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annotate OrthancStone/Sources/Toolbox/LinearAlgebra.cpp @ 1598:8563ea5d8ae4

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relicensing some files, cf. osimis bm26 and chu agreement on 2020-05-20
author Sebastien Jodogne <s.jodogne@gmail.com>
date Mon, 26 Oct 2020 20:49:28 +0100
parents 4fb8fdf03314
children 1a714e21ea7c
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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) 2017-2020 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 Lesser 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 * Lesser 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 Lesser General Public
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18 * License along with this program. If not, see
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19 * <http://www.gnu.org/licenses/>.
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20 **/
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21
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22
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23 #include "LinearAlgebra.h"
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24
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25 #include "../StoneException.h"
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26 #include "GenericToolbox.h"
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27
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28 #include <Logging.h>
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29 #include <OrthancException.h>
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30 #include <Toolbox.h>
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31
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32 #include <boost/lexical_cast.hpp>
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33 #include <boost/numeric/ublas/lu.hpp>
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34
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35 #include <stdio.h>
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36 #include <iostream>
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37 #include <cstdlib>
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38
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39 namespace OrthancStone
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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 for (size_t i = 0; i < v.size(); i++)
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46 {
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47 printf("%g\n", v[i]);
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48 //printf("%8.2f\n", v[i]);
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49 }
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50 printf("\n");
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51 }
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52
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53
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54 void Print(const Matrix& m)
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55 {
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56 for (size_t i = 0; i < m.size1(); i++)
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57 {
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58 for (size_t j = 0; j < m.size2(); j++)
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59 {
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60 printf("%g ", m(i,j));
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61 //printf("%8.2f ", m(i,j));
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62 }
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63 printf("\n");
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64 }
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65 printf("\n");
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66 }
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67
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68
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69 bool ParseVector(Vector& target,
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70 const std::string& value)
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71 {
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72 std::vector<std::string> items;
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73 Orthanc::Toolbox::TokenizeString(items, Orthanc::Toolbox::StripSpaces(value), '\\');
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74
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75 target.resize(items.size());
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76
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77 for (size_t i = 0; i < items.size(); i++)
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78 {
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79 /**
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80 * SJO - 2019-11-19 - WARNING: I reverted from "std::stod()"
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81 * to "boost::lexical_cast", as both "std::stod()" and
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82 * "std::strtod()" are sensitive to locale settings, making
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83 * this code non portable and very dangerous as it fails
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84 * silently. A string such as "1.3671875\1.3671875" is
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85 * interpreted as "1\1", because "std::stod()" expects a comma
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86 * (",") instead of a point ("."). This problem is notably
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87 * seen in Qt-based applications, that somehow set locales
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88 * aggressively.
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89 *
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90 * "boost::lexical_cast<>" is also dependent on the locale
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91 * settings, but apparently not in a way that makes this
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92 * function fail with Qt. The Orthanc core defines macro
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93 * "-DBOOST_LEXICAL_CAST_ASSUME_C_LOCALE" in static builds to
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94 * this end.
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95 **/
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96
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97 #if 0 // __cplusplus >= 201103L // Is C++11 enabled?
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98 /**
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99 * We try and avoid the use of "boost::lexical_cast<>" here,
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100 * as it is very slow, and as Stone has to parse many doubles.
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101 * https://tinodidriksen.com/2011/05/cpp-convert-string-to-double-speed/
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102 **/
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103
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104 try
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105 {
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106 target[i] = std::stod(items[i]);
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107 }
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108 catch (std::exception&)
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109 {
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110 target.clear();
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111 return false;
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112 }
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113
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114 #elif 0
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115 /**
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116 * "std::strtod()" is the recommended alternative to
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117 * "std::stod()". It is apparently as fast as plain-C
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118 * "atof()", with more security.
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119 **/
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120 char* end = NULL;
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121 target[i] = std::strtod(items[i].c_str(), &end);
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122 if (end == NULL ||
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123 end != items[i].c_str() + items[i].size())
ad4e21df4e40 enriching OrthancStone::StoneInitialize()
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124 {
ad4e21df4e40 enriching OrthancStone::StoneInitialize()
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125 return false;
ad4e21df4e40 enriching OrthancStone::StoneInitialize()
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126 }
ad4e21df4e40 enriching OrthancStone::StoneInitialize()
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127
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128 #elif 1
1175
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129 /**
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130 * Use of our homemade implementation of
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131 * "boost::lexical_cast<double>()". It is much faster than boost.
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132 **/
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133 if (!GenericToolbox::StringToDouble(target[i], items[i].c_str()))
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134 {
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135 return false;
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136 }
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137
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138 #else
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139 /**
1175
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140 * Fallback implementation using Boost (slower, but somehow
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141 * independent to locale contrarily to "std::stod()", and
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142 * generic as it does not use our custom implementation).
1167
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143 **/
804
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144 try
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145 {
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146 target[i] = boost::lexical_cast<double>(items[i]);
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147 }
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148 catch (boost::bad_lexical_cast&)
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149 {
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150 target.clear();
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151 return false;
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152 }
61ba4b504e9a PolylineSceneLayer now has one color per chain
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153 #endif
158
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154 }
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155
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156 return true;
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157 }
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158
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159
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160 bool ParseVector(Vector& target,
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161 const Orthanc::DicomMap& dataset,
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162 const Orthanc::DicomTag& tag)
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163 {
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164 std::string value;
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1f74bc3459ba fix build due to rename in Orthanc::DicomMap
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165 return (dataset.LookupStringValue(value, tag, false) &&
158
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166 ParseVector(target, value));
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167 }
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168
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169
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170 void NormalizeVector(Vector& u)
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171 {
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172 double norm = boost::numeric::ublas::norm_2(u);
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173 if (!IsCloseToZero(norm))
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174 {
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175 u = u / norm;
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176 }
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177 }
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178
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179 void CrossProduct(Vector& result,
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180 const Vector& u,
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181 const Vector& v)
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182 {
a053ca7fa5c6 LinearAlgebra toolbox
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183 if (u.size() != 3 ||
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184 v.size() != 3)
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185 {
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186 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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187 }
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188
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189 result.resize(3);
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190
a053ca7fa5c6 LinearAlgebra toolbox
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191 result[0] = u[1] * v[2] - u[2] * v[1];
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192 result[1] = u[2] * v[0] - u[0] * v[2];
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193 result[2] = u[0] * v[1] - u[1] * v[0];
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194 }
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195
1002
341e68752354 dot product
Benjamin Golinvaux <bgo@osimis.io>
parents: 994
diff changeset
196 double DotProduct(const Vector& u, const Vector& v)
341e68752354 dot product
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diff changeset
197 {
341e68752354 dot product
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diff changeset
198 if (u.size() != 3 ||
1477
5732edec7cbd sorting frames in 3D
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parents: 1455
diff changeset
199 v.size() != 3)
1002
341e68752354 dot product
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parents: 994
diff changeset
200 {
341e68752354 dot product
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diff changeset
201 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
341e68752354 dot product
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diff changeset
202 }
341e68752354 dot product
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parents: 994
diff changeset
203
341e68752354 dot product
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diff changeset
204 return (u[0] * v[0] + u[1] * v[1] + u[2] * v[2]);
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diff changeset
205 }
158
a053ca7fa5c6 LinearAlgebra toolbox
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206
a053ca7fa5c6 LinearAlgebra toolbox
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207 void FillMatrix(Matrix& target,
a053ca7fa5c6 LinearAlgebra toolbox
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208 size_t rows,
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
209 size_t columns,
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
210 const double values[])
a053ca7fa5c6 LinearAlgebra toolbox
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211 {
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
212 target.resize(rows, columns);
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
213
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
214 size_t index = 0;
a053ca7fa5c6 LinearAlgebra toolbox
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215
a053ca7fa5c6 LinearAlgebra toolbox
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216 for (size_t y = 0; y < rows; y++)
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diff changeset
217 {
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
218 for (size_t x = 0; x < columns; x++, index++)
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
219 {
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
220 target(y, x) = values[index];
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
221 }
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
222 }
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
223 }
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
224
a053ca7fa5c6 LinearAlgebra toolbox
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parents:
diff changeset
225
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
226 void FillVector(Vector& target,
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
227 size_t size,
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diff changeset
228 const double values[])
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
229 {
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
230 target.resize(size);
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
231
a053ca7fa5c6 LinearAlgebra toolbox
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parents:
diff changeset
232 for (size_t i = 0; i < size; i++)
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diff changeset
233 {
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
234 target[i] = values[i];
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diff changeset
235 }
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
236 }
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diff changeset
237
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
238
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
239 void Convert(Matrix& target,
a053ca7fa5c6 LinearAlgebra toolbox
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parents:
diff changeset
240 const Vector& source)
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diff changeset
241 {
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
242 const size_t n = source.size();
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
243
a053ca7fa5c6 LinearAlgebra toolbox
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diff changeset
244 target.resize(n, 1);
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245
a053ca7fa5c6 LinearAlgebra toolbox
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246 for (size_t i = 0; i < n; i++)
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247 {
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248 target(i, 0) = source[i];
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249 }
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250 }
159
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parents: 158
diff changeset
251
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parents: 158
diff changeset
252
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parents: 158
diff changeset
253 double ComputeDeterminant(const Matrix& a)
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diff changeset
254 {
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parents: 158
diff changeset
255 if (a.size1() != a.size2())
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parents: 158
diff changeset
256 {
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diff changeset
257 LOG(ERROR) << "Determinant only exists for square matrices";
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diff changeset
258 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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diff changeset
259 }
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diff changeset
260
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parents: 158
diff changeset
261 // https://en.wikipedia.org/wiki/Rule_of_Sarrus
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parents: 158
diff changeset
262 if (a.size1() == 1)
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diff changeset
263 {
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diff changeset
264 return a(0,0);
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diff changeset
265 }
0a73d76333db populating LinearAlgebra
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parents: 158
diff changeset
266 else if (a.size1() == 2)
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diff changeset
267 {
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diff changeset
268 return a(0,0) * a(1,1) - a(0,1) * a(1,0);
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diff changeset
269 }
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parents: 158
diff changeset
270 else if (a.size1() == 3)
0a73d76333db populating LinearAlgebra
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parents: 158
diff changeset
271 {
0a73d76333db populating LinearAlgebra
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parents: 158
diff changeset
272 return (a(0,0) * a(1,1) * a(2,2) +
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
273 a(0,1) * a(1,2) * a(2,0) +
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
274 a(0,2) * a(1,0) * a(2,1) -
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Sebastien Jodogne <s.jodogne@gmail.com>
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diff changeset
275 a(2,0) * a(1,1) * a(0,2) -
0a73d76333db populating LinearAlgebra
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parents: 158
diff changeset
276 a(2,1) * a(1,2) * a(0,0) -
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
277 a(2,2) * a(1,0) * a(0,1));
0a73d76333db populating LinearAlgebra
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parents: 158
diff changeset
278 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
279 else
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
280 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
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diff changeset
281 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
0a73d76333db populating LinearAlgebra
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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
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
286 bool IsOrthogonalMatrix(const Matrix& q,
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Sebastien Jodogne <s.jodogne@gmail.com>
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diff changeset
287 double threshold)
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diff changeset
288 {
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diff changeset
289 // https://en.wikipedia.org/wiki/Orthogonal_matrix
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diff changeset
290
392
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parents: 212
diff changeset
291 if (q.size1() != q.size2())
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parents: 212
diff changeset
292 {
d87fe075d31b to graveyard
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parents: 212
diff changeset
293 LOG(ERROR) << "An orthogonal matrix must be squared";
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diff changeset
294 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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parents: 212
diff changeset
295 }
d87fe075d31b to graveyard
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parents: 212
diff changeset
296
159
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diff changeset
297 using namespace boost::numeric::ublas;
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298
392
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diff changeset
299 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
300
160
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 159
diff changeset
301 type_traits<double>::real_type norm = norm_inf(check);
159
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
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diff changeset
302
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
303 return (norm <= threshold);
0a73d76333db populating LinearAlgebra
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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
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
307 bool IsOrthogonalMatrix(const Matrix& q)
0a73d76333db populating LinearAlgebra
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diff changeset
308 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
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diff changeset
309 return IsOrthogonalMatrix(q, 10.0 * std::numeric_limits<float>::epsilon());
0a73d76333db populating LinearAlgebra
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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
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
313 bool IsRotationMatrix(const Matrix& r,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
314 double threshold)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
315 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
316 return (IsOrthogonalMatrix(r, threshold) &&
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
317 IsNear(ComputeDeterminant(r), 1.0, threshold));
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
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
321 bool IsRotationMatrix(const Matrix& r)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
322 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
323 return IsRotationMatrix(r, 10.0 * std::numeric_limits<float>::epsilon());
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
324 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
325
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
326
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
327 void InvertUpperTriangularMatrix(Matrix& output,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
328 const Matrix& k)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
329 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
330 if (k.size1() != k.size2())
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
331 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
332 LOG(ERROR) << "Determinant only exists for square matrices";
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
333 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
334 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
335
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
336 output.resize(k.size1(), k.size2());
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
337
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
338 for (size_t i = 1; i < k.size1(); i++)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
339 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
340 for (size_t j = 0; j < i; j++)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
341 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
342 if (!IsCloseToZero(k(i, j)))
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
343 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
344 LOG(ERROR) << "Not an upper triangular matrix";
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
345 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
348 output(i, j) = 0; // The output is also upper triangular
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
349 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
350 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
351
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
352 if (k.size1() == 3)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
353 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
354 // https://math.stackexchange.com/a/1004181
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
355 double a = k(0, 0);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
356 double b = k(0, 1);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
357 double c = k(0, 2);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
358 double d = k(1, 1);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
359 double e = k(1, 2);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
360 double f = k(2, 2);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
361
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
362 if (IsCloseToZero(a) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
363 IsCloseToZero(d) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
364 IsCloseToZero(f))
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
365 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
366 LOG(ERROR) << "Singular upper triangular matrix";
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
367 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
368 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
369 else
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
370 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
371 output(0, 0) = 1.0 / a;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
372 output(0, 1) = -b / (a * d);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
373 output(0, 2) = (b * e - c * d) / (a * f * d);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
374 output(1, 1) = 1.0 / d;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
375 output(1, 2) = -e / (f * d);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
376 output(2, 2) = 1.0 / f;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
377 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
378 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
379 else
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
380 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
381 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
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
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
386 static void GetGivensComponent(double& c,
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Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
387 double& s,
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Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
388 const Matrix& a,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
389 size_t i,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
390 size_t j)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
391 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
392 assert(i < 3 && j < 3);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
393
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
394 double x = a(i, i);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
395 double y = a(i, j);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
396 double n = sqrt(x * x + y * y);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
397
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
398 if (IsCloseToZero(n))
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
399 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
400 c = 1;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
401 s = 0;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
402 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
403 else
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
404 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
405 c = x / n;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
406 s = -y / n;
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 /**
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
412 * This function computes the RQ decomposition of a 3x3 matrix,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
413 * using Givens rotations. Reference: Algorithm A4.1 (page 579) of
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
414 * "Multiple View Geometry in Computer Vision" (2nd edition). The
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
415 * output matrix "Q" is a rotation matrix, and "R" is upper
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
416 * triangular.
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
417 **/
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
418 void RQDecomposition3x3(Matrix& r,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
419 Matrix& q,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
420 const Matrix& a)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
421 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
422 using namespace boost::numeric::ublas;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
423
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
424 if (a.size1() != 3 ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
425 a.size2() != 3)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
426 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
427 LOG(ERROR) << "Only applicable to a 3x3 matrix";
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
428 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
431 r.resize(3, 3);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
432 q.resize(3, 3);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
433
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
434 r = a;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
435 q = identity_matrix<double>(3);
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 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
438 // Set A(2,1) to zero
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
439 double c, s;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
440 GetGivensComponent(c, s, r, 2, 1);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
441
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
442 double v[9] = { 1, 0, 0,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
443 0, c, -s,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
444 0, s, c };
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
445
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
446 Matrix g;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
447 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
448
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
449 r = prod(r, g);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
450 q = prod(trans(g), q);
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 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
455 // Set A(2,0) to zero
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
456 double c, s;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
457 GetGivensComponent(c, s, r, 2, 0);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
458
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
459 double v[9] = { c, 0, -s,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
460 0, 1, 0,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
461 s, 0, c };
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
462
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
463 Matrix g;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
464 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
465
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
466 r = prod(r, g);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
467 q = prod(trans(g), q);
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 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
472 // Set A(1,0) to zero
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
473 double c, s;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
474 GetGivensComponent(c, s, r, 1, 0);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
475
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
476 double v[9] = { c, -s, 0,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
477 s, c, 0,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
478 0, 0, 1 };
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
479
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
480 Matrix g;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
481 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
482
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
483 r = prod(r, g);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
484 q = prod(trans(g), q);
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
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
487 if (!IsCloseToZero(norm_inf(prod(r, q) - a)) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
488 !IsRotationMatrix(q) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
489 !IsCloseToZero(r(1, 0)) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
490 !IsCloseToZero(r(2, 0)) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
491 !IsCloseToZero(r(2, 1)))
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
492 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
493 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
494 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
495 }
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
496
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
497
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
498 bool InvertMatrixUnsafe(Matrix& target,
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
499 const Matrix& source)
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
500 {
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
501 if (source.size1() != source.size2())
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
502 {
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
503 LOG(ERROR) << "Inverse only exists for square matrices";
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
504 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
505 }
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
506
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
507 if (source.size1() < 4)
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
508 {
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
509 // For matrices with size below 4, use direct computations
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
510 // instead of LU decomposition
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
511
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
512 if (source.size1() == 0)
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
513 {
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
514 // 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
515 target.resize(0, 0);
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
516 return true;
164
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
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
519 double determinant = ComputeDeterminant(source);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
520
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
521 if (IsCloseToZero(determinant))
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
522 {
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
523 return false;
164
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
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
526 double denominator = 1.0 / determinant;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
527
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
528 target.resize(source.size1(), source.size2());
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
529
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
530 if (source.size1() == 1)
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
531 {
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
532 target(0, 0) = denominator;
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
533
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
534 return true;
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
535 }
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
536 else if (source.size1() == 2)
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
537 {
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
538 // 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
539 target(0, 0) = source(1, 1) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
540 target(0, 1) = -source(0, 1) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
541 target(1, 0) = -source(1, 0) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
542 target(1, 1) = source(0, 0) * denominator;
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
543
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
544 return true;
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
545 }
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
546 else if (source.size1() == 3)
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
547 {
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
548 // 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
549 const double a = source(0, 0);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
550 const double b = source(0, 1);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
551 const double c = source(0, 2);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
552 const double d = source(1, 0);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
553 const double e = source(1, 1);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
554 const double f = source(1, 2);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
555 const double g = source(2, 0);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
556 const double h = source(2, 1);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
557 const double i = source(2, 2);
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
558
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
559 target(0, 0) = (e * i - f * h) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
560 target(0, 1) = -(b * i - c * h) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
561 target(0, 2) = (b * f - c * e) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
562 target(1, 0) = -(d * i - f * g) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
563 target(1, 1) = (a * i - c * g) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
564 target(1, 2) = -(a * f - c * d) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
565 target(2, 0) = (d * h - e * g) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
566 target(2, 1) = -(a * h - b * g) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
567 target(2, 2) = (a * e - b * d) * denominator;
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
568
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
569 return true;
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
570 }
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
571 else
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
572 {
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
573 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
574 }
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
575 }
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
576 else
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
577 {
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
578 // General case, using LU decomposition
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
579
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
580 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
581
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
582 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
583
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
584 if (boost::numeric::ublas::lu_factorize(a, permutation) != 0)
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
585 {
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
586 return false;
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
587 }
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
588 else
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
589 {
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
590 target = boost::numeric::ublas::identity_matrix<double>(source.size1());
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
591 lu_substitute(a, permutation, target);
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
592 return true;
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
593 }
169
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 }
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
596
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
597
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
598
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
599 void InvertMatrix(Matrix& target,
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
600 const Matrix& source)
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
601 {
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
602 if (!InvertMatrixUnsafe(target, source))
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
603 {
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
604 LOG(ERROR) << "Cannot invert singular matrix";
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
605 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
606 }
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
607 }
165
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
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
610 void CreateSkewSymmetric(Matrix& s,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
611 const Vector& v)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
612 {
392
d87fe075d31b to graveyard
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 212
diff changeset
613 if (v.size() != 3)
d87fe075d31b to graveyard
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 212
diff changeset
614 {
d87fe075d31b to graveyard
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 212
diff changeset
615 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
d87fe075d31b to graveyard
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 212
diff changeset
616 }
165
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
617
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
618 s.resize(3, 3);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
619 s(0,0) = 0;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
620 s(0,1) = -v[2];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
621 s(0,2) = v[1];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
622 s(1,0) = v[2];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
623 s(1,1) = 0;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
624 s(1,2) = -v[0];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
625 s(2,0) = -v[1];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
626 s(2,1) = v[0];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
627 s(2,2) = 0;
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
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
630
166
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 165
diff changeset
631 Matrix InvertScalingTranslationMatrix(const Matrix& t)
165
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
632 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
633 if (t.size1() != 4 ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
634 t.size2() != 4 ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
635 !LinearAlgebra::IsCloseToZero(t(0,1)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
636 !LinearAlgebra::IsCloseToZero(t(0,2)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
637 !LinearAlgebra::IsCloseToZero(t(1,0)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
638 !LinearAlgebra::IsCloseToZero(t(1,2)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
639 !LinearAlgebra::IsCloseToZero(t(2,0)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
640 !LinearAlgebra::IsCloseToZero(t(2,1)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
641 !LinearAlgebra::IsCloseToZero(t(3,0)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
642 !LinearAlgebra::IsCloseToZero(t(3,1)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
643 !LinearAlgebra::IsCloseToZero(t(3,2)))
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
644 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
645 LOG(ERROR) << "This matrix is more than a zoom/translate transform";
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
646 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
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
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
649 const double sx = t(0,0);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
650 const double sy = t(1,1);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
651 const double sz = t(2,2);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
652 const double w = t(3,3);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
653
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
654 if (LinearAlgebra::IsCloseToZero(sx) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
655 LinearAlgebra::IsCloseToZero(sy) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
656 LinearAlgebra::IsCloseToZero(sz) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
657 LinearAlgebra::IsCloseToZero(w))
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
658 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
659 LOG(ERROR) << "Singular transform";
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
660 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
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
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
663 const double tx = t(0,3);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
664 const double ty = t(1,3);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
665 const double tz = t(2,3);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
666
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
667 Matrix m = IdentityMatrix(4);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
668
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
669 m(0,0) = 1.0 / sx;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
670 m(1,1) = 1.0 / sy;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
671 m(2,2) = 1.0 / sz;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
672 m(3,3) = 1.0 / w;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
673
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
674 m(0,3) = -tx / (sx * w);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
675 m(1,3) = -ty / (sy * w);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
676 m(2,3) = -tz / (sz * w);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
677
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
678 return m;
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
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
682 bool IsShearMatrix(const Matrix& shear)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
683 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
684 return (shear.size1() == 4 &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
685 shear.size2() == 4 &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
686 LinearAlgebra::IsNear(1.0, shear(0,0)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
687 LinearAlgebra::IsNear(0.0, shear(0,1)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
688 LinearAlgebra::IsNear(0.0, shear(0,3)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
689 LinearAlgebra::IsNear(0.0, shear(1,0)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
690 LinearAlgebra::IsNear(1.0, shear(1,1)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
691 LinearAlgebra::IsNear(0.0, shear(1,3)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
692 LinearAlgebra::IsNear(0.0, shear(2,0)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
693 LinearAlgebra::IsNear(0.0, shear(2,1)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
694 LinearAlgebra::IsNear(1.0, shear(2,2)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
695 LinearAlgebra::IsNear(0.0, shear(2,3)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
696 LinearAlgebra::IsNear(0.0, shear(3,0)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
697 LinearAlgebra::IsNear(0.0, shear(3,1)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
698 LinearAlgebra::IsNear(1.0, shear(3,3)));
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
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
702 Matrix InvertShearMatrix(const Matrix& shear)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
703 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
704 if (!IsShearMatrix(shear))
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
705 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
706 LOG(ERROR) << "Not a valid shear matrix";
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
707 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
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
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
710 Matrix m = IdentityMatrix(4);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
711 m(0,2) = -shear(0,2);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
712 m(1,2) = -shear(1,2);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
713 m(3,2) = -shear(3,2);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
714
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
715 return m;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
716 }
158
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
717 }
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
718
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 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
720 {
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 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
722 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
723 {
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 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
725 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
726 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
727 }
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 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 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
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
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 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
733 {
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 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
735 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
736 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
737 {
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 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
739 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
740 {
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 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
742 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
743 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
744 }
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 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
746 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
747 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
748 }
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 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 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
751 }
158
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
752 }