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

annotate Framework/Toolbox/LinearAlgebra.cpp @ 984:35ed6812d639 toa2019090602

Build fix

author	Benjamin Golinvaux <bgo@osimis.io>
date	Fri, 06 Sep 2019 11:46:51 +0200
parents	32eaf4929b08
children	1f74bc3459ba

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;
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	115 return (dataset.CopyToString(value, tag, false) &&
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
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	130 void CrossProduct(Vector& result,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	131 const Vector& u,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	132 const Vector& v)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	133 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	134 if (u.size() != 3 \|\|
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	135 v.size() != 3)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	136 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	137 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	140 result.resize(3);
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	141
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	142 result[0] = u[1] * v[2] - u[2] * v[1];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	143 result[1] = u[2] * v[0] - u[0] * v[2];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	144 result[2] = u[0] * v[1] - u[1] * v[0];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	145 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	146
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	147
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	148 void FillMatrix(Matrix& target,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	149 size_t rows,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	150 size_t columns,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	151 const double values[])
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	152 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	153 target.resize(rows, columns);
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	154
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	155 size_t index = 0;
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 for (size_t y = 0; y < rows; y++)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	158 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	159 for (size_t x = 0; x < columns; x++, index++)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	160 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	161 target(y, x) = values[index];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	162 }
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 }
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
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	167 void FillVector(Vector& target,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	168 size_t size,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	169 const double values[])
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	170 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	171 target.resize(size);
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 for (size_t i = 0; i < size; i++)
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 target[i] = values[i];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	176 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	177 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	178
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 void Convert(Matrix& target,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	181 const Vector& source)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	182 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	183 const size_t n = source.size();
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	184
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	185 target.resize(n, 1);
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 for (size_t i = 0; i < n; i++)
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 target(i, 0) = source[i];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	190 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	191 }
159 0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	192
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	193
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	194 double ComputeDeterminant(const Matrix& a)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	195 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	196 if (a.size1() != a.size2())
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	197 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	198 LOG(ERROR) << "Determinant only exists for square matrices";
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	199 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	200 }
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 // https://en.wikipedia.org/wiki/Rule_of_Sarrus
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	203 if (a.size1() == 1)
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 return a(0,0);
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 else if (a.size1() == 2)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	208 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	209 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	210 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	211 else if (a.size1() == 3)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	212 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	213 return (a(0,0) * a(1,1) * a(2,2) +
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	214 a(0,1) * a(1,2) * a(2,0) +
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	215 a(0,2) * a(1,0) * a(2,1) -
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	216 a(2,0) * a(1,1) * a(0,2) -
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	217 a(2,1) * a(1,2) * a(0,0) -
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	218 a(2,2) * a(1,0) * a(0,1));
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
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 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	223 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	224 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	225
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	226
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	227 bool IsOrthogonalMatrix(const Matrix& q,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	228 double threshold)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	229 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	230 // https://en.wikipedia.org/wiki/Orthogonal_matrix
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	231
392 d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	232 if (q.size1() != q.size2())
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	233 {
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	234 LOG(ERROR) << "An orthogonal matrix must be squared";
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	235 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	236 }
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	237
159 0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	238 using namespace boost::numeric::ublas;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	239
392 d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	240 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	241
160 e9dae7e7bffc fix Sebastien Jodogne <s.jodogne@gmail.com> parents: 159 diff changeset	242 type_traits<double>::real_type norm = norm_inf(check);
159 0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	243
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	244 return (norm <= threshold);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	245 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	246
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	247
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	248 bool IsOrthogonalMatrix(const Matrix& q)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	249 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	250 return IsOrthogonalMatrix(q, 10.0 * std::numeric_limits<float>::epsilon());
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	251 }
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
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	254 bool IsRotationMatrix(const Matrix& r,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	255 double threshold)
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 return (IsOrthogonalMatrix(r, threshold) &&
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	258 IsNear(ComputeDeterminant(r), 1.0, threshold));
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	259 }
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 bool IsRotationMatrix(const Matrix& r)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	263 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	264 return IsRotationMatrix(r, 10.0 * std::numeric_limits<float>::epsilon());
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
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	267
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	268 void InvertUpperTriangularMatrix(Matrix& output,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	269 const Matrix& k)
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 if (k.size1() != k.size2())
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 LOG(ERROR) << "Determinant only exists for square matrices";
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	274 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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 output.resize(k.size1(), k.size2());
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	278
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	279 for (size_t i = 1; i < k.size1(); i++)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	280 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	281 for (size_t j = 0; j < i; j++)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	282 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	283 if (!IsCloseToZero(k(i, j)))
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 LOG(ERROR) << "Not an upper triangular matrix";
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	286 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	289 output(i, j) = 0; // The output is also upper triangular
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	290 }
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
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	293 if (k.size1() == 3)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	294 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	295 // https://math.stackexchange.com/a/1004181
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	296 double a = k(0, 0);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	297 double b = k(0, 1);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	298 double c = k(0, 2);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	299 double d = k(1, 1);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	300 double e = k(1, 2);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	301 double f = k(2, 2);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	302
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	303 if (IsCloseToZero(a) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	304 IsCloseToZero(d) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	305 IsCloseToZero(f))
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	306 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	307 LOG(ERROR) << "Singular upper triangular matrix";
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	308 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	309 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	310 else
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 output(0, 0) = 1.0 / a;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	313 output(0, 1) = -b / (a * d);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	314 output(0, 2) = (b * e - c * d) / (a * f * d);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	315 output(1, 1) = 1.0 / d;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	316 output(1, 2) = -e / (f * d);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	317 output(2, 2) = 1.0 / f;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	318 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	319 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	320 else
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	321 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	322 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	323 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	324 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	325
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	326
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	327 static void GetGivensComponent(double& c,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	328 double& s,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	329 const Matrix& a,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	330 size_t i,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	331 size_t j)
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 assert(i < 3 && j < 3);
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 double x = a(i, i);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	336 double y = a(i, j);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	337 double n = sqrt(x * x + y * y);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	338
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	339 if (IsCloseToZero(n))
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	340 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	341 c = 1;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	342 s = 0;
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 else
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	345 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	346 c = x / n;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	347 s = -y / n;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	348 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	349 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	350
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	351
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 * This function computes the RQ decomposition of a 3x3 matrix,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	354 * using Givens rotations. Reference: Algorithm A4.1 (page 579) of
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	355 * "Multiple View Geometry in Computer Vision" (2nd edition). The
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	356 * output matrix "Q" is a rotation matrix, and "R" is upper
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	357 * triangular.
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 void RQDecomposition3x3(Matrix& r,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	360 Matrix& q,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	361 const Matrix& a)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	362 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	363 using namespace boost::numeric::ublas;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	364
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	365 if (a.size1() != 3 \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	366 a.size2() != 3)
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 LOG(ERROR) << "Only applicable to a 3x3 matrix";
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	369 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	370 }
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 r.resize(3, 3);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	373 q.resize(3, 3);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	374
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	375 r = a;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	376 q = identity_matrix<double>(3);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	377
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	378 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	379 // Set A(2,1) to zero
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	380 double c, s;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	381 GetGivensComponent(c, s, r, 2, 1);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	382
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	383 double v[9] = { 1, 0, 0,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	384 0, c, -s,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	385 0, s, c };
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 Matrix g;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	388 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	389
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	390 r = prod(r, g);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	391 q = prod(trans(g), q);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	392 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	393
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	394
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 // Set A(2,0) to zero
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	397 double c, s;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	398 GetGivensComponent(c, s, r, 2, 0);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	399
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	400 double v[9] = { c, 0, -s,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	401 0, 1, 0,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	402 s, 0, c };
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 Matrix g;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	405 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	406
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	407 r = prod(r, g);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	408 q = prod(trans(g), q);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	409 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	410
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	411
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 // Set A(1,0) to zero
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	414 double c, s;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	415 GetGivensComponent(c, s, r, 1, 0);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	416
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	417 double v[9] = { c, -s, 0,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	418 s, c, 0,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	419 0, 0, 1 };
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 Matrix g;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	422 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	423
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	424 r = prod(r, g);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	425 q = prod(trans(g), q);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	426 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	427
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	428 if (!IsCloseToZero(norm_inf(prod(r, q) - a)) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	429 !IsRotationMatrix(q) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	430 !IsCloseToZero(r(1, 0)) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	431 !IsCloseToZero(r(2, 0)) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	432 !IsCloseToZero(r(2, 1)))
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	433 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	434 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
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 }
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	437
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	438
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	439 bool InvertMatrixUnsafe(Matrix& target,
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	440 const Matrix& source)
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	441 {
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	442 if (source.size1() != source.size2())
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	443 {
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	444 LOG(ERROR) << "Inverse only exists for square matrices";
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	445 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	446 }
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	447
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	448 if (source.size1() < 4)
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	449 {
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	450 // For matrices with size below 4, use direct computations
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	451 // instead of LU decomposition
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	452
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	453 if (source.size1() == 0)
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	454 {
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	455 // 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	456 target.resize(0, 0);
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	457 return true;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	458 }
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	459
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	460 double determinant = ComputeDeterminant(source);
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 (IsCloseToZero(determinant))
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	463 {
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	464 return false;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	465 }
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	466
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	467 double denominator = 1.0 / determinant;
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 target.resize(source.size1(), source.size2());
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 (source.size1() == 1)
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	472 {
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	473 target(0, 0) = denominator;
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	474
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	475 return true;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	476 }
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	477 else if (source.size1() == 2)
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	478 {
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	479 // 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	480 target(0, 0) = source(1, 1) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	481 target(0, 1) = -source(0, 1) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	482 target(1, 0) = -source(1, 0) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	483 target(1, 1) = source(0, 0) * denominator;
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	484
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	485 return true;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	486 }
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	487 else if (source.size1() == 3)
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	488 {
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	489 // 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	490 const double a = source(0, 0);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	491 const double b = source(0, 1);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	492 const double c = source(0, 2);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	493 const double d = source(1, 0);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	494 const double e = source(1, 1);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	495 const double f = source(1, 2);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	496 const double g = source(2, 0);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	497 const double h = source(2, 1);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	498 const double i = source(2, 2);
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	499
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	500 target(0, 0) = (e * i - f * h) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	501 target(0, 1) = -(b * i - c * h) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	502 target(0, 2) = (b * f - c * e) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	503 target(1, 0) = -(d * i - f * g) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	504 target(1, 1) = (a * i - c * g) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	505 target(1, 2) = -(a * f - c * d) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	506 target(2, 0) = (d * h - e * g) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	507 target(2, 1) = -(a * h - b * g) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	508 target(2, 2) = (a * e - b * d) * denominator;
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	509
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	510 return true;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	511 }
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	512 else
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	513 {
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	514 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	515 }
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	516 }
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	517 else
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	518 {
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	519 // General case, using LU decomposition
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 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	522
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	523 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	524
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	525 if (boost::numeric::ublas::lu_factorize(a, permutation) != 0)
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	526 {
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	527 return false;
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	528 }
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	529 else
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	530 {
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	531 target = boost::numeric::ublas::identity_matrix<double>(source.size1());
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	532 lu_substitute(a, permutation, target);
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	533 return true;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	534 }
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	535 }
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	536 }
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	537
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	538
169 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 void InvertMatrix(Matrix& target,
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	541 const Matrix& source)
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	542 {
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	543 if (!InvertMatrixUnsafe(target, source))
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 LOG(ERROR) << "Cannot invert singular matrix";
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	546 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	547 }
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	548 }
165 8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	549
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	550
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	551 void CreateSkewSymmetric(Matrix& s,
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	552 const Vector& v)
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	553 {
392 d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	554 if (v.size() != 3)
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	555 {
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	556 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 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 s.resize(3, 3);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	560 s(0,0) = 0;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	561 s(0,1) = -v[2];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	562 s(0,2) = v[1];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	563 s(1,0) = v[2];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	564 s(1,1) = 0;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	565 s(1,2) = -v[0];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	566 s(2,0) = -v[1];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	567 s(2,1) = v[0];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	568 s(2,2) = 0;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	569 }
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	570
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	571
166 4f661e2f7b6c cont Sebastien Jodogne <s.jodogne@gmail.com> parents: 165 diff changeset	572 Matrix InvertScalingTranslationMatrix(const Matrix& t)
165 8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	573 {
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	574 if (t.size1() != 4 \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	575 t.size2() != 4 \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	576 !LinearAlgebra::IsCloseToZero(t(0,1)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	577 !LinearAlgebra::IsCloseToZero(t(0,2)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	578 !LinearAlgebra::IsCloseToZero(t(1,0)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	579 !LinearAlgebra::IsCloseToZero(t(1,2)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	580 !LinearAlgebra::IsCloseToZero(t(2,0)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	581 !LinearAlgebra::IsCloseToZero(t(2,1)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	582 !LinearAlgebra::IsCloseToZero(t(3,0)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	583 !LinearAlgebra::IsCloseToZero(t(3,1)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	584 !LinearAlgebra::IsCloseToZero(t(3,2)))
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	585 {
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	586 LOG(ERROR) << "This matrix is more than a zoom/translate transform";
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	587 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	588 }
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	589
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	590 const double sx = t(0,0);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	591 const double sy = t(1,1);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	592 const double sz = t(2,2);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	593 const double w = t(3,3);
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 if (LinearAlgebra::IsCloseToZero(sx) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	596 LinearAlgebra::IsCloseToZero(sy) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	597 LinearAlgebra::IsCloseToZero(sz) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	598 LinearAlgebra::IsCloseToZero(w))
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	599 {
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	600 LOG(ERROR) << "Singular transform";
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	601 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	602 }
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 const double tx = t(0,3);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	605 const double ty = t(1,3);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	606 const double tz = t(2,3);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	607
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	608 Matrix m = IdentityMatrix(4);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	609
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	610 m(0,0) = 1.0 / sx;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	611 m(1,1) = 1.0 / sy;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	612 m(2,2) = 1.0 / sz;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	613 m(3,3) = 1.0 / w;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	614
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	615 m(0,3) = -tx / (sx * w);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	616 m(1,3) = -ty / (sy * w);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	617 m(2,3) = -tz / (sz * w);
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 return m;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	620 }
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	621
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	622
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	623 bool IsShearMatrix(const Matrix& shear)
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	624 {
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	625 return (shear.size1() == 4 &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	626 shear.size2() == 4 &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	627 LinearAlgebra::IsNear(1.0, shear(0,0)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	628 LinearAlgebra::IsNear(0.0, shear(0,1)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	629 LinearAlgebra::IsNear(0.0, shear(0,3)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	630 LinearAlgebra::IsNear(0.0, shear(1,0)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	631 LinearAlgebra::IsNear(1.0, shear(1,1)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	632 LinearAlgebra::IsNear(0.0, shear(1,3)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	633 LinearAlgebra::IsNear(0.0, shear(2,0)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	634 LinearAlgebra::IsNear(0.0, shear(2,1)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	635 LinearAlgebra::IsNear(1.0, shear(2,2)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	636 LinearAlgebra::IsNear(0.0, shear(2,3)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	637 LinearAlgebra::IsNear(0.0, shear(3,0)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	638 LinearAlgebra::IsNear(0.0, shear(3,1)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	639 LinearAlgebra::IsNear(1.0, shear(3,3)));
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	640 }
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	641
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	642
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	643 Matrix InvertShearMatrix(const Matrix& shear)
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	644 {
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	645 if (!IsShearMatrix(shear))
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	646 {
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	647 LOG(ERROR) << "Not a valid shear matrix";
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	648 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
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 Matrix m = IdentityMatrix(4);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	652 m(0,2) = -shear(0,2);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	653 m(1,2) = -shear(1,2);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	654 m(3,2) = -shear(3,2);
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 return m;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	657 }
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	658 }
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	659
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	660 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	661 {
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	662 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	663 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	664 {
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	665 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	666 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	667 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	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 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	670 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	671 }
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
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 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	674 {
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 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	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 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	678 {
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 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 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	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 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	683 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	684 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	685 }
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 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	687 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	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 }
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 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	691 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	692 }
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	693 }

Mercurial > hg > orthanc-stone

annotate Framework/Toolbox/LinearAlgebra.cpp @ 984:35ed6812d639 toa2019090602