LinearTransformation.h

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//     ____   ______ __
//    / __ \ / ____// /
//   / /_/ // /    / /
//  / ____// /___ / /___   PixInsight Class Library
// /_/     \____//_____/   PCL 2.7.0
// ----------------------------------------------------------------------------
// pcl/LinearTransformation.h - Released 2024-06-18T15:48:54Z
// ----------------------------------------------------------------------------
// This file is part of the PixInsight Class Library (PCL).
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// ----------------------------------------------------------------------------
 
#ifndef __PCL_LinearTransformation_h
#define __PCL_LinearTransformation_h
 
 
#include <pcl/Defs.h>
 
#include <pcl/Matrix.h>
#include <pcl/Point.h>
#include <pcl/String.h>
#include <pcl/Vector.h>
 
/*
 * Based on original work contributed by Andrés del Pozo.
 */
 
namespace pcl
{
 
// ----------------------------------------------------------------------------
 
class LinearTransformation
{
public:
 
   LinearTransformation() = default;
 
   LinearTransformation( const LinearTransformation& ) = default;
 
   LinearTransformation& operator =( const LinearTransformation& ) = default;
 
   LinearTransformation( double a00, double a01, double a02, double a10, double a11, double a12 )
      : m_a00( a00 ), m_a01( a01 ), m_a02( a02 )
      , m_a10( a10 ), m_a11( a11 ), m_a12( a12 )
      , m_det( a00*a11 - a01*a10 )
   {
   }
 
   double Determinant() const
   {
      return m_det;
   }
 
   bool IsSingularMatrix() const
   {
      return 1 + m_det == 1;
   }
 
   DPoint Transform( const DPoint& p ) const
   {
      return DPoint( m_a00*p.x + m_a01*p.y + m_a02,
                     m_a10*p.x + m_a11*p.y + m_a12 );
   }
 
   DPoint operator ()( const DPoint& p ) const
   {
      return Transform( p );
   }
 
   DPoint TransformInverse( const DPoint& p ) const
   {
      if ( IsSingularMatrix() )
         throw Error( "Invalid call to LinearTransformation::TransformInverse(): Singular matrix" );
      return DPoint( ( m_a11*p.x - m_a01*p.y + m_a01*m_a12 - m_a02*m_a11)/m_det,
                     (-m_a10*p.x + m_a00*p.y + m_a02*m_a10 - m_a00*m_a12)/m_det );
   }
 
   LinearTransformation Multiply( const LinearTransformation& T ) const
   {
      return LinearTransformation( m_a00*T.m_a00 + m_a01*T.m_a10,
                                   m_a00*T.m_a01 + m_a01*T.m_a11,
                                   m_a00*T.m_a02 + m_a01*T.m_a12 + m_a02,
                                   m_a10*T.m_a00 + m_a11*T.m_a10,
                                   m_a10*T.m_a01 + m_a11*T.m_a11,
                                   m_a10*T.m_a02 + m_a11*T.m_a12 + m_a12 );
   }
 
   LinearTransformation Inverse() const
   {
      if ( IsSingularMatrix() )
         throw Error( "Invalid call to LinearTransformation::Inverse(): Singular matrix" );
      return LinearTransformation(  m_a11/m_det,
                                   -m_a01/m_det,
                                   (m_a01*m_a12 - m_a02*m_a11)/m_det,
                                   -m_a10/m_det,
                                    m_a00/m_det,
                                   (m_a02*m_a10 - m_a00*m_a12)/m_det );
   }
 
   double A00() const
   {
      return m_a00;
   }
 
   double A01() const
   {
      return m_a01;
   }
 
   double A02() const
   {
      return m_a02;
   }
 
   double A10() const
   {
      return m_a10;
   }
 
   double A11() const
   {
      return m_a11;
   }
 
   double A12() const
   {
      return m_a12;
   }
 
   Matrix ToMatrix() const
   {
      return Matrix( m_a00, m_a01, m_a02,
                     m_a10, m_a11, m_a12,
                     0.0,   0.0,   1.0 );
   }
 
   Matrix To2x3Matrix() const
   {
      Matrix H( 2, 3 );
      H[0][0] = m_a00;
      H[0][1] = m_a01;
      H[0][2] = m_a02;
      H[1][0] = m_a10;
      H[1][1] = m_a11;
      H[1][2] = m_a12;
      return H;
   }
 
   Vector ToVector() const
   {
      return Vector( { m_a00, m_a01, m_a02, m_a10, m_a11, m_a12 } );
   }
 
   String ToString( int indent = 0 ) const
   {
      String text;
      if ( indent > 0 )
         text << String( ' ', indent );
      text.AppendFormat( "%+16.8e %+16.8e %+16.8e\n", m_a00, m_a01, m_a02 );
      if ( indent > 0 )
         text << String( ' ', indent );
      text.AppendFormat( "%+16.8e %+16.8e %+16.8e", m_a10, m_a11, m_a12 );
      return text;
   }
 
   static LinearTransformation Null()
   {
      return LinearTransformation( 0, 0, 0, 0, 0, 0 );
   }
 
private:
 
   double m_a00 = 1, m_a01 = 0, m_a02 = 0,
          m_a10 = 0, m_a11 = 1, m_a12 = 0;
   double m_det = 1;
};
 
// ----------------------------------------------------------------------------
 
} // pcl
 
#endif   // __PCL_LinearTransformation_h
 
// ----------------------------------------------------------------------------
// EOF pcl/LinearTransformation.h - Released 2024-06-18T15:48:54Z