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annotate OrthancStone/Sources/Toolbox/LinearAlgebra.cpp @ 1512:244ad1e4e76a

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reorganization of folders
author Sebastien Jodogne <s.jodogne@gmail.com>
date Tue, 07 Jul 2020 16:21:02 +0200
parents Framework/Toolbox/LinearAlgebra.cpp@5732edec7cbd
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 #include "LinearAlgebra.h"
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23
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24 #include "../StoneException.h"
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25 #include "GenericToolbox.h"
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26
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27 #include <Logging.h>
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28 #include <OrthancException.h>
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29 #include <Toolbox.h>
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30
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31 #include <boost/lexical_cast.hpp>
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32 #include <boost/numeric/ublas/lu.hpp>
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33
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34 #include <stdio.h>
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35 #include <iostream>
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36 #include <cstdlib>
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37
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38 namespace OrthancStone
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39 {
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40 namespace LinearAlgebra
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41 {
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42 void Print(const Vector& v)
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43 {
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44 for (size_t i = 0; i < v.size(); i++)
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45 {
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46 printf("%g\n", v[i]);
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47 //printf("%8.2f\n", v[i]);
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48 }
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49 printf("\n");
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50 }
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51
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52
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53 void Print(const Matrix& m)
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54 {
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55 for (size_t i = 0; i < m.size1(); i++)
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56 {
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57 for (size_t j = 0; j < m.size2(); j++)
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58 {
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59 printf("%g ", m(i,j));
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60 //printf("%8.2f ", m(i,j));
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61 }
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62 printf("\n");
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63 }
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64 printf("\n");
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65 }
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67
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68 bool ParseVector(Vector& target,
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69 const std::string& value)
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70 {
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71 std::vector<std::string> items;
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72 Orthanc::Toolbox::TokenizeString(items, Orthanc::Toolbox::StripSpaces(value), '\\');
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73
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74 target.resize(items.size());
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75
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76 for (size_t i = 0; i < items.size(); i++)
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77 {
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78 /**
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79 * SJO - 2019-11-19 - WARNING: I reverted from "std::stod()"
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80 * to "boost::lexical_cast", as both "std::stod()" and
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81 * "std::strtod()" are sensitive to locale settings, making
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82 * this code non portable and very dangerous as it fails
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83 * silently. A string such as "1.3671875\1.3671875" is
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84 * interpreted as "1\1", because "std::stod()" expects a comma
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85 * (",") instead of a point ("."). This problem is notably
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86 * seen in Qt-based applications, that somehow set locales
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87 * aggressively.
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88 *
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89 * "boost::lexical_cast<>" is also dependent on the locale
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90 * settings, but apparently not in a way that makes this
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91 * function fail with Qt. The Orthanc core defines macro
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92 * "-DBOOST_LEXICAL_CAST_ASSUME_C_LOCALE" in static builds to
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93 * this end.
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94 **/
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95
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96 #if 0 // __cplusplus >= 201103L // Is C++11 enabled?
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97 /**
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98 * We try and avoid the use of "boost::lexical_cast<>" here,
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99 * as it is very slow, and as Stone has to parse many doubles.
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100 * https://tinodidriksen.com/2011/05/cpp-convert-string-to-double-speed/
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101 **/
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102
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103 try
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104 {
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105 target[i] = std::stod(items[i]);
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106 }
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107 catch (std::exception&)
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108 {
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109 target.clear();
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110 return false;
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111 }
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112
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113 #elif 0
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114 /**
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115 * "std::strtod()" is the recommended alternative to
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116 * "std::stod()". It is apparently as fast as plain-C
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117 * "atof()", with more security.
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118 **/
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119 char* end = NULL;
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120 target[i] = std::strtod(items[i].c_str(), &end);
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121 if (end == NULL ||
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122 end != items[i].c_str() + items[i].size())
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123 {
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124 return false;
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125 }
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126
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127 #elif 1
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128 /**
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129 * Use of our homemade implementation of
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130 * "boost::lexical_cast<double>()". It is much faster than boost.
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131 **/
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132 if (!GenericToolbox::StringToDouble(target[i], items[i].c_str()))
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133 {
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134 return false;
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135 }
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136
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137 #else
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138 /**
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139 * Fallback implementation using Boost (slower, but somehow
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140 * independent to locale contrarily to "std::stod()", and
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141 * generic as it does not use our custom implementation).
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142 **/
804
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143 try
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144 {
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145 target[i] = boost::lexical_cast<double>(items[i]);
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146 }
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147 catch (boost::bad_lexical_cast&)
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148 {
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149 target.clear();
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150 return false;
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151 }
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152 #endif
158
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153 }
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154
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155 return true;
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156 }
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157
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158
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159 bool ParseVector(Vector& target,
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160 const Orthanc::DicomMap& dataset,
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161 const Orthanc::DicomTag& tag)
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162 {
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163 std::string value;
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1f74bc3459ba fix build due to rename in Orthanc::DicomMap
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164 return (dataset.LookupStringValue(value, tag, false) &&
158
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165 ParseVector(target, value));
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166 }
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167
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168
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169 void NormalizeVector(Vector& u)
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170 {
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171 double norm = boost::numeric::ublas::norm_2(u);
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172 if (!IsCloseToZero(norm))
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173 {
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174 u = u / norm;
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175 }
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176 }
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177
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178 void CrossProduct(Vector& result,
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179 const Vector& u,
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180 const Vector& v)
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181 {
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182 if (u.size() != 3 ||
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183 v.size() != 3)
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184 {
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185 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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186 }
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187
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188 result.resize(3);
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189
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190 result[0] = u[1] * v[2] - u[2] * v[1];
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191 result[1] = u[2] * v[0] - u[0] * v[2];
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192 result[2] = u[0] * v[1] - u[1] * v[0];
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193 }
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194
1002
341e68752354 dot product
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195 double DotProduct(const Vector& u, const Vector& v)
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196 {
341e68752354 dot product
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197 if (u.size() != 3 ||
1477
5732edec7cbd sorting frames in 3D
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diff changeset
198 v.size() != 3)
1002
341e68752354 dot product
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199 {
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200 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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201 }
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diff changeset
202
341e68752354 dot product
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203 return (u[0] * v[0] + u[1] * v[1] + u[2] * v[2]);
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204 }
158
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205
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206 void FillMatrix(Matrix& target,
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207 size_t rows,
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208 size_t columns,
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209 const double values[])
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210 {
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211 target.resize(rows, columns);
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212
a053ca7fa5c6 LinearAlgebra toolbox
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213 size_t index = 0;
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214
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215 for (size_t y = 0; y < rows; y++)
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216 {
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217 for (size_t x = 0; x < columns; x++, index++)
a053ca7fa5c6 LinearAlgebra toolbox
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218 {
a053ca7fa5c6 LinearAlgebra toolbox
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219 target(y, x) = values[index];
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220 }
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221 }
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222 }
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223
a053ca7fa5c6 LinearAlgebra toolbox
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224
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225 void FillVector(Vector& target,
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226 size_t size,
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227 const double values[])
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228 {
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229 target.resize(size);
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230
a053ca7fa5c6 LinearAlgebra toolbox
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231 for (size_t i = 0; i < size; i++)
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232 {
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233 target[i] = values[i];
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234 }
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235 }
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236
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237
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238 void Convert(Matrix& target,
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239 const Vector& source)
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240 {
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241 const size_t n = source.size();
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242
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243 target.resize(n, 1);
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244
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245 for (size_t i = 0; i < n; i++)
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246 {
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247 target(i, 0) = source[i];
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248 }
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249 }
159
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diff changeset
250
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diff changeset
251
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diff changeset
252 double ComputeDeterminant(const Matrix& a)
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253 {
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diff changeset
254 if (a.size1() != a.size2())
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diff changeset
255 {
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diff changeset
256 LOG(ERROR) << "Determinant only exists for square matrices";
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diff changeset
257 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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diff changeset
258 }
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diff changeset
259
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diff changeset
260 // https://en.wikipedia.org/wiki/Rule_of_Sarrus
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diff changeset
261 if (a.size1() == 1)
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diff changeset
262 {
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diff changeset
263 return a(0,0);
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diff changeset
264 }
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diff changeset
265 else if (a.size1() == 2)
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diff changeset
266 {
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diff changeset
267 return a(0,0) * a(1,1) - a(0,1) * a(1,0);
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diff changeset
268 }
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diff changeset
269 else if (a.size1() == 3)
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diff changeset
270 {
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diff changeset
271 return (a(0,0) * a(1,1) * a(2,2) +
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diff changeset
272 a(0,1) * a(1,2) * a(2,0) +
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parents: 158
diff changeset
273 a(0,2) * a(1,0) * a(2,1) -
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Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
274 a(2,0) * a(1,1) * a(0,2) -
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
275 a(2,1) * a(1,2) * a(0,0) -
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
276 a(2,2) * a(1,0) * a(0,1));
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diff changeset
277 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
278 else
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Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
279 {
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diff changeset
280 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
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diff changeset
281 }
0a73d76333db populating LinearAlgebra
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parents: 158
diff changeset
282 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
283
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
284
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diff changeset
285 bool IsOrthogonalMatrix(const Matrix& q,
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diff changeset
286 double threshold)
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diff changeset
287 {
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288 // https://en.wikipedia.org/wiki/Orthogonal_matrix
0a73d76333db populating LinearAlgebra
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diff changeset
289
392
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parents: 212
diff changeset
290 if (q.size1() != q.size2())
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parents: 212
diff changeset
291 {
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parents: 212
diff changeset
292 LOG(ERROR) << "An orthogonal matrix must be squared";
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diff changeset
293 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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diff changeset
294 }
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diff changeset
295
159
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diff changeset
296 using namespace boost::numeric::ublas;
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297
392
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diff changeset
298 const Matrix check = prod(trans(q), q) - identity_matrix<double>(q.size1());
159
0a73d76333db populating LinearAlgebra
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diff changeset
299
160
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 159
diff changeset
300 type_traits<double>::real_type norm = norm_inf(check);
159
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diff changeset
301
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
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diff changeset
302 return (norm <= threshold);
0a73d76333db populating LinearAlgebra
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parents: 158
diff changeset
303 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
304
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
305
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
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diff changeset
306 bool IsOrthogonalMatrix(const Matrix& q)
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diff changeset
307 {
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diff changeset
308 return IsOrthogonalMatrix(q, 10.0 * std::numeric_limits<float>::epsilon());
0a73d76333db populating LinearAlgebra
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diff changeset
309 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
310
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
311
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
312 bool IsRotationMatrix(const Matrix& r,
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Sebastien Jodogne <s.jodogne@gmail.com>
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diff changeset
313 double threshold)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
314 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
315 return (IsOrthogonalMatrix(r, threshold) &&
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
316 IsNear(ComputeDeterminant(r), 1.0, threshold));
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Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
317 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
318
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
319
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
320 bool IsRotationMatrix(const Matrix& r)
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Sebastien Jodogne <s.jodogne@gmail.com>
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diff changeset
321 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
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diff changeset
322 return IsRotationMatrix(r, 10.0 * std::numeric_limits<float>::epsilon());
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
323 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
324
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
325
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
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diff changeset
326 void InvertUpperTriangularMatrix(Matrix& output,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
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diff changeset
327 const Matrix& k)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
328 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
329 if (k.size1() != k.size2())
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
330 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
331 LOG(ERROR) << "Determinant only exists for square matrices";
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
332 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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 output.resize(k.size1(), k.size2());
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 for (size_t i = 1; i < k.size1(); i++)
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 for (size_t j = 0; j < i; j++)
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 if (!IsCloseToZero(k(i, j)))
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
342 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
343 LOG(ERROR) << "Not an upper triangular matrix";
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
344 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
345 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
346
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
347 output(i, j) = 0; // The output is also upper triangular
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
348 }
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
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
351 if (k.size1() == 3)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
352 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
353 // https://math.stackexchange.com/a/1004181
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
354 double a = k(0, 0);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
355 double b = k(0, 1);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
356 double c = k(0, 2);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
357 double d = k(1, 1);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
358 double e = k(1, 2);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
359 double f = k(2, 2);
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 if (IsCloseToZero(a) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
362 IsCloseToZero(d) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
363 IsCloseToZero(f))
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 LOG(ERROR) << "Singular upper triangular matrix";
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
366 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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 else
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
369 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
370 output(0, 0) = 1.0 / a;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
371 output(0, 1) = -b / (a * d);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
372 output(0, 2) = (b * e - c * d) / (a * f * d);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
373 output(1, 1) = 1.0 / d;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
374 output(1, 2) = -e / (f * d);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
375 output(2, 2) = 1.0 / f;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
376 }
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 else
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 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
381 }
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
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
384
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
385 static void GetGivensComponent(double& c,
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Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
386 double& s,
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Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
387 const Matrix& a,
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Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
388 size_t i,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
389 size_t j)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
390 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
391 assert(i < 3 && j < 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 double x = a(i, i);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
394 double y = a(i, j);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
395 double n = sqrt(x * x + y * y);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
396
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
397 if (IsCloseToZero(n))
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
398 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
399 c = 1;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
400 s = 0;
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 else
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
403 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
404 c = x / n;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
405 s = -y / n;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
406 }
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 * This function computes the RQ decomposition of a 3x3 matrix,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
412 * using Givens rotations. Reference: Algorithm A4.1 (page 579) of
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
413 * "Multiple View Geometry in Computer Vision" (2nd edition). The
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
414 * output matrix "Q" is a rotation matrix, and "R" is upper
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
415 * triangular.
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
416 **/
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
417 void RQDecomposition3x3(Matrix& r,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
418 Matrix& q,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
419 const Matrix& a)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
420 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
421 using namespace boost::numeric::ublas;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
422
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
423 if (a.size1() != 3 ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
424 a.size2() != 3)
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 LOG(ERROR) << "Only applicable to a 3x3 matrix";
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
427 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
428 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
429
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
430 r.resize(3, 3);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
431 q.resize(3, 3);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
432
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
433 r = a;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
434 q = identity_matrix<double>(3);
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 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
437 // Set A(2,1) to zero
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
438 double c, s;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
439 GetGivensComponent(c, s, r, 2, 1);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
440
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
441 double v[9] = { 1, 0, 0,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
442 0, c, -s,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
443 0, s, c };
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
444
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
445 Matrix g;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
446 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
447
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
448 r = prod(r, g);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
449 q = prod(trans(g), q);
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
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
452
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
453 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
454 // Set A(2,0) to zero
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
455 double c, s;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
456 GetGivensComponent(c, s, r, 2, 0);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
457
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
458 double v[9] = { c, 0, -s,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
459 0, 1, 0,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
460 s, 0, c };
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
461
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
462 Matrix g;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
463 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
464
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
465 r = prod(r, g);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
466 q = prod(trans(g), q);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
467 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
468
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
469
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
470 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
471 // Set A(1,0) to zero
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
472 double c, s;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
473 GetGivensComponent(c, s, r, 1, 0);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
474
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
475 double v[9] = { c, -s, 0,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
476 s, c, 0,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
477 0, 0, 1 };
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
478
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
479 Matrix g;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
480 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
481
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
482 r = prod(r, g);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
483 q = prod(trans(g), q);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
484 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
485
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
486 if (!IsCloseToZero(norm_inf(prod(r, q) - a)) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
487 !IsRotationMatrix(q) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
488 !IsCloseToZero(r(1, 0)) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
489 !IsCloseToZero(r(2, 0)) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
490 !IsCloseToZero(r(2, 1)))
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
491 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
492 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
493 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
494 }
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
495
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
496
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
497 bool InvertMatrixUnsafe(Matrix& target,
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
498 const Matrix& source)
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
499 {
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
500 if (source.size1() != source.size2())
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
501 {
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
502 LOG(ERROR) << "Inverse only exists for square matrices";
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
503 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
504 }
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
505
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
506 if (source.size1() < 4)
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
507 {
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
508 // For matrices with size below 4, use direct computations
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
509 // instead of LU decomposition
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
510
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
511 if (source.size1() == 0)
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
512 {
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
513 // By convention, the inverse of the empty matrix, is itself the empty matrix
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
514 target.resize(0, 0);
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
515 return true;
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
516 }
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
517
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
518 double determinant = ComputeDeterminant(source);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
519
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
520 if (IsCloseToZero(determinant))
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
521 {
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
522 return false;
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
523 }
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
524
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
525 double denominator = 1.0 / determinant;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
526
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
527 target.resize(source.size1(), source.size2());
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
528
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
529 if (source.size1() == 1)
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
530 {
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
531 target(0, 0) = denominator;
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
532
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
533 return true;
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
534 }
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
535 else if (source.size1() == 2)
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
536 {
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
537 // https://en.wikipedia.org/wiki/Invertible_matrix#Inversion_of_2_%C3%97_2_matrices
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
538 target(0, 0) = source(1, 1) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
539 target(0, 1) = -source(0, 1) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
540 target(1, 0) = -source(1, 0) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
541 target(1, 1) = source(0, 0) * denominator;
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
542
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
543 return true;
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
544 }
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
545 else if (source.size1() == 3)
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
546 {
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
547 // https://en.wikipedia.org/wiki/Invertible_matrix#Inversion_of_3_%C3%97_3_matrices
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
548 const double a = source(0, 0);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
549 const double b = source(0, 1);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
550 const double c = source(0, 2);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
551 const double d = source(1, 0);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
552 const double e = source(1, 1);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
553 const double f = source(1, 2);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
554 const double g = source(2, 0);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
555 const double h = source(2, 1);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
556 const double i = source(2, 2);
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
557
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
558 target(0, 0) = (e * i - f * h) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
559 target(0, 1) = -(b * i - c * h) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
560 target(0, 2) = (b * f - c * e) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
561 target(1, 0) = -(d * i - f * g) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
562 target(1, 1) = (a * i - c * g) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
563 target(1, 2) = -(a * f - c * d) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
564 target(2, 0) = (d * h - e * g) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
565 target(2, 1) = -(a * h - b * g) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
566 target(2, 2) = (a * e - b * d) * denominator;
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
567
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
568 return true;
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
569 }
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
570 else
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
571 {
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
572 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
573 }
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
574 }
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
575 else
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
576 {
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
577 // General case, using LU decomposition
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
578
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
579 Matrix a = source; // Copy the source matrix, as "lu_factorize()" modifies it
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
580
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
581 boost::numeric::ublas::permutation_matrix<size_t> permutation(source.size1());
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
582
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
583 if (boost::numeric::ublas::lu_factorize(a, permutation) != 0)
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
584 {
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
585 return false;
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
586 }
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
587 else
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
588 {
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
589 target = boost::numeric::ublas::identity_matrix<double>(source.size1());
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
590 lu_substitute(a, permutation, target);
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
591 return true;
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
592 }
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
593 }
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
594 }
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
595
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
596
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
597
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
598 void InvertMatrix(Matrix& target,
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
599 const Matrix& source)
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
600 {
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
601 if (!InvertMatrixUnsafe(target, source))
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
602 {
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
603 LOG(ERROR) << "Cannot invert singular matrix";
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
604 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
605 }
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
606 }
165
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
607
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
608
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
609 void CreateSkewSymmetric(Matrix& s,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
610 const Vector& v)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
611 {
392
d87fe075d31b to graveyard
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 212
diff changeset
612 if (v.size() != 3)
d87fe075d31b to graveyard
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 212
diff changeset
613 {
d87fe075d31b to graveyard
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 212
diff changeset
614 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
d87fe075d31b to graveyard
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 212
diff changeset
615 }
165
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
616
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
617 s.resize(3, 3);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
618 s(0,0) = 0;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
619 s(0,1) = -v[2];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
620 s(0,2) = v[1];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
621 s(1,0) = v[2];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
622 s(1,1) = 0;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
623 s(1,2) = -v[0];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
624 s(2,0) = -v[1];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
625 s(2,1) = v[0];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
626 s(2,2) = 0;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
627 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
628
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
629
166
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 165
diff changeset
630 Matrix InvertScalingTranslationMatrix(const Matrix& t)
165
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
631 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
632 if (t.size1() != 4 ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
633 t.size2() != 4 ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
634 !LinearAlgebra::IsCloseToZero(t(0,1)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
635 !LinearAlgebra::IsCloseToZero(t(0,2)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
636 !LinearAlgebra::IsCloseToZero(t(1,0)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
637 !LinearAlgebra::IsCloseToZero(t(1,2)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
638 !LinearAlgebra::IsCloseToZero(t(2,0)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
639 !LinearAlgebra::IsCloseToZero(t(2,1)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
640 !LinearAlgebra::IsCloseToZero(t(3,0)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
641 !LinearAlgebra::IsCloseToZero(t(3,1)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
642 !LinearAlgebra::IsCloseToZero(t(3,2)))
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
643 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
644 LOG(ERROR) << "This matrix is more than a zoom/translate transform";
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
645 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
646 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
647
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
648 const double sx = t(0,0);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
649 const double sy = t(1,1);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
650 const double sz = t(2,2);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
651 const double w = t(3,3);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
652
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
653 if (LinearAlgebra::IsCloseToZero(sx) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
654 LinearAlgebra::IsCloseToZero(sy) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
655 LinearAlgebra::IsCloseToZero(sz) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
656 LinearAlgebra::IsCloseToZero(w))
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
657 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
658 LOG(ERROR) << "Singular transform";
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
659 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
660 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
661
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
662 const double tx = t(0,3);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
663 const double ty = t(1,3);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
664 const double tz = t(2,3);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
665
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
666 Matrix m = IdentityMatrix(4);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
667
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
668 m(0,0) = 1.0 / sx;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
669 m(1,1) = 1.0 / sy;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
670 m(2,2) = 1.0 / sz;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
671 m(3,3) = 1.0 / w;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
672
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
673 m(0,3) = -tx / (sx * w);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
674 m(1,3) = -ty / (sy * w);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
675 m(2,3) = -tz / (sz * w);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
676
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
677 return m;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
678 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
679
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
680
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
681 bool IsShearMatrix(const Matrix& shear)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
682 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
683 return (shear.size1() == 4 &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
684 shear.size2() == 4 &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
685 LinearAlgebra::IsNear(1.0, shear(0,0)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
686 LinearAlgebra::IsNear(0.0, shear(0,1)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
687 LinearAlgebra::IsNear(0.0, shear(0,3)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
688 LinearAlgebra::IsNear(0.0, shear(1,0)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
689 LinearAlgebra::IsNear(1.0, shear(1,1)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
690 LinearAlgebra::IsNear(0.0, shear(1,3)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
691 LinearAlgebra::IsNear(0.0, shear(2,0)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
692 LinearAlgebra::IsNear(0.0, shear(2,1)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
693 LinearAlgebra::IsNear(1.0, shear(2,2)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
694 LinearAlgebra::IsNear(0.0, shear(2,3)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
695 LinearAlgebra::IsNear(0.0, shear(3,0)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
696 LinearAlgebra::IsNear(0.0, shear(3,1)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
697 LinearAlgebra::IsNear(1.0, shear(3,3)));
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
698 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
699
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
700
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
701 Matrix InvertShearMatrix(const Matrix& shear)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
702 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
703 if (!IsShearMatrix(shear))
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
704 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
705 LOG(ERROR) << "Not a valid shear matrix";
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
706 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
707 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
708
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
709 Matrix m = IdentityMatrix(4);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
710 m(0,2) = -shear(0,2);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
711 m(1,2) = -shear(1,2);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
712 m(3,2) = -shear(3,2);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
713
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
714 return m;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
715 }
158
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
716 }
949
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
717
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
718 std::ostream& operator<<(std::ostream& s, const Vector& vec)
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
719 {
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
720 s << "(";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
721 for (size_t i = 0; i < vec.size(); ++i)
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
722 {
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
723 s << vec(i);
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
724 if (i < (vec.size() - 1))
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
725 s << ", ";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
726 }
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
727 s << ")";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
728 return s;
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
729 }
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
730
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
731 std::ostream& operator<<(std::ostream& s, const Matrix& m)
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
732 {
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
733 ORTHANC_ASSERT(m.size1() == m.size2());
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
734 s << "(";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
735 for (size_t i = 0; i < m.size1(); ++i)
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
736 {
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
737 s << "(";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
738 for (size_t j = 0; j < m.size2(); ++j)
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
739 {
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
740 s << m(i,j);
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
741 if (j < (m.size2() - 1))
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
742 s << ", ";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
743 }
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
744 s << ")";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
745 if (i < (m.size1() - 1))
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
746 s << ", ";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
747 }
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
748 s << ")";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
749 return s;
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
Benjamin Golinvaux <bgo@osimis.io>
parents: 804
diff changeset
750 }
158
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
751 }