orthanc-stone: Framework/Toolbox/LinearAlgebra.cpp annotate

annotate Framework/Toolbox/LinearAlgebra.cpp @ 1002:341e68752354

dot product

author	Benjamin Golinvaux <bgo@osimis.io>
date	Fri, 20 Sep 2019 12:00:04 +0200
parents	1f74bc3459ba
children	6c159b8362ff 2d8ab34c8c91

rev	line source
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	1 /**
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	2 * Stone of Orthanc
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	4 * Department, University Hospital of Liege, Belgium
439 b70e9be013e4 preparing for 2019 Sebastien Jodogne <s.jodogne@gmail.com> parents: 392 diff changeset	5 * Copyright (C) 2017-2019 Osimis S.A., Belgium
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	6 *
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	7 * This program is free software: you can redistribute it and/or
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	8 * modify it under the terms of the GNU Affero General Public License
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	9 * as published by the Free Software Foundation, either version 3 of
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	10 * the License, or (at your option) any later version.
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	11 *
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	12 * This program is distributed in the hope that it will be useful, but
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	13 * WITHOUT ANY WARRANTY; without even the implied warranty of
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	15 * Affero General Public License for more details.
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	16 *
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	17 * You should have received a copy of the GNU Affero General Public License
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	18 * along with this program. If not, see <http://www.gnu.org/licenses/>.
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	19 **/
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	20
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	21
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	22 #include "LinearAlgebra.h"
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	23
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	24 #include "../StoneException.h"
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	25
212 5412adf19980 resort to OrthancFramework Sebastien Jodogne <s.jodogne@gmail.com> parents: 201 diff changeset	26 #include <Core/Logging.h>
5412adf19980 resort to OrthancFramework Sebastien Jodogne <s.jodogne@gmail.com> parents: 201 diff changeset	27 #include <Core/OrthancException.h>
5412adf19980 resort to OrthancFramework Sebastien Jodogne <s.jodogne@gmail.com> parents: 201 diff changeset	28 #include <Core/Toolbox.h>
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	29
804 61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	30 #include <boost/lexical_cast.hpp>
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	31 #include <boost/numeric/ublas/lu.hpp>
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	32
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	33 #include <stdio.h>
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	34 #include <iostream>
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	35
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	36 namespace OrthancStone
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	37 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	38 namespace LinearAlgebra
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	39 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	40 void Print(const Vector& v)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	41 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	42 for (size_t i = 0; i < v.size(); i++)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	43 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	44 printf("%g\n", v[i]);
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	45 //printf("%8.2f\n", v[i]);
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	46 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	47 printf("\n");
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	48 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	49
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	50
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	51 void Print(const Matrix& m)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	52 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	53 for (size_t i = 0; i < m.size1(); i++)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	54 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	55 for (size_t j = 0; j < m.size2(); j++)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	56 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	57 printf("%g ", m(i,j));
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	58 //printf("%8.2f ", m(i,j));
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	59 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	60 printf("\n");
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	61 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	62 printf("\n");
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	63 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	64
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	65
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	66 bool ParseVector(Vector& target,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	67 const std::string& value)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	68 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	69 std::vector<std::string> items;
786 5aa728500586 optimizing constructor of DicomStructureSet Sebastien Jodogne <s.jodogne@gmail.com> parents: 439 diff changeset	70 Orthanc::Toolbox::TokenizeString(items, Orthanc::Toolbox::StripSpaces(value), '\\');
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	71
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	72 target.resize(items.size());
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	73
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	74 for (size_t i = 0; i < items.size(); i++)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	75 {
804 61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	76 /**
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	77 * We try and avoid the use of "boost::lexical_cast<>" here,
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	78 * as it is very slow. As we are parsing many doubles, we
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	79 * prefer to use the standard "std::stod" function if
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	80 * available: http://www.cplusplus.com/reference/string/stod/
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	81 **/
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	82
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	83 #if __cplusplus >= 201103L // Is C++11 enabled?
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	84 try
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	85 {
790 9f68155c75b0 speeding up LinearAlgebra::ParseVector() Sebastien Jodogne <s.jodogne@gmail.com> parents: 786 diff changeset	86 target[i] = std::stod(items[i]);
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	87 }
790 9f68155c75b0 speeding up LinearAlgebra::ParseVector() Sebastien Jodogne <s.jodogne@gmail.com> parents: 786 diff changeset	88 catch (std::exception&)
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	89 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	90 target.clear();
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	91 return false;
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	92 }
804 61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	93 #else // Fallback implementation using Boost
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	94 try
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	95 {
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	96 target[i] = boost::lexical_cast<double>(items[i]);
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	97 }
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	98 catch (boost::bad_lexical_cast&)
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	99 {
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	100 target.clear();
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	101 return false;
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	102 }
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	103 #endif
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	104 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	105
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	106 return true;
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	107 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	108
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	109
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	110 bool ParseVector(Vector& target,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	111 const Orthanc::DicomMap& dataset,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	112 const Orthanc::DicomTag& tag)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	113 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	114 std::string value;
994 1f74bc3459ba fix build due to rename in Orthanc::DicomMap Sebastien Jodogne <s.jodogne@gmail.com> parents: 949 diff changeset	115 return (dataset.LookupStringValue(value, tag, false) &&
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	116 ParseVector(target, value));
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	117 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	118
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	119
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	120 void NormalizeVector(Vector& u)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	121 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	122 double norm = boost::numeric::ublas::norm_2(u);
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	123 if (!IsCloseToZero(norm))
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	124 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	125 u = u / norm;
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	126 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	127 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	128
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	129 void CrossProduct(Vector& result,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	130 const Vector& u,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	131 const Vector& v)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	132 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	133 if (u.size() != 3 \|\|
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	134 v.size() != 3)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	135 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	136 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	137 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	138
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	139 result.resize(3);
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	140
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	141 result[0] = u[1] * v[2] - u[2] * v[1];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	142 result[1] = u[2] * v[0] - u[0] * v[2];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	143 result[2] = u[0] * v[1] - u[1] * v[0];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	144 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	145
1002 341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	146 double DotProduct(const Vector& u, const Vector& v)
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	147 {
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	148 if (u.size() != 3 \|\|
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	149 v.size() != 3)
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	150 {
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	151 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	152 }
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	153
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	154 return (u[0] * v[0] + u[1] * v[1] + u[2] * v[2]);
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	155 }
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	156
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	157 void FillMatrix(Matrix& target,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	158 size_t rows,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	159 size_t columns,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	160 const double values[])
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	161 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	162 target.resize(rows, columns);
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	163
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	164 size_t index = 0;
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	165
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	166 for (size_t y = 0; y < rows; y++)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	167 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	168 for (size_t x = 0; x < columns; x++, index++)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	169 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	170 target(y, x) = values[index];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	171 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	172 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	173 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	174
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	175
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	176 void FillVector(Vector& target,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	177 size_t size,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	178 const double values[])
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	179 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	180 target.resize(size);
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	181
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	182 for (size_t i = 0; i < size; i++)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	183 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	184 target[i] = values[i];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	185 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	186 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	187
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	188
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	189 void Convert(Matrix& target,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	190 const Vector& source)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	191 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	192 const size_t n = source.size();
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	193
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	194 target.resize(n, 1);
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	195
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	196 for (size_t i = 0; i < n; i++)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	197 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	198 target(i, 0) = source[i];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	199 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	200 }
159 0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	201
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	202
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	203 double ComputeDeterminant(const Matrix& a)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	204 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	205 if (a.size1() != a.size2())
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	206 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	207 LOG(ERROR) << "Determinant only exists for square matrices";
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	208 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	209 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	210
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	211 // https://en.wikipedia.org/wiki/Rule_of_Sarrus
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	212 if (a.size1() == 1)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	213 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	214 return a(0,0);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	215 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	216 else if (a.size1() == 2)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	217 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	218 return a(0,0) * a(1,1) - a(0,1) * a(1,0);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	219 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	220 else if (a.size1() == 3)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	221 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	222 return (a(0,0) * a(1,1) * a(2,2) +
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	223 a(0,1) * a(1,2) * a(2,0) +
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	224 a(0,2) * a(1,0) * a(2,1) -
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	225 a(2,0) * a(1,1) * a(0,2) -
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	226 a(2,1) * a(1,2) * a(0,0) -
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	227 a(2,2) * a(1,0) * a(0,1));
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	228 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	229 else
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	230 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	231 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	232 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	233 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	234
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	235
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	236 bool IsOrthogonalMatrix(const Matrix& q,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	237 double threshold)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	238 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	239 // https://en.wikipedia.org/wiki/Orthogonal_matrix
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	240
392 d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	241 if (q.size1() != q.size2())
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	242 {
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	243 LOG(ERROR) << "An orthogonal matrix must be squared";
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	244 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	245 }
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	246
159 0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	247 using namespace boost::numeric::ublas;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	248
392 d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	249 const Matrix check = prod(trans(q), q) - identity_matrix<double>(q.size1());
159 0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	250
160 e9dae7e7bffc fix Sebastien Jodogne <s.jodogne@gmail.com> parents: 159 diff changeset	251 type_traits<double>::real_type norm = norm_inf(check);
159 0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	252
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	253 return (norm <= threshold);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	254 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	255
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	256
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	257 bool IsOrthogonalMatrix(const Matrix& q)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	258 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	259 return IsOrthogonalMatrix(q, 10.0 * std::numeric_limits<float>::epsilon());
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	260 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	261
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	262
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	263 bool IsRotationMatrix(const Matrix& r,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	264 double threshold)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	265 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	266 return (IsOrthogonalMatrix(r, threshold) &&
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	267 IsNear(ComputeDeterminant(r), 1.0, threshold));
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	268 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	269
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	270
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	271 bool IsRotationMatrix(const Matrix& r)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	272 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	273 return IsRotationMatrix(r, 10.0 * std::numeric_limits<float>::epsilon());
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	274 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	275
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	276
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	277 void InvertUpperTriangularMatrix(Matrix& output,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	278 const Matrix& k)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	279 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	280 if (k.size1() != k.size2())
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	281 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	282 LOG(ERROR) << "Determinant only exists for square matrices";
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	283 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	284 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	285
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	286 output.resize(k.size1(), k.size2());
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	287
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	288 for (size_t i = 1; i < k.size1(); i++)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	289 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	290 for (size_t j = 0; j < i; j++)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	291 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	292 if (!IsCloseToZero(k(i, j)))
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	293 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	294 LOG(ERROR) << "Not an upper triangular matrix";
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	295 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	296 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	297
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	298 output(i, j) = 0; // The output is also upper triangular
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	299 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	300 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	301
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	302 if (k.size1() == 3)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	303 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	304 // https://math.stackexchange.com/a/1004181
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	305 double a = k(0, 0);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	306 double b = k(0, 1);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	307 double c = k(0, 2);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	308 double d = k(1, 1);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	309 double e = k(1, 2);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	310 double f = k(2, 2);
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 if (IsCloseToZero(a) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	313 IsCloseToZero(d) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	314 IsCloseToZero(f))
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	315 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	316 LOG(ERROR) << "Singular upper triangular matrix";
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	317 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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 else
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	320 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	321 output(0, 0) = 1.0 / a;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	322 output(0, 1) = -b / (a * d);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	323 output(0, 2) = (b * e - c * d) / (a * f * d);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	324 output(1, 1) = 1.0 / d;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	325 output(1, 2) = -e / (f * d);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	326 output(2, 2) = 1.0 / f;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	327 }
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 else
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 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	332 }
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
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	336 static void GetGivensComponent(double& c,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	337 double& s,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	338 const Matrix& a,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	339 size_t i,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	340 size_t j)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	341 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	342 assert(i < 3 && j < 3);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	343
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	344 double x = a(i, i);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	345 double y = a(i, j);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	346 double n = sqrt(x * x + y * y);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	347
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	348 if (IsCloseToZero(n))
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 c = 1;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	351 s = 0;
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 else
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	354 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	355 c = x / n;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	356 s = -y / n;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	357 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	358 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	359
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 /**
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	362 * This function computes the RQ decomposition of a 3x3 matrix,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	363 * using Givens rotations. Reference: Algorithm A4.1 (page 579) of
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	364 * "Multiple View Geometry in Computer Vision" (2nd edition). The
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	365 * output matrix "Q" is a rotation matrix, and "R" is upper
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	366 * triangular.
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 void RQDecomposition3x3(Matrix& r,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	369 Matrix& q,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	370 const Matrix& a)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	371 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	372 using namespace boost::numeric::ublas;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	373
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	374 if (a.size1() != 3 \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	375 a.size2() != 3)
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 LOG(ERROR) << "Only applicable to a 3x3 matrix";
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	378 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	381 r.resize(3, 3);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	382 q.resize(3, 3);
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 r = a;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	385 q = identity_matrix<double>(3);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	386
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	387 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	388 // Set A(2,1) to zero
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	389 double c, s;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	390 GetGivensComponent(c, s, r, 2, 1);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	391
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	392 double v[9] = { 1, 0, 0,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	393 0, c, -s,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	394 0, s, c };
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	395
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	396 Matrix g;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	397 FillMatrix(g, 3, 3, v);
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 r = prod(r, g);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	400 q = prod(trans(g), q);
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
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 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	405 // Set A(2,0) to zero
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	406 double c, s;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	407 GetGivensComponent(c, s, r, 2, 0);
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 double v[9] = { c, 0, -s,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	410 0, 1, 0,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	411 s, 0, c };
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	412
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	413 Matrix g;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	414 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	415
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	416 r = prod(r, g);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	417 q = prod(trans(g), q);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	418 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	419
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 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	422 // Set A(1,0) to zero
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	423 double c, s;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	424 GetGivensComponent(c, s, r, 1, 0);
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 double v[9] = { c, -s, 0,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	427 s, c, 0,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	428 0, 0, 1 };
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 Matrix g;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	431 FillMatrix(g, 3, 3, v);
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 = prod(r, g);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	434 q = prod(trans(g), q);
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 if (!IsCloseToZero(norm_inf(prod(r, q) - a)) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	438 !IsRotationMatrix(q) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	439 !IsCloseToZero(r(1, 0)) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	440 !IsCloseToZero(r(2, 0)) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	441 !IsCloseToZero(r(2, 1)))
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	442 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	443 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
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 }
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	446
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	447
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	448 bool InvertMatrixUnsafe(Matrix& target,
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	449 const Matrix& source)
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	450 {
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	451 if (source.size1() != source.size2())
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	452 {
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	453 LOG(ERROR) << "Inverse only exists for square matrices";
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	454 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	455 }
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	456
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	457 if (source.size1() < 4)
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	458 {
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	459 // For matrices with size below 4, use direct computations
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	460 // instead of LU decomposition
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	461
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	462 if (source.size1() == 0)
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	463 {
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	464 // 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	465 target.resize(0, 0);
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	466 return true;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	467 }
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	468
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	469 double determinant = ComputeDeterminant(source);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	470
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	471 if (IsCloseToZero(determinant))
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	472 {
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	473 return false;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	474 }
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	475
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	476 double denominator = 1.0 / determinant;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	477
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	478 target.resize(source.size1(), source.size2());
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	479
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	480 if (source.size1() == 1)
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	481 {
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	482 target(0, 0) = denominator;
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	483
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	484 return true;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	485 }
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	486 else if (source.size1() == 2)
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	487 {
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	488 // 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	489 target(0, 0) = source(1, 1) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	490 target(0, 1) = -source(0, 1) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	491 target(1, 0) = -source(1, 0) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	492 target(1, 1) = source(0, 0) * denominator;
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	493
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	494 return true;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	495 }
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	496 else if (source.size1() == 3)
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	497 {
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	498 // 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	499 const double a = source(0, 0);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	500 const double b = source(0, 1);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	501 const double c = source(0, 2);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	502 const double d = source(1, 0);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	503 const double e = source(1, 1);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	504 const double f = source(1, 2);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	505 const double g = source(2, 0);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	506 const double h = source(2, 1);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	507 const double i = source(2, 2);
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	508
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	509 target(0, 0) = (e * i - f * h) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	510 target(0, 1) = -(b * i - c * h) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	511 target(0, 2) = (b * f - c * e) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	512 target(1, 0) = -(d * i - f * g) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	513 target(1, 1) = (a * i - c * g) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	514 target(1, 2) = -(a * f - c * d) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	515 target(2, 0) = (d * h - e * g) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	516 target(2, 1) = -(a * h - b * g) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	517 target(2, 2) = (a * e - b * d) * denominator;
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	518
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	519 return true;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	520 }
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	521 else
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	522 {
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	523 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	524 }
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	525 }
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	526 else
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	527 {
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	528 // General case, using LU decomposition
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	529
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	530 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	531
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	532 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	533
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	534 if (boost::numeric::ublas::lu_factorize(a, permutation) != 0)
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	535 {
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	536 return false;
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	537 }
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	538 else
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	539 {
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	540 target = boost::numeric::ublas::identity_matrix<double>(source.size1());
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	541 lu_substitute(a, permutation, target);
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	542 return true;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	543 }
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	544 }
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	545 }
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	546
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	547
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	548
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	549 void InvertMatrix(Matrix& target,
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	550 const Matrix& source)
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	551 {
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	552 if (!InvertMatrixUnsafe(target, source))
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	553 {
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	554 LOG(ERROR) << "Cannot invert singular matrix";
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	555 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	556 }
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	557 }
165 8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	558
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	559
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	560 void CreateSkewSymmetric(Matrix& s,
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	561 const Vector& v)
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	562 {
392 d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	563 if (v.size() != 3)
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	564 {
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	565 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	566 }
165 8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	567
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	568 s.resize(3, 3);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	569 s(0,0) = 0;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	570 s(0,1) = -v[2];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	571 s(0,2) = v[1];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	572 s(1,0) = v[2];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	573 s(1,1) = 0;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	574 s(1,2) = -v[0];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	575 s(2,0) = -v[1];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	576 s(2,1) = v[0];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	577 s(2,2) = 0;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	578 }
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	579
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	580
166 4f661e2f7b6c cont Sebastien Jodogne <s.jodogne@gmail.com> parents: 165 diff changeset	581 Matrix InvertScalingTranslationMatrix(const Matrix& t)
165 8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	582 {
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	583 if (t.size1() != 4 \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	584 t.size2() != 4 \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	585 !LinearAlgebra::IsCloseToZero(t(0,1)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	586 !LinearAlgebra::IsCloseToZero(t(0,2)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	587 !LinearAlgebra::IsCloseToZero(t(1,0)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	588 !LinearAlgebra::IsCloseToZero(t(1,2)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	589 !LinearAlgebra::IsCloseToZero(t(2,0)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	590 !LinearAlgebra::IsCloseToZero(t(2,1)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	591 !LinearAlgebra::IsCloseToZero(t(3,0)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	592 !LinearAlgebra::IsCloseToZero(t(3,1)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	593 !LinearAlgebra::IsCloseToZero(t(3,2)))
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	594 {
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	595 LOG(ERROR) << "This matrix is more than a zoom/translate transform";
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	596 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	597 }
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	598
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	599 const double sx = t(0,0);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	600 const double sy = t(1,1);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	601 const double sz = t(2,2);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	602 const double w = t(3,3);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	603
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	604 if (LinearAlgebra::IsCloseToZero(sx) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	605 LinearAlgebra::IsCloseToZero(sy) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	606 LinearAlgebra::IsCloseToZero(sz) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	607 LinearAlgebra::IsCloseToZero(w))
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 LOG(ERROR) << "Singular transform";
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	610 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	611 }
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	612
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	613 const double tx = t(0,3);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	614 const double ty = t(1,3);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	615 const double tz = t(2,3);
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 Matrix m = IdentityMatrix(4);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	618
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	619 m(0,0) = 1.0 / sx;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	620 m(1,1) = 1.0 / sy;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	621 m(2,2) = 1.0 / sz;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	622 m(3,3) = 1.0 / w;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	623
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	624 m(0,3) = -tx / (sx * w);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	625 m(1,3) = -ty / (sy * w);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	626 m(2,3) = -tz / (sz * w);
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 return m;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	629 }
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	630
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 bool IsShearMatrix(const Matrix& shear)
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	633 {
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	634 return (shear.size1() == 4 &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	635 shear.size2() == 4 &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	636 LinearAlgebra::IsNear(1.0, shear(0,0)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	637 LinearAlgebra::IsNear(0.0, shear(0,1)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	638 LinearAlgebra::IsNear(0.0, shear(0,3)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	639 LinearAlgebra::IsNear(0.0, shear(1,0)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	640 LinearAlgebra::IsNear(1.0, shear(1,1)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	641 LinearAlgebra::IsNear(0.0, shear(1,3)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	642 LinearAlgebra::IsNear(0.0, shear(2,0)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	643 LinearAlgebra::IsNear(0.0, shear(2,1)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	644 LinearAlgebra::IsNear(1.0, shear(2,2)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	645 LinearAlgebra::IsNear(0.0, shear(2,3)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	646 LinearAlgebra::IsNear(0.0, shear(3,0)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	647 LinearAlgebra::IsNear(0.0, shear(3,1)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	648 LinearAlgebra::IsNear(1.0, shear(3,3)));
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	649 }
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	650
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	651
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	652 Matrix InvertShearMatrix(const Matrix& shear)
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	653 {
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	654 if (!IsShearMatrix(shear))
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	655 {
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	656 LOG(ERROR) << "Not a valid shear matrix";
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	657 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	658 }
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	659
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	660 Matrix m = IdentityMatrix(4);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	661 m(0,2) = -shear(0,2);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	662 m(1,2) = -shear(1,2);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	663 m(3,2) = -shear(3,2);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	664
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	665 return m;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	666 }
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	667 }
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	668
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	669 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	670 {
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	671 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	672 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	673 {
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	674 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	675 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	676 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	677 }
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	678 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	679 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	680 }
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	681
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	682 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	683 {
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	684 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	685 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	686 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	687 {
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	688 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	689 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	690 {
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	691 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	692 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	693 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	694 }
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	695 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	696 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	697 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	698 }
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	699 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	700 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	701 }
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	702 }

Mercurial > hg > orthanc-stone

annotate Framework/Toolbox/LinearAlgebra.cpp @ 1002:341e68752354