itkRigid2DTransform.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 itkRigid2DTransform_h
#define itkRigid2DTransform_h
 
#include "itkMatrixOffsetTransformBase.h"
 
namespace itk
{
template <typename TParametersValueType = double>
class ITK_TEMPLATE_EXPORT Rigid2DTransform : public MatrixOffsetTransformBase<TParametersValueType, 2, 2>
{
public:
  ITK_DISALLOW_COPY_AND_MOVE(Rigid2DTransform);

  using Self = Rigid2DTransform;
  using Superclass = MatrixOffsetTransformBase<TParametersValueType, 2, 2>;
  using Pointer = SmartPointer<Self>;
  using ConstPointer = SmartPointer<const Self>;

  itkOverrideGetNameOfClassMacro(Rigid2DTransform);

  itkNewMacro(Self);

  static constexpr unsigned int InputSpaceDimension = 2;
  static constexpr unsigned int OutputSpaceDimension = 2;
  static constexpr unsigned int ParametersDimension = 3;

  using typename Superclass::ScalarType;

  using typename Superclass::ParametersType;
  using typename Superclass::ParametersValueType;
  using typename Superclass::FixedParametersType;
  using typename Superclass::FixedParametersValueType;

  using typename Superclass::JacobianType;
  using typename Superclass::JacobianPositionType;
  using typename Superclass::InverseJacobianPositionType;
 
  // / Standard matrix type for this class
  using typename Superclass::MatrixType;
  using typename Superclass::MatrixValueType;
 
  // / Standard vector type for this class
  using typename Superclass::OffsetType;
  using typename Superclass::OffsetValueType;
 
  // / Standard vector type for this class
  using typename Superclass::InputVectorType;
  using typename Superclass::OutputVectorType;
  using typename Superclass::OutputVectorValueType;
 
  // / Standard covariant vector type for this class
  using typename Superclass::InputCovariantVectorType;
  using typename Superclass::OutputCovariantVectorType;
 
  // / Standard vnl_vector type for this class
  using typename Superclass::InputVnlVectorType;
  using typename Superclass::OutputVnlVectorType;
 
  // / Standard coordinate point type for this class
  using typename Superclass::InputPointType;
  using typename Superclass::OutputPointType;

  using InverseTransformBaseType = typename Superclass::InverseTransformBaseType;
  using InverseTransformBasePointer = typename InverseTransformBaseType::Pointer;

  void
  SetMatrix(const MatrixType & matrix) override;

  virtual void
  SetMatrix(const MatrixType & matrix, const TParametersValueType tolerance);

  void
  Translate(const OffsetType & offset, bool pre = false);

  inline InputPointType
  BackTransform(const OutputPointType & point) const;
 
  inline InputVectorType
  BackTransform(const OutputVectorType & vect) const;
 
  inline InputVnlVectorType
  BackTransform(const OutputVnlVectorType & vect) const;
 
  inline InputCovariantVectorType
  BackTransform(const OutputCovariantVectorType & vect) const;

  void
  SetAngle(TParametersValueType angle);
 
  itkGetConstReferenceMacro(Angle, TParametersValueType);

  void
  SetAngleInDegrees(TParametersValueType angle);

  void
  SetRotation(TParametersValueType angle)
  {
    this->SetAngle(angle);
  }
  virtual const TParametersValueType &
  GetRotation() const
  {
    return m_Angle;
  }

  void
  SetParameters(const ParametersType & parameters) override;

  const ParametersType &
  GetParameters() const override;

  void
  ComputeJacobianWithRespectToParameters(const InputPointType & p, JacobianType & j) const override;

  void
  CloneInverseTo(Pointer & result) const;

  bool
  GetInverse(Self * inverse) const;

  InverseTransformBasePointer
  GetInverseTransform() const override;

  void
  CloneTo(Pointer & result) const;

  void
  SetIdentity() override;
 
protected:
  Rigid2DTransform(unsigned int outputSpaceDimension, unsigned int parametersDimension);
  Rigid2DTransform(unsigned int parametersDimension);
  Rigid2DTransform();
 
  ~Rigid2DTransform() override = default;

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

  void
  ComputeMatrix() override;

  void
  ComputeMatrixParameters() override;

  void
  SetVarAngle(TParametersValueType angle)
  {
    m_Angle = angle;
  }
 
private:
  TParametersValueType m_Angle{};
 
}; // class Rigid2DTransform
 
// Back transform a point
template <typename TParametersValueType>
inline auto
Rigid2DTransform<TParametersValueType>::BackTransform(const OutputPointType & point) const -> InputPointType
{
  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() * (point - this->GetOffset());
}
 
// Back transform a vector
template <typename TParametersValueType>
inline auto
Rigid2DTransform<TParametersValueType>::BackTransform(const OutputVectorType & vect) const -> InputVectorType
{
  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;
}
 
// Back transform a vnl_vector
template <typename TParametersValueType>
inline auto
Rigid2DTransform<TParametersValueType>::BackTransform(const OutputVnlVectorType & vect) const -> InputVnlVectorType
{
  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;
}
 
// Back Transform a CovariantVector
template <typename TParametersValueType>
inline auto
Rigid2DTransform<TParametersValueType>::BackTransform(const OutputCovariantVectorType & vect) const
  -> InputCovariantVectorType
{
  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->GetMatrix() * vect;
}
 
} // namespace itk
 
#ifndef ITK_MANUAL_INSTANTIATION
#  include "itkRigid2DTransform.hxx"
#endif
 
#endif /* itkRigid2DTransform_h */