itkAffineTransform.h

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

  Program:   Insight Segmentation & Registration Toolkit
  Module:    $RCSfile: itkAffineTransform.h,v $
  Language:  C++
  Date:      $Date: 2009-04-09 09:23:20 $
  Version:   $Revision: 1.70 $

  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 __itkAffineTransform_h
#define __itkAffineTransform_h

#include <iostream>

#include "itkMatrix.h"
#include "itkMatrixOffsetTransformBase.h"
#include "itkExceptionObject.h"
#include "itkMacro.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));

  
  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 outputDims,
                  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, x, y) namespace itk { \
  _(2(class EXPORT AffineTransform< ITK_TEMPLATE_2 x >)) \
  namespace Templates { typedef AffineTransform< ITK_TEMPLATE_2 x > \
                                                  AffineTransform##y; } \
  }

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

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

#endif /* __itkAffineTransform_h */

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