetType;
  typedef typename Superclass::TranslationType           TranslationType;

  typedef typename Superclass::InverseTransformBaseType InverseTransformBaseType;
  typedef typename InverseTransformBaseType::Pointer    InverseTransformBasePointer;

  void Translate(const OutputVectorType & offset, bool pre = 0);

  void Scale(const OutputVectorType & factor, bool pre = 0);

  void Scale(const TScalarType & factor, bool pre = 0);

  void Rotate(int axis1, int axis2, TScalarType angle, bool pre = 0);

  void Rotate2D(TScalarType angle, bool pre = 0);

  void Rotate3D(const OutputVectorType & axis, TScalarType angle, bool pre = 0);

  void Shear(int axis1, int axis2, TScalarType coef, bool pre = 0);

  bool GetInverse(Self *inverse) const;

  virtual InverseTransformBasePointer GetInverseTransform() const;

  inline InputPointType   BackTransform(const OutputPointType  & point) const;

  inline InputVectorType  BackTransform(const OutputVectorType & vector) const;

  inline InputVnlVectorType BackTransform(
    const OutputVnlVectorType & vector) const;

  inline InputCovariantVectorType BackTransform(
    const OutputCovariantVectorType & vector) const;

  inline InputPointType BackTransformPoint(const OutputPointType  & point) const;

  ScalarType Metric(const Self *other) const;

  ScalarType Metric(void) const;

protected:
  AffineTransform(const MatrixType & matrix,
                  const OutputVectorType & offset);
  AffineTransform(unsigned int paramDims);
  AffineTransform();

  virtual ~AffineTransform();

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

private:

  AffineTransform(const Self & other);
  const Self & operator=(const Self &);
}; //class AffineTransform

template< class TScalarType, unsigned int NDimensions >
inline
typename AffineTransform< TScalarType, NDimensions >::InputVectorType
AffineTransform< TScalarType, NDimensions >::BackTransform(const OutputVectorType & vect) const
{
  itkWarningMacro(
    << "BackTransform(): This method is slated to be removed "
    << "from ITK. Instead, please use GetInverse() to generate an inverse "
    << "transform and then perform the transform using that inverted transform.");
  return this->GetInverseMatrix() * vect;
}

template< class TScalarType, unsigned int NDimensions >
inline
typename AffineTransform< TScalarType, NDimensions >::InputVnlVectorType
AffineTransform< TScalarType, NDimensions >::BackTransform(const OutputVnlVectorType & vect) const
{
  itkWarningMacro(
    << "BackTransform(): This method is slated to be removed "
    << "from ITK. Instead, please use GetInverse() to generate an inverse "
    << "transform and then perform the transform using that inverted transform.");
  return this->GetInverseMatrix() * vect;
}

template< class TScalarType, unsigned int NDimensions >
inline
typename AffineTransform< TScalarType, NDimensions >::InputCovariantVectorType
AffineTransform< TScalarType, NDimensions >::BackTransform(const OutputCovariantVectorType & vec) const
{
  itkWarningMacro(
    << "BackTransform(): This method is slated to be removed "
    << "from ITK. Instead, please use GetInverse() to generate an inverse "
    << "transform and then perform the transform using that inverted transform.");

  InputCovariantVectorType result;    // Converted vector

  for ( unsigned int i = 0; i < NDimensions; i++ )
    {
    result[i] = NumericTraits< ScalarType >::Zero;
    for ( unsigned int j = 0; j < NDimensions; j++ )
      {
      result[i] += this->GetMatrix()[j][i] * vec[j]; // Direct matrix transposed
      }
    }
  return result;
}

template< class TScalarType, unsigned int NDimensions >
inline
typename AffineTransform< TScalarType, NDimensions >::InputPointType
AffineTransform< TScalarType, NDimensions >::BackTransformPoint(const OutputPointType & point) const
{
  return this->BackTransform(point);
}

template< class TScalarType, unsigned int NDimensions >
inline
typename AffineTransform< TScalarType, NDimensions >::InputPointType
AffineTransform< TScalarType, NDimensions >::BackTransform(const OutputPointType & point) const
{
  itkWarningMacro(
    << "BackTransform(): This method is slated to be removed "
    << "from ITK.  Instead, please use GetInverse() to generate an inverse "
    << "transform and then perform the transform using that inverted transform.");
  InputPointType result;       // Converted point
  ScalarType     temp[NDimensions];
  unsigned int   i, j;

  for ( j = 0; j < NDimensions; j++ )
    {
    temp[j] = point[j] - this->GetOffset()[j];
    }

  for ( i = 0; i < NDimensions; i++ )
    {
    result[i] = 0.0;
    for ( j = 0; j < NDimensions; j++ )
      {
      result[i] += this->GetInverseMatrix()[i][j] * temp[j];
      }
    }
  return result;
}
}  // namespace itk

// Define instantiation macro for this template.
#define ITK_TEMPLATE_AffineTransform(_, EXPORT, TypeX, TypeY)                \
  namespace itk                                                              \
  {                                                                          \
  _( 2 ( class EXPORT AffineTransform< ITK_TEMPLATE_2 TypeX > ) )            \
  namespace Templates                                                        \
  {                                                                          \
  typedef AffineTransform< ITK_TEMPLATE_2 TypeX >  AffineTransform##TypeY; \
  }                                                                          \
  }

#if ITK_TEMPLATE_EXPLICIT
#include "Templates/itkAffineTransform+-.h"
#endif

#if ITK_TEMPLATE_TXX
#include "itkAffineTransform.hxx"
#endif

#endif /* __itkAffineTransform_h */