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

annotate Framework/Toolbox/LinearAlgebra.cpp @ 1327:4f8db2d202c8 broker

OrthancSeriesProgressiveLoader now has two modes that can be selected at object creation : - progressive (will first load jpeg50, then jpeg90 then PAM) - non-progressive (will directly load PAM (uncompressed)) Please note that the slice loading order remains dynamic and depending upon the slice that the client code wishes to extract from the volume.

author	Benjamin Golinvaux <bgo@osimis.io>
date	Wed, 25 Mar 2020 14:34:27 +0100
parents	7ec8fea061b9
children	30deba7bc8e2

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
1270 2d8ab34c8c91 upgrade to year 2020 Sebastien Jodogne <s.jodogne@gmail.com> parents: 1002 diff changeset	5 * Copyright (C) 2017-2020 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"
1170 1644de437a7b fixes related to swapped normal in sagittal geometry Sebastien Jodogne <s.jodogne@gmail.com> parents: 1167 diff changeset	25 #include "GenericToolbox.h"
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	26
212 5412adf19980 resort to OrthancFramework Sebastien Jodogne <s.jodogne@gmail.com> parents: 201 diff changeset	27 #include <Core/Logging.h>
5412adf19980 resort to OrthancFramework Sebastien Jodogne <s.jodogne@gmail.com> parents: 201 diff changeset	28 #include <Core/OrthancException.h>
5412adf19980 resort to OrthancFramework Sebastien Jodogne <s.jodogne@gmail.com> parents: 201 diff changeset	29 #include <Core/Toolbox.h>
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	30
804 61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	31 #include <boost/lexical_cast.hpp>
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	32 #include <boost/numeric/ublas/lu.hpp>
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	33
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	34 #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	35 #include <iostream>
1167 ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	36 #include <cstdlib>
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	37
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	38 namespace OrthancStone
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 namespace LinearAlgebra
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 void Print(const Vector& v)
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 for (size_t i = 0; i < v.size(); i++)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	45 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	46 printf("%g\n", v[i]);
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	47 //printf("%8.2f\n", v[i]);
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 printf("\n");
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
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 void Print(const Matrix& m)
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 i = 0; i < m.size1(); i++)
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 for (size_t j = 0; j < m.size2(); j++)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	58 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	59 printf("%g ", m(i,j));
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	60 //printf("%8.2f ", m(i,j));
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 printf("\n");
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
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	67
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	68 bool ParseVector(Vector& target,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	69 const std::string& value)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	70 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	71 std::vector<std::string> items;
786 5aa728500586 optimizing constructor of DicomStructureSet Sebastien Jodogne <s.jodogne@gmail.com> parents: 439 diff changeset	72 Orthanc::Toolbox::TokenizeString(items, Orthanc::Toolbox::StripSpaces(value), '\\');
158 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 target.resize(items.size());
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	75
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	76 for (size_t i = 0; i < items.size(); i++)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	77 {
804 61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	78 /**
1164 6c159b8362ff removing std::stod() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1002 diff changeset	79 * SJO - 2019-11-19 - WARNING: I reverted from "std::stod()"
1167 ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	80 * to "boost::lexical_cast", as both "std::stod()" and
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	81 * "std::strtod()" are sensitive to locale settings, making
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	82 * this code non portable and very dangerous as it fails
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	83 * silently. A string such as "1.3671875\1.3671875" is
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	84 * interpreted as "1\1", because "std::stod()" expects a comma
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	85 * (",") instead of a point ("."). This problem is notably
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	86 * seen in Qt-based applications, that somehow set locales
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	87 * aggressively.
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	88 *
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	89 * "boost::lexical_cast<>" is also dependent on the locale
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	90 * settings, but apparently not in a way that makes this
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	91 * function fail with Qt. The Orthanc core defines macro
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	92 * "-DBOOST_LEXICAL_CAST_ASSUME_C_LOCALE" in static builds to
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	93 * this end.
1164 6c159b8362ff removing std::stod() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1002 diff changeset	94 **/
6c159b8362ff removing std::stod() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1002 diff changeset	95
6c159b8362ff removing std::stod() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1002 diff changeset	96 #if 0 // __cplusplus >= 201103L // Is C++11 enabled?
6c159b8362ff removing std::stod() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1002 diff changeset	97 /**
804 61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	98 * We try and avoid the use of "boost::lexical_cast<>" here,
1167 ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	99 * as it is very slow, and as Stone has to parse many doubles.
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	100 * https://tinodidriksen.com/2011/05/cpp-convert-string-to-double-speed/
804 61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	101 **/
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	102
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	103 try
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	104 {
790 9f68155c75b0 speeding up LinearAlgebra::ParseVector() Sebastien Jodogne <s.jodogne@gmail.com> parents: 786 diff changeset	105 target[i] = std::stod(items[i]);
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	106 }
790 9f68155c75b0 speeding up LinearAlgebra::ParseVector() Sebastien Jodogne <s.jodogne@gmail.com> parents: 786 diff changeset	107 catch (std::exception&)
158 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 target.clear();
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	110 return false;
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	111 }
1167 ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	112
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	113 #elif 0
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	114 /**
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	115 * "std::strtod()" is the recommended alternative to
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	116 * "std::stod()". It is apparently as fast as plain-C
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	117 * "atof()", with more security.
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	118 **/
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	119 char* end = NULL;
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	120 target[i] = std::strtod(items[i].c_str(), &end);
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	121 if (end == NULL \|\|
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	122 end != items[i].c_str() + items[i].size())
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	123 {
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	124 return false;
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	125 }
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	126
1170 1644de437a7b fixes related to swapped normal in sagittal geometry Sebastien Jodogne <s.jodogne@gmail.com> parents: 1167 diff changeset	127 #elif 1
1175 b1c5da789904 notes Sebastien Jodogne <s.jodogne@gmail.com> parents: 1170 diff changeset	128 /**
b1c5da789904 notes Sebastien Jodogne <s.jodogne@gmail.com> parents: 1170 diff changeset	129 * Use of our homemade implementation of
b1c5da789904 notes Sebastien Jodogne <s.jodogne@gmail.com> parents: 1170 diff changeset	130 * "boost::lexical_cast<double>()". It is much faster than boost.
b1c5da789904 notes Sebastien Jodogne <s.jodogne@gmail.com> parents: 1170 diff changeset	131 **/
1170 1644de437a7b fixes related to swapped normal in sagittal geometry Sebastien Jodogne <s.jodogne@gmail.com> parents: 1167 diff changeset	132 if (!GenericToolbox::StringToDouble(target[i], items[i].c_str()))
1644de437a7b fixes related to swapped normal in sagittal geometry Sebastien Jodogne <s.jodogne@gmail.com> parents: 1167 diff changeset	133 {
1644de437a7b fixes related to swapped normal in sagittal geometry Sebastien Jodogne <s.jodogne@gmail.com> parents: 1167 diff changeset	134 return false;
1644de437a7b fixes related to swapped normal in sagittal geometry Sebastien Jodogne <s.jodogne@gmail.com> parents: 1167 diff changeset	135 }
1644de437a7b fixes related to swapped normal in sagittal geometry Sebastien Jodogne <s.jodogne@gmail.com> parents: 1167 diff changeset	136
1167 ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	137 #else
ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	138 /**
1175 b1c5da789904 notes Sebastien Jodogne <s.jodogne@gmail.com> parents: 1170 diff changeset	139 * Fallback implementation using Boost (slower, but somehow
b1c5da789904 notes Sebastien Jodogne <s.jodogne@gmail.com> parents: 1170 diff changeset	140 * independent to locale contrarily to "std::stod()", and
b1c5da789904 notes Sebastien Jodogne <s.jodogne@gmail.com> parents: 1170 diff changeset	141 * generic as it does not use our custom implementation).
1167 ad4e21df4e40 enriching OrthancStone::StoneInitialize() Sebastien Jodogne <s.jodogne@gmail.com> parents: 1164 diff changeset	142 **/
804 61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	143 try
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	144 {
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	145 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	146 }
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	147 catch (boost::bad_lexical_cast&)
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	148 {
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	149 target.clear();
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	150 return false;
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	151 }
61ba4b504e9a PolylineSceneLayer now has one color per chain Sebastien Jodogne <s.jodogne@gmail.com> parents: 790 diff changeset	152 #endif
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	153 }
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 return true;
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
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 bool ParseVector(Vector& target,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	160 const Orthanc::DicomMap& dataset,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	161 const Orthanc::DicomTag& tag)
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 std::string value;
994 1f74bc3459ba fix build due to rename in Orthanc::DicomMap Sebastien Jodogne <s.jodogne@gmail.com> parents: 949 diff changeset	164 return (dataset.LookupStringValue(value, tag, false) &&
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	165 ParseVector(target, value));
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
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	168
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	169 void NormalizeVector(Vector& u)
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 double norm = boost::numeric::ublas::norm_2(u);
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	172 if (!IsCloseToZero(norm))
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	173 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	174 u = u / norm;
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	175 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	176 }
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 void CrossProduct(Vector& result,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	179 const Vector& u,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	180 const Vector& v)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	181 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	182 if (u.size() != 3 \|\|
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	183 v.size() != 3)
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 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	186 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	187
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	188 result.resize(3);
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	189
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	190 result[0] = u[1] * v[2] - u[2] * v[1];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	191 result[1] = u[2] * v[0] - u[0] * v[2];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	192 result[2] = u[0] * v[1] - u[1] * v[0];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	193 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	194
1002 341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	195 double DotProduct(const Vector& u, const Vector& v)
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	196 {
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	197 if (u.size() != 3 \|\|
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	198 v.size() != 3)
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	199 {
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	200 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	201 }
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	202
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	203 return (u[0] * v[0] + u[1] * v[1] + u[2] * v[2]);
341e68752354 dot product Benjamin Golinvaux <bgo@osimis.io> parents: 994 diff changeset	204 }
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	205
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	206 void FillMatrix(Matrix& target,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	207 size_t rows,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	208 size_t columns,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	209 const double values[])
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	210 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	211 target.resize(rows, columns);
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	212
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	213 size_t index = 0;
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	214
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	215 for (size_t y = 0; y < rows; y++)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	216 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	217 for (size_t x = 0; x < columns; x++, index++)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	218 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	219 target(y, x) = values[index];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	220 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	221 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	222 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	223
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	224
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	225 void FillVector(Vector& target,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	226 size_t size,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	227 const double values[])
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	228 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	229 target.resize(size);
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	230
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	231 for (size_t i = 0; i < size; i++)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	232 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	233 target[i] = values[i];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	234 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	235 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	236
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	237
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	238 void Convert(Matrix& target,
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	239 const Vector& source)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	240 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	241 const size_t n = source.size();
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	242
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	243 target.resize(n, 1);
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	244
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	245 for (size_t i = 0; i < n; i++)
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	246 {
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	247 target(i, 0) = source[i];
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	248 }
a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	249 }
159 0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	250
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 double ComputeDeterminant(const Matrix& a)
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 if (a.size1() != a.size2())
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	255 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	256 LOG(ERROR) << "Determinant only exists for square matrices";
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	257 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	258 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	259
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	260 // https://en.wikipedia.org/wiki/Rule_of_Sarrus
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	261 if (a.size1() == 1)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	262 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	263 return a(0,0);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	264 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	265 else if (a.size1() == 2)
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 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	268 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	269 else if (a.size1() == 3)
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 return (a(0,0) * a(1,1) * a(2,2) +
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	272 a(0,1) * a(1,2) * a(2,0) +
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	273 a(0,2) * a(1,0) * a(2,1) -
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	274 a(2,0) * a(1,1) * a(0,2) -
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	275 a(2,1) * a(1,2) * a(0,0) -
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	276 a(2,2) * a(1,0) * a(0,1));
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	277 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	278 else
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	279 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	280 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	281 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	282 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	283
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	284
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	285 bool IsOrthogonalMatrix(const Matrix& q,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	286 double threshold)
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 // https://en.wikipedia.org/wiki/Orthogonal_matrix
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	289
392 d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	290 if (q.size1() != q.size2())
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	291 {
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	292 LOG(ERROR) << "An orthogonal matrix must be squared";
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	293 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	294 }
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	295
159 0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	296 using namespace boost::numeric::ublas;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	297
392 d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	298 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	299
160 e9dae7e7bffc fix Sebastien Jodogne <s.jodogne@gmail.com> parents: 159 diff changeset	300 type_traits<double>::real_type norm = norm_inf(check);
159 0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	301
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	302 return (norm <= threshold);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	303 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	304
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	305
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	306 bool IsOrthogonalMatrix(const Matrix& q)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	307 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	308 return IsOrthogonalMatrix(q, 10.0 * std::numeric_limits<float>::epsilon());
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
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	311
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	312 bool IsRotationMatrix(const Matrix& r,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	313 double threshold)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	314 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	315 return (IsOrthogonalMatrix(r, threshold) &&
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	316 IsNear(ComputeDeterminant(r), 1.0, threshold));
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	317 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	318
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	319
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	320 bool IsRotationMatrix(const Matrix& r)
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 return IsRotationMatrix(r, 10.0 * std::numeric_limits<float>::epsilon());
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	323 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	324
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	325
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	326 void InvertUpperTriangularMatrix(Matrix& output,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	327 const Matrix& k)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	328 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	329 if (k.size1() != k.size2())
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	330 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	331 LOG(ERROR) << "Determinant only exists for square matrices";
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	332 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	333 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	334
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	335 output.resize(k.size1(), k.size2());
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	336
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	337 for (size_t i = 1; i < k.size1(); i++)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	338 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	339 for (size_t j = 0; j < i; j++)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	340 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	341 if (!IsCloseToZero(k(i, j)))
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	342 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	343 LOG(ERROR) << "Not an upper triangular matrix";
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	344 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	345 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	346
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	347 output(i, j) = 0; // The output is also upper triangular
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	348 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	349 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	350
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	351 if (k.size1() == 3)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	352 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	353 // https://math.stackexchange.com/a/1004181
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	354 double a = k(0, 0);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	355 double b = k(0, 1);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	356 double c = k(0, 2);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	357 double d = k(1, 1);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	358 double e = k(1, 2);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	359 double f = k(2, 2);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	360
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	361 if (IsCloseToZero(a) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	362 IsCloseToZero(d) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	363 IsCloseToZero(f))
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	364 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	365 LOG(ERROR) << "Singular upper triangular matrix";
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	366 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	367 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	368 else
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	369 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	370 output(0, 0) = 1.0 / a;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	371 output(0, 1) = -b / (a * d);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	372 output(0, 2) = (b * e - c * d) / (a * f * d);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	373 output(1, 1) = 1.0 / d;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	374 output(1, 2) = -e / (f * d);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	375 output(2, 2) = 1.0 / f;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	376 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	377 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	378 else
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	379 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	380 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	381 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	382 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	383
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	384
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	385 static void GetGivensComponent(double& c,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	386 double& s,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	387 const Matrix& a,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	388 size_t i,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	389 size_t j)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	390 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	391 assert(i < 3 && j < 3);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	392
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	393 double x = a(i, i);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	394 double y = a(i, j);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	395 double n = sqrt(x * x + y * y);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	396
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	397 if (IsCloseToZero(n))
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	398 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	399 c = 1;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	400 s = 0;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	401 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	402 else
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	403 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	404 c = x / n;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	405 s = -y / n;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	406 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	407 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	408
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	409
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	410 /**
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	411 * This function computes the RQ decomposition of a 3x3 matrix,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	412 * using Givens rotations. Reference: Algorithm A4.1 (page 579) of
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	413 * "Multiple View Geometry in Computer Vision" (2nd edition). The
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	414 * output matrix "Q" is a rotation matrix, and "R" is upper
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	415 * triangular.
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	416 **/
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	417 void RQDecomposition3x3(Matrix& r,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	418 Matrix& q,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	419 const Matrix& a)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	420 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	421 using namespace boost::numeric::ublas;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	422
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	423 if (a.size1() != 3 \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	424 a.size2() != 3)
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	425 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	426 LOG(ERROR) << "Only applicable to a 3x3 matrix";
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	427 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	428 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	429
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	430 r.resize(3, 3);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	431 q.resize(3, 3);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	432
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	433 r = a;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	434 q = identity_matrix<double>(3);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	435
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	436 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	437 // Set A(2,1) to zero
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	438 double c, s;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	439 GetGivensComponent(c, s, r, 2, 1);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	440
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	441 double v[9] = { 1, 0, 0,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	442 0, c, -s,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	443 0, s, c };
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	444
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	445 Matrix g;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	446 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	447
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	448 r = prod(r, g);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	449 q = prod(trans(g), q);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	450 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	451
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	452
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	453 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	454 // Set A(2,0) to zero
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	455 double c, s;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	456 GetGivensComponent(c, s, r, 2, 0);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	457
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	458 double v[9] = { c, 0, -s,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	459 0, 1, 0,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	460 s, 0, c };
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	461
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	462 Matrix g;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	463 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	464
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	465 r = prod(r, g);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	466 q = prod(trans(g), q);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	467 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	468
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	469
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	470 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	471 // Set A(1,0) to zero
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	472 double c, s;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	473 GetGivensComponent(c, s, r, 1, 0);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	474
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	475 double v[9] = { c, -s, 0,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	476 s, c, 0,
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	477 0, 0, 1 };
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	478
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	479 Matrix g;
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	480 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	481
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	482 r = prod(r, g);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	483 q = prod(trans(g), q);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	484 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	485
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	486 if (!IsCloseToZero(norm_inf(prod(r, q) - a)) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	487 !IsRotationMatrix(q) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	488 !IsCloseToZero(r(1, 0)) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	489 !IsCloseToZero(r(2, 0)) \|\|
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	490 !IsCloseToZero(r(2, 1)))
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	491 {
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	492 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	493 }
0a73d76333db populating LinearAlgebra Sebastien Jodogne <s.jodogne@gmail.com> parents: 158 diff changeset	494 }
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	495
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	496
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	497 bool InvertMatrixUnsafe(Matrix& target,
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	498 const Matrix& source)
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	499 {
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	500 if (source.size1() != source.size2())
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	501 {
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	502 LOG(ERROR) << "Inverse only exists for square matrices";
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	503 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	504 }
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	505
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	506 if (source.size1() < 4)
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	507 {
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	508 // For matrices with size below 4, use direct computations
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	509 // instead of LU decomposition
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	510
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	511 if (source.size1() == 0)
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	512 {
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	513 // By convention, the inverse of the empty matrix, is itself the empty matrix
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	514 target.resize(0, 0);
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	515 return true;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	516 }
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	517
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	518 double determinant = ComputeDeterminant(source);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	519
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	520 if (IsCloseToZero(determinant))
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	521 {
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	522 return false;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	523 }
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	524
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	525 double denominator = 1.0 / determinant;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	526
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	527 target.resize(source.size1(), source.size2());
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	528
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	529 if (source.size1() == 1)
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	530 {
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	531 target(0, 0) = denominator;
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	532
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	533 return true;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	534 }
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	535 else if (source.size1() == 2)
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	536 {
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	537 // https://en.wikipedia.org/wiki/Invertible_matrix#Inversion_of_2_%C3%97_2_matrices
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	538 target(0, 0) = source(1, 1) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	539 target(0, 1) = -source(0, 1) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	540 target(1, 0) = -source(1, 0) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	541 target(1, 1) = source(0, 0) * denominator;
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	542
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	543 return true;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	544 }
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	545 else if (source.size1() == 3)
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	546 {
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	547 // https://en.wikipedia.org/wiki/Invertible_matrix#Inversion_of_3_%C3%97_3_matrices
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	548 const double a = source(0, 0);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	549 const double b = source(0, 1);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	550 const double c = source(0, 2);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	551 const double d = source(1, 0);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	552 const double e = source(1, 1);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	553 const double f = source(1, 2);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	554 const double g = source(2, 0);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	555 const double h = source(2, 1);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	556 const double i = source(2, 2);
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	557
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	558 target(0, 0) = (e * i - f * h) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	559 target(0, 1) = -(b * i - c * h) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	560 target(0, 2) = (b * f - c * e) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	561 target(1, 0) = -(d * i - f * g) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	562 target(1, 1) = (a * i - c * g) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	563 target(1, 2) = -(a * f - c * d) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	564 target(2, 0) = (d * h - e * g) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	565 target(2, 1) = -(a * h - b * g) * denominator;
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	566 target(2, 2) = (a * e - b * d) * denominator;
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	567
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	568 return true;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	569 }
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	570 else
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	571 {
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	572 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	573 }
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	574 }
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	575 else
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	576 {
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	577 // General case, using LU decomposition
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	578
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	579 Matrix a = source; // Copy the source matrix, as "lu_factorize()" modifies it
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	580
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	581 boost::numeric::ublas::permutation_matrix<size_t> permutation(source.size1());
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	582
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	583 if (boost::numeric::ublas::lu_factorize(a, permutation) != 0)
432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	584 {
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	585 return false;
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	586 }
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	587 else
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	588 {
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	589 target = boost::numeric::ublas::identity_matrix<double>(source.size1());
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	590 lu_substitute(a, permutation, target);
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	591 return true;
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	592 }
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	593 }
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	594 }
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	595
164 432b1f812d14 inversion of general matrices Sebastien Jodogne <s.jodogne@gmail.com> parents: 163 diff changeset	596
169 7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	597
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	598 void InvertMatrix(Matrix& target,
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	599 const Matrix& source)
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	600 {
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	601 if (!InvertMatrixUnsafe(target, source))
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	602 {
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	603 LOG(ERROR) << "Cannot invert singular matrix";
7105e51e4907 InvertMatrixUnsafe Sebastien Jodogne <s.jodogne@gmail.com> parents: 166 diff changeset	604 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
163 8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	605 }
8c5b24892ed2 LinearAlgebra::InvertMatrix Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	606 }
165 8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	607
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	608
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	609 void CreateSkewSymmetric(Matrix& s,
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	610 const Vector& v)
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	611 {
392 d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	612 if (v.size() != 3)
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	613 {
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	614 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
d87fe075d31b to graveyard Sebastien Jodogne <s.jodogne@gmail.com> parents: 212 diff changeset	615 }
165 8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	616
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	617 s.resize(3, 3);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	618 s(0,0) = 0;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	619 s(0,1) = -v[2];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	620 s(0,2) = v[1];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	621 s(1,0) = v[2];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	622 s(1,1) = 0;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	623 s(1,2) = -v[0];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	624 s(2,0) = -v[1];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	625 s(2,1) = v[0];
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	626 s(2,2) = 0;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	627 }
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	628
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	629
166 4f661e2f7b6c cont Sebastien Jodogne <s.jodogne@gmail.com> parents: 165 diff changeset	630 Matrix InvertScalingTranslationMatrix(const Matrix& t)
165 8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	631 {
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	632 if (t.size1() != 4 \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	633 t.size2() != 4 \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	634 !LinearAlgebra::IsCloseToZero(t(0,1)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	635 !LinearAlgebra::IsCloseToZero(t(0,2)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	636 !LinearAlgebra::IsCloseToZero(t(1,0)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	637 !LinearAlgebra::IsCloseToZero(t(1,2)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	638 !LinearAlgebra::IsCloseToZero(t(2,0)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	639 !LinearAlgebra::IsCloseToZero(t(2,1)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	640 !LinearAlgebra::IsCloseToZero(t(3,0)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	641 !LinearAlgebra::IsCloseToZero(t(3,1)) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	642 !LinearAlgebra::IsCloseToZero(t(3,2)))
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	643 {
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	644 LOG(ERROR) << "This matrix is more than a zoom/translate transform";
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	645 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	646 }
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	647
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	648 const double sx = t(0,0);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	649 const double sy = t(1,1);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	650 const double sz = t(2,2);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	651 const double w = t(3,3);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	652
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	653 if (LinearAlgebra::IsCloseToZero(sx) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	654 LinearAlgebra::IsCloseToZero(sy) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	655 LinearAlgebra::IsCloseToZero(sz) \|\|
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	656 LinearAlgebra::IsCloseToZero(w))
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	657 {
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	658 LOG(ERROR) << "Singular transform";
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	659 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	660 }
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	661
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	662 const double tx = t(0,3);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	663 const double ty = t(1,3);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	664 const double tz = t(2,3);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	665
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	666 Matrix m = IdentityMatrix(4);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	667
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	668 m(0,0) = 1.0 / sx;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	669 m(1,1) = 1.0 / sy;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	670 m(2,2) = 1.0 / sz;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	671 m(3,3) = 1.0 / w;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	672
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	673 m(0,3) = -tx / (sx * w);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	674 m(1,3) = -ty / (sy * w);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	675 m(2,3) = -tz / (sz * w);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	676
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	677 return m;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	678 }
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	679
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	680
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	681 bool IsShearMatrix(const Matrix& shear)
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	682 {
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	683 return (shear.size1() == 4 &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	684 shear.size2() == 4 &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	685 LinearAlgebra::IsNear(1.0, shear(0,0)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	686 LinearAlgebra::IsNear(0.0, shear(0,1)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	687 LinearAlgebra::IsNear(0.0, shear(0,3)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	688 LinearAlgebra::IsNear(0.0, shear(1,0)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	689 LinearAlgebra::IsNear(1.0, shear(1,1)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	690 LinearAlgebra::IsNear(0.0, shear(1,3)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	691 LinearAlgebra::IsNear(0.0, shear(2,0)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	692 LinearAlgebra::IsNear(0.0, shear(2,1)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	693 LinearAlgebra::IsNear(1.0, shear(2,2)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	694 LinearAlgebra::IsNear(0.0, shear(2,3)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	695 LinearAlgebra::IsNear(0.0, shear(3,0)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	696 LinearAlgebra::IsNear(0.0, shear(3,1)) &&
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	697 LinearAlgebra::IsNear(1.0, shear(3,3)));
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	698 }
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	699
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	700
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	701 Matrix InvertShearMatrix(const Matrix& shear)
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	702 {
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	703 if (!IsShearMatrix(shear))
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	704 {
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	705 LOG(ERROR) << "Not a valid shear matrix";
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	706 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	707 }
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	708
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	709 Matrix m = IdentityMatrix(4);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	710 m(0,2) = -shear(0,2);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	711 m(1,2) = -shear(1,2);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	712 m(3,2) = -shear(3,2);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	713
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	714 return m;
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	715 }
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	716 }
949 32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	717
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	718 std::ostream& operator<<(std::ostream& s, const Vector& vec)
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	719 {
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	720 s << "(";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	721 for (size_t i = 0; i < vec.size(); ++i)
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	722 {
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	723 s << vec(i);
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	724 if (i < (vec.size() - 1))
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	725 s << ", ";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	726 }
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	727 s << ")";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	728 return s;
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	729 }
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	730
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	731 std::ostream& operator<<(std::ostream& s, const Matrix& m)
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	732 {
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	733 ORTHANC_ASSERT(m.size1() == m.size2());
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	734 s << "(";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	735 for (size_t i = 0; i < m.size1(); ++i)
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	736 {
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	737 s << "(";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	738 for (size_t j = 0; j < m.size2(); ++j)
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	739 {
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	740 s << m(i,j);
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	741 if (j < (m.size2() - 1))
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	742 s << ", ";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	743 }
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	744 s << ")";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	745 if (i < (m.size1() - 1))
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	746 s << ", ";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	747 }
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	748 s << ")";
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	749 return s;
32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer. Benjamin Golinvaux <bgo@osimis.io> parents: 804 diff changeset	750 }
158 a053ca7fa5c6 LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	751 }

Mercurial > hg > orthanc-stone

annotate Framework/Toolbox/LinearAlgebra.cpp @ 1327:4f8db2d202c8 broker