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annotate Framework/Toolbox/LinearAlgebra.cpp @ 161:197a5ddaf68c wasm

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FiniteProjectiveCamera
author Sebastien Jodogne <s.jodogne@gmail.com>
date Wed, 14 Feb 2018 11:29:26 +0100
parents e9dae7e7bffc
children 8c5b24892ed2
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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) 2017-2018 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 #include "LinearAlgebra.h"
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23
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24 #include <Core/Logging.h>
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25 #include <Core/OrthancException.h>
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26 #include <Core/Toolbox.h>
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27
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28 #include <stdio.h>
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29 #include <boost/lexical_cast.hpp>
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30
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31 namespace OrthancStone
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32 {
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33 namespace LinearAlgebra
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34 {
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35 void Print(const Vector& v)
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36 {
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37 for (size_t i = 0; i < v.size(); i++)
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38 {
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39 printf("%g\n", v[i]);
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40 //printf("%8.2f\n", v[i]);
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41 }
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42 printf("\n");
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43 }
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44
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45
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46 void Print(const Matrix& m)
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47 {
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48 for (size_t i = 0; i < m.size1(); i++)
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49 {
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50 for (size_t j = 0; j < m.size2(); j++)
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51 {
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52 printf("%g ", m(i,j));
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53 //printf("%8.2f ", m(i,j));
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54 }
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55 printf("\n");
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56 }
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57 printf("\n");
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58 }
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59
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60
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61 bool ParseVector(Vector& target,
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62 const std::string& value)
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63 {
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64 std::vector<std::string> items;
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65 Orthanc::Toolbox::TokenizeString(items, value, '\\');
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66
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67 target.resize(items.size());
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68
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69 for (size_t i = 0; i < items.size(); i++)
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70 {
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71 try
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72 {
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73 target[i] = boost::lexical_cast<double>(Orthanc::Toolbox::StripSpaces(items[i]));
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74 }
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75 catch (boost::bad_lexical_cast&)
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76 {
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77 target.clear();
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78 return false;
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79 }
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80 }
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81
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82 return true;
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83 }
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84
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85
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86 bool ParseVector(Vector& target,
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87 const Orthanc::DicomMap& dataset,
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88 const Orthanc::DicomTag& tag)
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89 {
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90 std::string value;
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91 return (dataset.CopyToString(value, tag, false) &&
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92 ParseVector(target, value));
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93 }
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94
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95
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96 void AssignVector(Vector& v,
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97 double v1,
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98 double v2)
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99 {
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100 v.resize(2);
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101 v[0] = v1;
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102 v[1] = v2;
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103 }
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104
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105
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106 void AssignVector(Vector& v,
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107 double v1,
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108 double v2,
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109 double v3)
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110 {
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111 v.resize(3);
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112 v[0] = v1;
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113 v[1] = v2;
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114 v[2] = v3;
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115 }
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116
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117
161
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118 void AssignVector(Vector& v,
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119 double v1,
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120 double v2,
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121 double v3,
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122 double v4)
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123 {
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124 v.resize(4);
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125 v[0] = v1;
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126 v[1] = v2;
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127 v[2] = v3;
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128 v[3] = v4;
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129 }
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130
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131
158
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132 bool IsNear(double x,
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133 double y)
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134 {
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135 // As most input is read as single-precision numbers, we take the
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136 // epsilon machine for float32 into consideration to compare numbers
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137 return IsNear(x, y, 10.0 * std::numeric_limits<float>::epsilon());
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138 }
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139
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140
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141 void NormalizeVector(Vector& u)
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142 {
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143 double norm = boost::numeric::ublas::norm_2(u);
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144 if (!IsCloseToZero(norm))
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145 {
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146 u = u / norm;
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147 }
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148 }
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149
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150
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151 void CrossProduct(Vector& result,
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152 const Vector& u,
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153 const Vector& v)
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154 {
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155 if (u.size() != 3 ||
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156 v.size() != 3)
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157 {
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158 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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159 }
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160
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161 result.resize(3);
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162
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163 result[0] = u[1] * v[2] - u[2] * v[1];
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164 result[1] = u[2] * v[0] - u[0] * v[2];
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165 result[2] = u[0] * v[1] - u[1] * v[0];
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166 }
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167
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168
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169 void FillMatrix(Matrix& target,
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170 size_t rows,
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171 size_t columns,
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172 const double values[])
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173 {
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174 target.resize(rows, columns);
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175
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176 size_t index = 0;
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177
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178 for (size_t y = 0; y < rows; y++)
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179 {
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180 for (size_t x = 0; x < columns; x++, index++)
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181 {
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182 target(y, x) = values[index];
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183 }
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184 }
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185 }
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186
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187
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188 void FillVector(Vector& target,
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189 size_t size,
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190 const double values[])
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191 {
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192 target.resize(size);
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193
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194 for (size_t i = 0; i < size; i++)
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195 {
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196 target[i] = values[i];
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197 }
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198 }
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199
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200
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201 void Convert(Matrix& target,
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202 const Vector& source)
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203 {
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204 const size_t n = source.size();
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205
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206 target.resize(n, 1);
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207
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208 for (size_t i = 0; i < n; i++)
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209 {
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210 target(i, 0) = source[i];
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211 }
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212 }
159
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213
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214
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215 double ComputeDeterminant(const Matrix& a)
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216 {
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217 if (a.size1() != a.size2())
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218 {
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219 LOG(ERROR) << "Determinant only exists for square matrices";
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220 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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221 }
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222
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223 // https://en.wikipedia.org/wiki/Rule_of_Sarrus
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224 if (a.size1() == 1)
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225 {
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226 return a(0,0);
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227 }
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228 else if (a.size1() == 2)
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229 {
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230 return a(0,0) * a(1,1) - a(0,1) * a(1,0);
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231 }
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232 else if (a.size1() == 3)
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233 {
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234 return (a(0,0) * a(1,1) * a(2,2) +
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235 a(0,1) * a(1,2) * a(2,0) +
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236 a(0,2) * a(1,0) * a(2,1) -
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237 a(2,0) * a(1,1) * a(0,2) -
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238 a(2,1) * a(1,2) * a(0,0) -
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239 a(2,2) * a(1,0) * a(0,1));
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240 }
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241 else
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242 {
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243 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
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244 }
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245 }
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246
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247
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248 bool IsOrthogonalMatrix(const Matrix& q,
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249 double threshold)
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250 {
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251 // https://en.wikipedia.org/wiki/Orthogonal_matrix
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252
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253 using namespace boost::numeric::ublas;
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254
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255 const Matrix check = prod(trans(q), q) - identity_matrix<double>(3);
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256
160
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257 type_traits<double>::real_type norm = norm_inf(check);
159
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258
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259 return (norm <= threshold);
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260 }
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261
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262
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263 bool IsOrthogonalMatrix(const Matrix& q)
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264 {
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265 return IsOrthogonalMatrix(q, 10.0 * std::numeric_limits<float>::epsilon());
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266 }
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267
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268
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269 bool IsRotationMatrix(const Matrix& r,
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270 double threshold)
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271 {
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272 return (IsOrthogonalMatrix(r, threshold) &&
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273 IsNear(ComputeDeterminant(r), 1.0, threshold));
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274 }
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275
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276
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277 bool IsRotationMatrix(const Matrix& r)
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278 {
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279 return IsRotationMatrix(r, 10.0 * std::numeric_limits<float>::epsilon());
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280 }
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281
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282
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283 void InvertUpperTriangularMatrix(Matrix& output,
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284 const Matrix& k)
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285 {
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286 if (k.size1() != k.size2())
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diff changeset
287 {
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288 LOG(ERROR) << "Determinant only exists for square matrices";
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289 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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290 }
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diff changeset
291
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diff changeset
292 output.resize(k.size1(), k.size2());
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293
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diff changeset
294 for (size_t i = 1; i < k.size1(); i++)
0a73d76333db populating LinearAlgebra
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diff changeset
295 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
296 for (size_t j = 0; j < i; j++)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
297 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
298 if (!IsCloseToZero(k(i, j)))
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
299 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
300 LOG(ERROR) << "Not an upper triangular matrix";
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
301 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
302 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
303
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
304 output(i, j) = 0; // The output is also upper triangular
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
305 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
306 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
307
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
308 if (k.size1() == 3)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
309 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
310 // https://math.stackexchange.com/a/1004181
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
311 double a = k(0, 0);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
312 double b = k(0, 1);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
313 double c = k(0, 2);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
314 double d = k(1, 1);
0a73d76333db populating LinearAlgebra
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parents: 158
diff changeset
315 double e = k(1, 2);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
316 double f = k(2, 2);
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parents: 158
diff changeset
317
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
318 if (IsCloseToZero(a) ||
0a73d76333db populating LinearAlgebra
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parents: 158
diff changeset
319 IsCloseToZero(d) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
320 IsCloseToZero(f))
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
321 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
322 LOG(ERROR) << "Singular upper triangular matrix";
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
323 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra
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parents: 158
diff changeset
324 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
325 else
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
326 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
327 output(0, 0) = 1.0 / a;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
328 output(0, 1) = -b / (a * d);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
329 output(0, 2) = (b * e - c * d) / (a * f * d);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
330 output(1, 1) = 1.0 / d;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
331 output(1, 2) = -e / (f * d);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
332 output(2, 2) = 1.0 / f;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
333 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
334 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
335 else
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
336 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
337 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
338 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
339 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
340
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
341
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
342 static void GetGivensComponent(double& c,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
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diff changeset
343 double& s,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
344 const Matrix& a,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
345 size_t i,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
346 size_t j)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
347 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
348 assert(i < 3 && j < 3);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
349
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
350 double x = a(i, i);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
351 double y = a(i, j);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
352 double n = sqrt(x * x + y * y);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
353
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
354 if (IsCloseToZero(n))
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
355 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
356 c = 1;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
357 s = 0;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
358 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
359 else
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
360 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
361 c = x / n;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
362 s = -y / n;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
363 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
364 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
365
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
366
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
367 /**
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
368 * This function computes the RQ decomposition of a 3x3 matrix,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
369 * using Givens rotations. Reference: Algorithm A4.1 (page 579) of
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
370 * "Multiple View Geometry in Computer Vision" (2nd edition). The
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
371 * output matrix "Q" is a rotation matrix, and "R" is upper
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
372 * triangular.
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
373 **/
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
374 void RQDecomposition3x3(Matrix& r,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
375 Matrix& q,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
376 const Matrix& a)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
377 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
378 using namespace boost::numeric::ublas;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
379
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
380 if (a.size1() != 3 ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
381 a.size2() != 3)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
382 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
383 LOG(ERROR) << "Only applicable to a 3x3 matrix";
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
384 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
385 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
386
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
387 r.resize(3, 3);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
388 q.resize(3, 3);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
389
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
390 r = a;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
391 q = identity_matrix<double>(3);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
392
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
393 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
394 // Set A(2,1) to zero
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
395 double c, s;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
396 GetGivensComponent(c, s, r, 2, 1);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
397
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
398 double v[9] = { 1, 0, 0,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
399 0, c, -s,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
400 0, s, c };
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
401
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
402 Matrix g;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
403 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
404
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
405 r = prod(r, g);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
406 q = prod(trans(g), q);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
407 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
408
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
409
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
410 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
411 // Set A(2,0) to zero
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
412 double c, s;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
413 GetGivensComponent(c, s, r, 2, 0);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
414
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
415 double v[9] = { c, 0, -s,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
416 0, 1, 0,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
417 s, 0, c };
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
418
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
419 Matrix g;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
420 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
421
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
422 r = prod(r, g);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
423 q = prod(trans(g), q);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
424 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
425
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
426
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
427 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
428 // Set A(1,0) to zero
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
429 double c, s;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
430 GetGivensComponent(c, s, r, 1, 0);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
431
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
432 double v[9] = { c, -s, 0,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
433 s, c, 0,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
434 0, 0, 1 };
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
435
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
436 Matrix g;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
437 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
438
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
439 r = prod(r, g);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
440 q = prod(trans(g), q);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
441 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
442
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
443 if (!IsCloseToZero(norm_inf(prod(r, q) - a)) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
444 !IsRotationMatrix(q) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
445 !IsCloseToZero(r(1, 0)) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
446 !IsCloseToZero(r(2, 0)) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
447 !IsCloseToZero(r(2, 1)))
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
448 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
449 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
450 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
451 }
158
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
452 }
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
453 }