affinetransformation3d_base.h

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/*
 *  Non elastic AffineTransformation3d ( rotation + translation )
 */
#ifndef SOMAIO_TRANSFORMATION_AFFINETRANSFORMATION3D_BASE_H
#define SOMAIO_TRANSFORMATION_AFFINETRANSFORMATION3D_BASE_H

#include <soma-io/transformation/transformation.h>
#include <soma-io/config/soma_config.h>
#include <iosfwd>

namespace soma
{

  //---------------------------------------------------------------------------

    //--------------------------//
   //  AffineTransformation3d  //
  //--------------------------//
  //---------------------------------------------------------------------------
  class AffineTransformation3dBase : public Transformation3d
  {
  public:

    template <typename T>
    class Table : public std::vector<T>
    {
    public:
      Table(unsigned ncols, unsigned nlines)
        : std::vector<T>(ncols*nlines, 0), ncols(ncols) {}
      Table(unsigned nitems)
        : std::vector<T>(nitems, 0), ncols(4) {}
      Table( const Table & other )
        : std::vector<T>()
      {
        *this = other;
      }
      Table( const std::vector<T> & other )
        : std::vector<T>( other ), ncols( 4 )
      {
      }

      T & operator () ( int x, int y=0 )
      {
        return (*this)[ y*ncols + x ];
      }

      T operator () ( int x, int y=0 ) const
      {
        return (*this)[ y*ncols + x ];
      }

      Table & operator = ( const Table & other )
      {
        if( &other == this )
          return *this;
        ncols = other.ncols;
        this->std::vector<T>::operator = ( other );
        return *this;
      }

      unsigned dimX() const { return ncols; }
      unsigned ncols;
    };


    AffineTransformation3dBase();
    AffineTransformation3dBase( const AffineTransformation3dBase& other );
    AffineTransformation3dBase( const std::vector<float> & mat );
    AffineTransformation3dBase( const carto::Object mat );
    virtual ~AffineTransformation3dBase();
    virtual AffineTransformation3dBase &operator = ( const AffineTransformation3dBase& other );
    virtual AffineTransformation3dBase &operator = ( const std::vector<float> & mat );
    virtual AffineTransformation3dBase &operator = ( const carto::Object mat );

    virtual bool operator == ( const AffineTransformation3dBase & ) const;

    AffineTransformation3dBase & operator *= (
      const AffineTransformation3dBase & trans );
    AffineTransformation3dBase operator - () const;

    Point3dd transformVector( const Point3dd & vec ) const;
    Point3df transformVector( const Point3df & dir ) const;
    Point3dd transformVector( double x, double y, double z ) const;
    Point3df transformVector( float x, float y, float z ) const;
    Point3dd transformNormal( const Point3dd & dir ) const;
    Point3df transformNormal( const Point3df & dir ) const;
    Point3dd transformNormal( double x, double y, double z ) const;
    Point3df transformNormal( float x, float y, float z ) const;
    Point3dd transformUnitNormal( const Point3dd & dir ) const;
    Point3df transformUnitNormal( const Point3df & dir ) const;
    Point3dd transformUnitNormal( double x, double y, double z ) const;
    Point3df transformUnitNormal( float x, float y, float z ) const;

    bool isIdentity() const CARTO_OVERRIDE;
    virtual void setToIdentity();

    // AffineTransformation3d algebraic operation
    AffineTransformation3dBase inverse() const;
    bool invertible() const CARTO_OVERRIDE;
    std::unique_ptr<Transformation3d> getInverse() const CARTO_OVERRIDE;
    virtual void scale( const Point3df& sizeFrom, const Point3df& sizeTo );
    bool isDirect() const;

    //Initialisation
    void setTranslation(Point3df trans);
    std::vector<float> toVector() const;
    std::vector<float> toColumnVector() const;
    void fromColumnVector( const std::vector<float> & vec )
    {
      return fromColumnVector( &vec[0] );
    }
    void fromColumnVector( const float* vec );
    Table<float> & matrix() { return _matrix; }
    const Table<float> & matrix() const { return _matrix; }

  protected:
    Point3dd transformDouble( double x, double y, double z ) const CARTO_OVERRIDE;
    Point3df transformFloat( float x, float y, float z ) const CARTO_OVERRIDE;

    virtual Point3dd transformVectorPoint3dd( const Point3dd & vec ) const;
    virtual Point3df transformVectorPoint3df( const Point3df & dir ) const;
    virtual Point3dd transformVectorDouble( double x, double y, double z ) const;
    virtual Point3df transformVectorFloat( float x, float y, float z ) const;
    virtual Point3dd transformNormalPoint3dd( const Point3dd & dir ) const;
    virtual Point3df transformNormalPoint3df( const Point3df & dir ) const;
    virtual Point3dd transformNormalDouble( double x, double y, double z ) const;
    virtual Point3df transformNormalFloat( float x, float y, float z ) const;

    // column-vector to be compatible with the former Volume storage with
    // math notation
    Table<float> _matrix;
  };


  // Compose AffineTransformation3d
  soma::AffineTransformation3dBase
    operator * ( const soma::AffineTransformation3dBase&
                    affineTransformation3d1,
                 const soma::AffineTransformation3dBase&
                    affineTransformation3d2 );

  std::ostream&
    operator << ( std::ostream& os,
                  const soma::AffineTransformation3dBase & thing );

  inline Point3dd
  AffineTransformation3dBase::transformVector( double x, double y, double z ) const
  {
    return transformVectorDouble( x, y, z );
  }


  inline Point3df
  AffineTransformation3dBase::transformVector( float x, float y, float z ) const
  {
    return transformVectorFloat( x, y, z );
  }


  inline Point3df
  AffineTransformation3dBase::transformVector( const Point3df & pos ) const
  {
    return transformVectorPoint3df( pos );
  }


  inline Point3dd
  AffineTransformation3dBase::transformVector( const Point3dd & pos ) const
  {
    return transformVectorPoint3dd( pos );
  }


  inline Point3dd
  AffineTransformation3dBase::transformNormal( double x, double y, double z ) const
  {
    return transformNormalDouble( x, y, z );
  }


  inline Point3df
  AffineTransformation3dBase::transformNormal( float x, float y, float z ) const
  {
    return transformNormalFloat( x, y, z );
  }


  inline Point3df
  AffineTransformation3dBase::transformNormal( const Point3df & pos ) const
  {
    return transformNormalPoint3df( pos );
  }


  inline Point3dd
  AffineTransformation3dBase::transformNormal( const Point3dd & pos ) const
  {
    return transformNormalPoint3dd( pos );
  }


  inline Point3df
  AffineTransformation3dBase::transformVectorPoint3df( const Point3df & pos ) const
  {
    return transformVectorFloat( pos[0], pos[1], pos[2] );
  }


  inline Point3dd
  AffineTransformation3dBase::transformVectorPoint3dd( const Point3dd & pos ) const
  {
    return transformVector( pos[0], pos[1], pos[2] );
  }


  inline Point3df
  AffineTransformation3dBase::transformNormalPoint3df( const Point3df & pos ) const
  {
    Point3dd transformed = transformNormal( (double) pos[0], (double) pos[1],
                                             (double) pos[2] );
    return Point3df( (float) transformed[0], (float) transformed[1],
                     (float) transformed[2] );
  }


  inline Point3dd
  AffineTransformation3dBase::transformNormalPoint3dd( const Point3dd & pos ) const
  {
    return transformNormal( pos[0], pos[1], pos[2] );
  }


  inline Point3df
  AffineTransformation3dBase::
  transformNormalFloat( float x, float y, float z ) const
  {
    Point3dd transformed = transformNormal( (double) x, (double) y,
                                             (double) z );
    return Point3df( (float) transformed[0], (float) transformed[1],
                      (float) transformed[2] );
  }


  inline Point3dd
  AffineTransformation3dBase::
  transformUnitNormal( double x, double y, double z ) const
  {
    return transformNormal( x, y, z ).normalize();
  }


  inline Point3df
  AffineTransformation3dBase::transformUnitNormal( const Point3df & pos ) const
  {
    Point3dd transformed
        = transformUnitNormal( (double) pos[0], (double) pos[1],
                                (double) pos[2] );
    return Point3df( (float) transformed[0], (float) transformed[1],
                      (float) transformed[2] );
  }


  inline Point3dd
  AffineTransformation3dBase::transformUnitNormal( const Point3dd & pos ) const
  {
    return transformUnitNormal( pos[0], pos[1], pos[2] );
  }


  inline Point3df
  AffineTransformation3dBase::
  transformUnitNormal( float x, float y, float z ) const
  {
    Point3dd transformed = transformUnitNormal( (double) x, (double) y,
                                                (double) z );
    return Point3df( (float) transformed[0], (float) transformed[1],
                     (float) transformed[2] );
  }

}


#endif