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annotate OrthancStone/Sources/Toolbox/LinearAlgebra.h @ 1592:0d4b11ba86df

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author Sebastien Jodogne <s.jodogne@gmail.com>
date Fri, 23 Oct 2020 15:15:32 +0200
parents 244ad1e4e76a
children 4fb8fdf03314
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1 /**
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2 * Stone of Orthanc
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3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics
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4 * Department, University Hospital of Liege, Belgium
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5 * Copyright (C) 2017-2020 Osimis S.A., Belgium
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6 *
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7 * This program is free software: you can redistribute it and/or
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8 * modify it under the terms of the GNU Affero General Public License
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9 * as published by the Free Software Foundation, either version 3 of
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10 * the License, or (at your option) any later version.
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11 *
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12 * This program is distributed in the hope that it will be useful, but
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13 * WITHOUT ANY WARRANTY; without even the implied warranty of
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14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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15 * Affero General Public License for more details.
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16 *
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17 * You should have received a copy of the GNU Affero General Public License
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18 * along with this program. If not, see <http://www.gnu.org/licenses/>.
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19 **/
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20
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21
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22 #pragma once
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23
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24 // Patch for ublas in Boost 1.64.0
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25 // https://github.com/dealii/dealii/issues/4302
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26 #include <boost/version.hpp>
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27 #if BOOST_VERSION >= 106300 // or 64, need to check
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28 # include <boost/serialization/array_wrapper.hpp>
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29 #endif
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30
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31 #include <DicomFormat/DicomMap.h>
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32
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33 #include <boost/numeric/ublas/matrix.hpp>
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34 #include <boost/numeric/ublas/vector.hpp>
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35
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36 namespace OrthancStone
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37 {
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38 typedef boost::numeric::ublas::matrix<double> Matrix;
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39 typedef boost::numeric::ublas::vector<double> Vector;
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40
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41 // logs, debugging...
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42 std::ostream& operator<<(std::ostream& s, const Vector& vec);
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43 std::ostream& operator<<(std::ostream& s, const Matrix& m);
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44
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45 namespace LinearAlgebra
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46 {
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47 void Print(const Vector& v);
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48
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49 void Print(const Matrix& m);
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50
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51 bool ParseVector(Vector& target,
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52 const std::string& s);
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53
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54 bool ParseVector(Vector& target,
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55 const Orthanc::DicomMap& dataset,
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56 const Orthanc::DicomTag& tag);
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57
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58 inline void AssignVector(Vector& v,
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59 double v1,
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60 double v2)
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61 {
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62 v.resize(2);
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63 v[0] = v1;
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64 v[1] = v2;
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65 }
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68 inline void AssignVector(Vector& v,
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69 double v1)
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70 {
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71 v.resize(1);
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72 v[0] = v1;
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73 }
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74
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76 inline void AssignVector(Vector& v,
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77 double v1,
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78 double v2,
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79 double v3)
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80 {
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81 v.resize(3);
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82 v[0] = v1;
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83 v[1] = v2;
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84 v[2] = v3;
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85 }
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88 inline void AssignVector(Vector& v,
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89 double v1,
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90 double v2,
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91 double v3,
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92 double v4)
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93 {
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94 v.resize(4);
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95 v[0] = v1;
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96 v[1] = v2;
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97 v[2] = v3;
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98 v[3] = v4;
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99 }
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101
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102 inline Vector CreateVector(double v1)
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103 {
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104 Vector v;
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105 AssignVector(v, v1);
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106 return v;
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107 }
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110 inline Vector CreateVector(double v1,
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111 double v2)
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112 {
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113 Vector v;
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114 AssignVector(v, v1, v2);
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115 return v;
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116 }
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119 inline Vector CreateVector(double v1,
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120 double v2,
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121 double v3)
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122 {
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123 Vector v;
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124 AssignVector(v, v1, v2, v3);
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125 return v;
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126 }
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129 inline Vector CreateVector(double v1,
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130 double v2,
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131 double v3,
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132 double v4)
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133 {
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134 Vector v;
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135 AssignVector(v, v1, v2, v3, v4);
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136 return v;
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137 }
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140 inline bool IsNear(double x,
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141 double y,
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142 double threshold)
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143 {
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144 return fabs(x - y) <= threshold;
158
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145 }
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146
181
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147 inline bool IsNear(double x,
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148 double y)
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149 {
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150 // As most input is read as single-precision numbers, we take the
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151 // epsilon machine for float32 into consideration to compare numbers
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152 return IsNear(x, y, 10.0 * std::numeric_limits<float>::epsilon());
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153 }
158
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154
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155 inline bool IsCloseToZero(double x)
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156 {
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157 return IsNear(x, 0.0);
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158 }
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159
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160 void NormalizeVector(Vector& u);
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161
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162 void CrossProduct(Vector& result,
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163 const Vector& u,
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164 const Vector& v);
1002
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165
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166 double DotProduct(const Vector& u, const Vector& v);
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167
158
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168 void FillMatrix(Matrix& target,
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169 size_t rows,
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170 size_t columns,
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171 const double values[]);
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172
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173 void FillVector(Vector& target,
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174 size_t size,
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175 const double values[]);
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176
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177 void Convert(Matrix& target,
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178 const Vector& source);
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179
165
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180 inline Matrix Transpose(const Matrix& a)
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181 {
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182 return boost::numeric::ublas::trans(a);
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183 }
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184
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185
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186 inline Matrix IdentityMatrix(size_t size)
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187 {
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188 return boost::numeric::ublas::identity_matrix<double>(size);
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189 }
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190
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191
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192 inline Matrix ZeroMatrix(size_t size1,
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193 size_t size2)
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194 {
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195 return boost::numeric::ublas::zero_matrix<double>(size1, size2);
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196 }
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197
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198
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199 inline Matrix Product(const Matrix& a,
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200 const Matrix& b)
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201 {
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202 return boost::numeric::ublas::prod(a, b);
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203 }
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204
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205
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206 inline Vector Product(const Matrix& a,
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207 const Vector& b)
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208 {
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209 return boost::numeric::ublas::prod(a, b);
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210 }
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211
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212
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213 inline Matrix Product(const Matrix& a,
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214 const Matrix& b,
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215 const Matrix& c)
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216 {
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217 return Product(a, Product(b, c));
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218 }
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219
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220
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221 inline Matrix Product(const Matrix& a,
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222 const Matrix& b,
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223 const Matrix& c,
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224 const Matrix& d)
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225 {
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226 return Product(a, Product(b, c, d));
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227 }
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228
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229
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230 inline Matrix Product(const Matrix& a,
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231 const Matrix& b,
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232 const Matrix& c,
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233 const Matrix& d,
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234 const Matrix& e)
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235 {
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236 return Product(a, Product(b, c, d, e));
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237 }
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238
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239
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240 inline Vector Product(const Matrix& a,
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241 const Matrix& b,
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242 const Vector& c)
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243 {
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244 return Product(Product(a, b), c);
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245 }
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246
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247
166
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248 inline Vector Product(const Matrix& a,
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249 const Matrix& b,
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250 const Matrix& c,
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251 const Vector& d)
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252 {
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253 return Product(Product(a, b, c), d);
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254 }
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255
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256
159
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257 double ComputeDeterminant(const Matrix& a);
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258
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259 bool IsOrthogonalMatrix(const Matrix& q,
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260 double threshold);
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261
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262 bool IsOrthogonalMatrix(const Matrix& q);
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263
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264 bool IsRotationMatrix(const Matrix& r,
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265 double threshold);
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266
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267 bool IsRotationMatrix(const Matrix& r);
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268
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269 void InvertUpperTriangularMatrix(Matrix& output,
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270 const Matrix& k);
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271
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272 /**
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273 * This function computes the RQ decomposition of a 3x3 matrix,
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274 * using Givens rotations. Reference: Algorithm A4.1 (page 579) of
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275 * "Multiple View Geometry in Computer Vision" (2nd edition). The
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276 * output matrix "Q" is a rotation matrix, and "R" is upper
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277 * triangular.
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278 **/
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279 void RQDecomposition3x3(Matrix& r,
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280 Matrix& q,
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281 const Matrix& a);
163
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282
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283 void InvertMatrix(Matrix& target,
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284 const Matrix& source);
165
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285
169
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286 // This is the same as "InvertMatrix()", but without exception
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287 bool InvertMatrixUnsafe(Matrix& target,
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288 const Matrix& source);
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289
165
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290 void CreateSkewSymmetric(Matrix& s,
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291 const Vector& v);
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292
166
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293 Matrix InvertScalingTranslationMatrix(const Matrix& t);
165
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294
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295 bool IsShearMatrix(const Matrix& shear);
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296
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
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297 Matrix InvertShearMatrix(const Matrix& shear);
158
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298 };
a053ca7fa5c6 LinearAlgebra toolbox
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299 }