Cardiac segmentation from magnetic resonance imaging (MRI) is one of the essential tasks in analyzing the anatomy and function of the heart for the assessment and diagnosis of cardiac diseases. However, cardiac MRI generates hundreds of images per scan, and manual annotation of them is challenging and time-consuming, and therefore processing these images automatically is of interest. This study proposes a novel end-to-end supervised cardiac MRI segmentation framework based on a diffeomorphic deformable registration that can segment cardiac chambers from 2D and 3D images or volumes. To represent actual cardiac deformation, the method parameterizes the transformation using radial and rotational components computed via deep learning, with a set of paired images and segmentation masks used for training. The formulation guarantees transformations that are invertible and prevents mesh folding, which is essential for preserving the topology of the segmentation results. A physically plausible transformation is achieved by employing diffeomorphism in computing the transformations and activation functions that constrain the range of the radial and rotational components. The method was evaluated over three different data sets and showed significant improvements compared to exacting learning and non-learning based methods in terms of the Dice score and Hausdorff distance metrics.