Mercurial > hg > orthanc-stone
annotate OrthancStone/Sources/Toolbox/LinearAlgebra.h @ 1870:3889ae96d2e9
added copyright UCLouvain
| author | Sebastien Jodogne <s.jodogne@gmail.com> |
|---|---|
| date | Tue, 11 Jan 2022 11:04:09 +0100 |
| parents | 9ac2a65d4172 |
| children | 7053b8a0aaec |
| rev | line source |
|---|---|
| 158 | 1 /** |
| 2 * Stone of Orthanc | |
| 3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics | |
| 4 * Department, University Hospital of Liege, Belgium | |
|
1739
9ac2a65d4172
upgrade to year 2021
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
1598
diff
changeset
|
5 * Copyright (C) 2017-2021 Osimis S.A., Belgium |
|
1870
3889ae96d2e9
added copyright UCLouvain
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
1739
diff
changeset
|
6 * Copyright (C) 2021-2021 Sebastien Jodogne, ICTEAM UCLouvain, Belgium |
| 158 | 7 * |
| 8 * This program is free software: you can redistribute it and/or | |
|
1598
8563ea5d8ae4
relicensing some files, cf. osimis bm26 and chu agreement on 2020-05-20
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
1596
diff
changeset
|
9 * modify it under the terms of the GNU Lesser General Public License |
| 158 | 10 * as published by the Free Software Foundation, either version 3 of |
| 11 * the License, or (at your option) any later version. | |
| 12 * | |
| 13 * This program is distributed in the hope that it will be useful, but | |
| 14 * WITHOUT ANY WARRANTY; without even the implied warranty of | |
|
1598
8563ea5d8ae4
relicensing some files, cf. osimis bm26 and chu agreement on 2020-05-20
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
1596
diff
changeset
|
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
|
8563ea5d8ae4
relicensing some files, cf. osimis bm26 and chu agreement on 2020-05-20
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
1596
diff
changeset
|
16 * Lesser General Public License for more details. |
|
1596
4fb8fdf03314
removed annoying whitespace
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
1512
diff
changeset
|
17 * |
|
1598
8563ea5d8ae4
relicensing some files, cf. osimis bm26 and chu agreement on 2020-05-20
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
1596
diff
changeset
|
18 * You should have received a copy of the GNU Lesser General Public |
|
8563ea5d8ae4
relicensing some files, cf. osimis bm26 and chu agreement on 2020-05-20
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
1596
diff
changeset
|
19 * License along with this program. If not, see |
|
8563ea5d8ae4
relicensing some files, cf. osimis bm26 and chu agreement on 2020-05-20
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
1596
diff
changeset
|
20 * <http://www.gnu.org/licenses/>. |
| 158 | 21 **/ |
| 22 | |
| 23 | |
| 24 #pragma once | |
| 25 | |
| 26 // Patch for ublas in Boost 1.64.0 | |
| 27 // https://github.com/dealii/dealii/issues/4302 | |
| 28 #include <boost/version.hpp> | |
| 29 #if BOOST_VERSION >= 106300 // or 64, need to check | |
| 30 # include <boost/serialization/array_wrapper.hpp> | |
| 31 #endif | |
| 32 | |
|
1455
30deba7bc8e2
simplifying include_directories
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
1270
diff
changeset
|
33 #include <DicomFormat/DicomMap.h> |
| 158 | 34 |
| 35 #include <boost/numeric/ublas/matrix.hpp> | |
| 36 #include <boost/numeric/ublas/vector.hpp> | |
| 37 | |
| 38 namespace OrthancStone | |
| 39 { | |
| 40 typedef boost::numeric::ublas::matrix<double> Matrix; | |
| 41 typedef boost::numeric::ublas::vector<double> Vector; | |
| 42 | |
|
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:
647
diff
changeset
|
43 // logs, debugging... |
|
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:
647
diff
changeset
|
44 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:
647
diff
changeset
|
45 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:
647
diff
changeset
|
46 |
| 158 | 47 namespace LinearAlgebra |
| 48 { | |
| 49 void Print(const Vector& v); | |
| 50 | |
| 51 void Print(const Matrix& m); | |
| 52 | |
| 53 bool ParseVector(Vector& target, | |
| 54 const std::string& s); | |
| 55 | |
| 56 bool ParseVector(Vector& target, | |
| 57 const Orthanc::DicomMap& dataset, | |
| 58 const Orthanc::DicomTag& tag); | |
| 59 | |
| 181 | 60 inline void AssignVector(Vector& v, |
| 61 double v1, | |
| 62 double v2) | |
| 63 { | |
| 64 v.resize(2); | |
| 65 v[0] = v1; | |
| 66 v[1] = v2; | |
| 67 } | |
| 68 | |
|
165
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
69 |
| 181 | 70 inline void AssignVector(Vector& v, |
| 71 double v1) | |
| 72 { | |
| 73 v.resize(1); | |
| 74 v[0] = v1; | |
| 75 } | |
| 76 | |
| 158 | 77 |
| 181 | 78 inline void AssignVector(Vector& v, |
| 79 double v1, | |
| 80 double v2, | |
| 81 double v3) | |
| 82 { | |
| 83 v.resize(3); | |
| 84 v[0] = v1; | |
| 85 v[1] = v2; | |
| 86 v[2] = v3; | |
| 87 } | |
| 88 | |
| 158 | 89 |
| 181 | 90 inline void AssignVector(Vector& v, |
| 91 double v1, | |
| 92 double v2, | |
| 93 double v3, | |
| 94 double v4) | |
| 95 { | |
| 96 v.resize(4); | |
| 97 v[0] = v1; | |
| 98 v[1] = v2; | |
| 99 v[2] = v3; | |
| 100 v[3] = v4; | |
| 101 } | |
|
161
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
159
diff
changeset
|
102 |
| 181 | 103 |
| 104 inline Vector CreateVector(double v1) | |
| 105 { | |
| 106 Vector v; | |
| 107 AssignVector(v, v1); | |
| 108 return v; | |
| 109 } | |
|
165
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
110 |
| 181 | 111 |
| 112 inline Vector CreateVector(double v1, | |
| 113 double v2) | |
| 114 { | |
| 115 Vector v; | |
| 116 AssignVector(v, v1, v2); | |
| 117 return v; | |
| 118 } | |
|
165
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
119 |
| 181 | 120 |
| 121 inline Vector CreateVector(double v1, | |
| 122 double v2, | |
| 123 double v3) | |
| 124 { | |
| 125 Vector v; | |
| 126 AssignVector(v, v1, v2, v3); | |
| 127 return v; | |
| 128 } | |
| 129 | |
|
165
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
130 |
| 181 | 131 inline Vector CreateVector(double v1, |
| 132 double v2, | |
| 133 double v3, | |
| 134 double v4) | |
| 135 { | |
| 136 Vector v; | |
| 137 AssignVector(v, v1, v2, v3, v4); | |
| 138 return v; | |
| 139 } | |
| 140 | |
|
165
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
141 |
| 158 | 142 inline bool IsNear(double x, |
| 143 double y, | |
| 144 double threshold) | |
| 145 { | |
|
647
6af3099ed8da
uncoupling OrthancStone::SlicesSorter from OrthancStone::Slice
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
439
diff
changeset
|
146 return fabs(x - y) <= threshold; |
| 158 | 147 } |
| 148 | |
| 181 | 149 inline bool IsNear(double x, |
| 150 double y) | |
| 151 { | |
| 152 // As most input is read as single-precision numbers, we take the | |
| 153 // epsilon machine for float32 into consideration to compare numbers | |
| 154 return IsNear(x, y, 10.0 * std::numeric_limits<float>::epsilon()); | |
| 155 } | |
| 158 | 156 |
| 157 inline bool IsCloseToZero(double x) | |
| 158 { | |
| 159 return IsNear(x, 0.0); | |
| 160 } | |
| 161 | |
| 162 void NormalizeVector(Vector& u); | |
| 163 | |
| 164 void CrossProduct(Vector& result, | |
| 165 const Vector& u, | |
| 166 const Vector& v); | |
| 1002 | 167 |
| 168 double DotProduct(const Vector& u, const Vector& v); | |
| 169 | |
| 158 | 170 void FillMatrix(Matrix& target, |
| 171 size_t rows, | |
| 172 size_t columns, | |
| 173 const double values[]); | |
| 174 | |
| 175 void FillVector(Vector& target, | |
| 176 size_t size, | |
| 177 const double values[]); | |
| 178 | |
| 179 void Convert(Matrix& target, | |
| 180 const Vector& source); | |
|
159
0a73d76333db
populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
158
diff
changeset
|
181 |
|
165
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
182 inline Matrix Transpose(const Matrix& a) |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
183 { |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
184 return boost::numeric::ublas::trans(a); |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
185 } |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
186 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
187 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
188 inline Matrix IdentityMatrix(size_t size) |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
189 { |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
190 return boost::numeric::ublas::identity_matrix<double>(size); |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
191 } |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
192 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
193 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
194 inline Matrix ZeroMatrix(size_t size1, |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
195 size_t size2) |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
196 { |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
197 return boost::numeric::ublas::zero_matrix<double>(size1, size2); |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
198 } |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
199 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
200 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
201 inline Matrix Product(const Matrix& a, |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
202 const Matrix& b) |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
203 { |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
204 return boost::numeric::ublas::prod(a, b); |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
205 } |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
206 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
207 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
208 inline Vector Product(const Matrix& a, |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
209 const Vector& b) |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
210 { |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
211 return boost::numeric::ublas::prod(a, b); |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
212 } |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
213 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
214 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
215 inline Matrix Product(const Matrix& a, |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
216 const Matrix& b, |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
217 const Matrix& c) |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
218 { |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
219 return Product(a, Product(b, c)); |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
220 } |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
221 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
222 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
223 inline Matrix Product(const Matrix& a, |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
224 const Matrix& b, |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
225 const Matrix& c, |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
226 const Matrix& d) |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
227 { |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
228 return Product(a, Product(b, c, d)); |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
229 } |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
230 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
231 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
232 inline Matrix Product(const Matrix& a, |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
233 const Matrix& b, |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
234 const Matrix& c, |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
235 const Matrix& d, |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
236 const Matrix& e) |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
237 { |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
238 return Product(a, Product(b, c, d, e)); |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
239 } |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
240 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
241 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
242 inline Vector Product(const Matrix& a, |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
243 const Matrix& b, |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
244 const Vector& c) |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
245 { |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
246 return Product(Product(a, b), c); |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
247 } |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
248 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
249 |
| 166 | 250 inline Vector Product(const Matrix& a, |
| 251 const Matrix& b, | |
| 252 const Matrix& c, | |
| 253 const Vector& d) | |
| 254 { | |
| 255 return Product(Product(a, b, c), d); | |
| 256 } | |
| 257 | |
| 258 | |
|
159
0a73d76333db
populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
158
diff
changeset
|
259 double ComputeDeterminant(const Matrix& a); |
|
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 bool IsOrthogonalMatrix(const Matrix& q, |
|
0a73d76333db
populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
158
diff
changeset
|
262 double threshold); |
|
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 bool IsOrthogonalMatrix(const Matrix& q); |
|
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 bool IsRotationMatrix(const Matrix& r, |
|
0a73d76333db
populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
158
diff
changeset
|
267 double threshold); |
|
0a73d76333db
populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
158
diff
changeset
|
268 |
|
0a73d76333db
populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
158
diff
changeset
|
269 bool IsRotationMatrix(const Matrix& r); |
|
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 void InvertUpperTriangularMatrix(Matrix& output, |
|
0a73d76333db
populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
158
diff
changeset
|
272 const Matrix& k); |
|
0a73d76333db
populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
158
diff
changeset
|
273 |
|
0a73d76333db
populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
158
diff
changeset
|
274 /** |
|
0a73d76333db
populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
158
diff
changeset
|
275 * This function computes the RQ decomposition of a 3x3 matrix, |
|
0a73d76333db
populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
158
diff
changeset
|
276 * using Givens rotations. Reference: Algorithm A4.1 (page 579) of |
|
0a73d76333db
populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
158
diff
changeset
|
277 * "Multiple View Geometry in Computer Vision" (2nd edition). The |
|
0a73d76333db
populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
158
diff
changeset
|
278 * output matrix "Q" is a rotation matrix, and "R" is upper |
|
0a73d76333db
populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
158
diff
changeset
|
279 * triangular. |
|
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 void RQDecomposition3x3(Matrix& r, |
|
0a73d76333db
populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
158
diff
changeset
|
282 Matrix& q, |
|
0a73d76333db
populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
158
diff
changeset
|
283 const Matrix& a); |
|
163
8c5b24892ed2
LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
284 |
|
8c5b24892ed2
LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
285 void InvertMatrix(Matrix& target, |
|
8c5b24892ed2
LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
286 const Matrix& source); |
|
165
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
287 |
| 169 | 288 // This is the same as "InvertMatrix()", but without exception |
| 289 bool InvertMatrixUnsafe(Matrix& target, | |
| 290 const Matrix& source); | |
| 291 | |
|
165
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
292 void CreateSkewSymmetric(Matrix& s, |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
293 const Vector& v); |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
294 |
| 166 | 295 Matrix InvertScalingTranslationMatrix(const Matrix& t); |
|
165
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
296 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
297 bool IsShearMatrix(const Matrix& shear); |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
298 |
|
8d50e6be565d
LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
163
diff
changeset
|
299 Matrix InvertShearMatrix(const Matrix& shear); |
| 158 | 300 }; |
| 301 } |