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annotate Framework/Toolbox/LinearAlgebra.h @ 169:7105e51e4907 wasm

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InvertMatrixUnsafe
author Sebastien Jodogne <s.jodogne@gmail.com>
date Fri, 02 Mar 2018 12:35:27 +0100
parents 4f661e2f7b6c
children ff8556874557
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1 /**
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2 * Stone of Orthanc
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3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics
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4 * Department, University Hospital of Liege, Belgium
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5 * Copyright (C) 2017-2018 Osimis S.A., Belgium
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6 *
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7 * This program is free software: you can redistribute it and/or
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8 * modify it under the terms of the GNU Affero General Public License
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9 * as published by the Free Software Foundation, either version 3 of
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10 * the License, or (at your option) any later version.
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11 *
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12 * This program is distributed in the hope that it will be useful, but
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13 * WITHOUT ANY WARRANTY; without even the implied warranty of
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14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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15 * Affero General Public License for more details.
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16 *
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17 * You should have received a copy of the GNU Affero General Public License
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18 * along with this program. If not, see <http://www.gnu.org/licenses/>.
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19 **/
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20
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21
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22 #pragma once
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23
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24 // Patch for ublas in Boost 1.64.0
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25 // https://github.com/dealii/dealii/issues/4302
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26 #include <boost/version.hpp>
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27 #if BOOST_VERSION >= 106300 // or 64, need to check
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28 # include <boost/serialization/array_wrapper.hpp>
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29 #endif
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30
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31 #include <Core/DicomFormat/DicomMap.h>
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32
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33 #include <boost/numeric/ublas/matrix.hpp>
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34 #include <boost/numeric/ublas/vector.hpp>
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35
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36 namespace OrthancStone
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37 {
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38 typedef boost::numeric::ublas::matrix<double> Matrix;
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39 typedef boost::numeric::ublas::vector<double> Vector;
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40
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41 namespace LinearAlgebra
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42 {
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43 void Print(const Vector& v);
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44
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45 void Print(const Matrix& m);
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46
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47 bool ParseVector(Vector& target,
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48 const std::string& s);
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49
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50 bool ParseVector(Vector& target,
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51 const Orthanc::DicomMap& dataset,
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52 const Orthanc::DicomTag& tag);
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53
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54 void AssignVector(Vector& v,
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55 double v1);
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56
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57 void AssignVector(Vector& v,
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58 double v1,
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59 double v2);
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60
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61 void AssignVector(Vector& v,
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62 double v1,
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63 double v2,
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64 double v3);
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65
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66 void AssignVector(Vector& v,
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67 double v1,
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68 double v2,
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69 double v3,
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70 double v4);
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71
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72 Vector CreateVector(double v1);
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73
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74 Vector CreateVector(double v1,
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75 double v2);
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76
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77 Vector CreateVector(double v1,
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78 double v2,
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79 double v3);
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80
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81 Vector CreateVector(double v1,
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82 double v2,
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83 double v3,
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84 double v4);
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85
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86 inline bool IsNear(double x,
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87 double y,
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88 double threshold)
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89 {
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90 return fabs(x - y) < threshold;
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91 }
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92
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93 bool IsNear(double x,
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94 double y);
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95
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96 inline bool IsCloseToZero(double x)
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97 {
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98 return IsNear(x, 0.0);
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99 }
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100
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101 void NormalizeVector(Vector& u);
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102
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103 void CrossProduct(Vector& result,
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104 const Vector& u,
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105 const Vector& v);
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106
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107 void FillMatrix(Matrix& target,
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108 size_t rows,
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109 size_t columns,
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110 const double values[]);
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111
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112 void FillVector(Vector& target,
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113 size_t size,
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114 const double values[]);
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115
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116 void Convert(Matrix& target,
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117 const Vector& source);
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118
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119 inline Matrix Transpose(const Matrix& a)
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120 {
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121 return boost::numeric::ublas::trans(a);
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122 }
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123
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124
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125 inline Matrix IdentityMatrix(size_t size)
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126 {
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127 return boost::numeric::ublas::identity_matrix<double>(size);
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128 }
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129
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130
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131 inline Matrix ZeroMatrix(size_t size1,
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132 size_t size2)
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133 {
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134 return boost::numeric::ublas::zero_matrix<double>(size1, size2);
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135 }
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136
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137
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138 inline Matrix Product(const Matrix& a,
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139 const Matrix& b)
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140 {
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141 return boost::numeric::ublas::prod(a, b);
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142 }
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143
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144
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145 inline Vector Product(const Matrix& a,
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146 const Vector& b)
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147 {
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148 return boost::numeric::ublas::prod(a, b);
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149 }
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150
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151
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152 inline Matrix Product(const Matrix& a,
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153 const Matrix& b,
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154 const Matrix& c)
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155 {
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156 return Product(a, Product(b, c));
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157 }
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158
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159
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160 inline Matrix Product(const Matrix& a,
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161 const Matrix& b,
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162 const Matrix& c,
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163 const Matrix& d)
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164 {
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165 return Product(a, Product(b, c, d));
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166 }
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167
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168
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169 inline Matrix Product(const Matrix& a,
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170 const Matrix& b,
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171 const Matrix& c,
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172 const Matrix& d,
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173 const Matrix& e)
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174 {
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175 return Product(a, Product(b, c, d, e));
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176 }
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177
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178
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179 inline Vector Product(const Matrix& a,
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180 const Matrix& b,
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181 const Vector& c)
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182 {
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183 return Product(Product(a, b), c);
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184 }
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185
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186
166
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187 inline Vector Product(const Matrix& a,
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188 const Matrix& b,
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189 const Matrix& c,
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190 const Vector& d)
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191 {
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192 return Product(Product(a, b, c), d);
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193 }
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194
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195
159
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196 double ComputeDeterminant(const Matrix& a);
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197
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198 bool IsOrthogonalMatrix(const Matrix& q,
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199 double threshold);
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200
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201 bool IsOrthogonalMatrix(const Matrix& q);
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202
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203 bool IsRotationMatrix(const Matrix& r,
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204 double threshold);
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205
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206 bool IsRotationMatrix(const Matrix& r);
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207
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208 void InvertUpperTriangularMatrix(Matrix& output,
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209 const Matrix& k);
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210
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211 /**
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212 * This function computes the RQ decomposition of a 3x3 matrix,
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213 * using Givens rotations. Reference: Algorithm A4.1 (page 579) of
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214 * "Multiple View Geometry in Computer Vision" (2nd edition). The
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215 * output matrix "Q" is a rotation matrix, and "R" is upper
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216 * triangular.
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217 **/
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218 void RQDecomposition3x3(Matrix& r,
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219 Matrix& q,
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220 const Matrix& a);
163
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221
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222 void InvertMatrix(Matrix& target,
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223 const Matrix& source);
165
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224
169
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225 // This is the same as "InvertMatrix()", but without exception
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226 bool InvertMatrixUnsafe(Matrix& target,
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227 const Matrix& source);
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228
165
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229 void CreateSkewSymmetric(Matrix& s,
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230 const Vector& v);
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231
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232 void AlignVectorsWithRotation(Matrix& r,
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233 const Vector& a,
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234 const Vector& b);
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235
166
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236 Matrix InvertScalingTranslationMatrix(const Matrix& t);
165
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237
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238 bool IsShearMatrix(const Matrix& shear);
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239
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240 Matrix InvertShearMatrix(const Matrix& shear);
158
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241 };
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242 }