Mercurial > hg > orthanc-stone
annotate OrthancStone/Sources/Toolbox/LinearAlgebra.h @ 1739:9ac2a65d4172
upgrade to year 2021
| author | Sebastien Jodogne <s.jodogne@gmail.com> |
|---|---|
| date | Wed, 06 Jan 2021 17:50:00 +0100 |
| parents | 8563ea5d8ae4 |
| children | 3889ae96d2e9 |
| rev | line source |
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| 158 | 1 /** |
| 2 * Stone of Orthanc | |
| 3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics | |
| 4 * Department, University Hospital of Liege, Belgium | |
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5 * Copyright (C) 2017-2021 Osimis S.A., Belgium |
| 158 | 6 * |
| 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 |
| 158 | 9 * as published by the Free Software Foundation, either version 3 of |
| 10 * the License, or (at your option) any later version. | |
| 11 * | |
| 12 * This program is distributed in the hope that it will be useful, but | |
| 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/>. |
| 158 | 20 **/ |
| 21 | |
| 22 | |
| 23 #pragma once | |
| 24 | |
| 25 // Patch for ublas in Boost 1.64.0 | |
| 26 // https://github.com/dealii/dealii/issues/4302 | |
| 27 #include <boost/version.hpp> | |
| 28 #if BOOST_VERSION >= 106300 // or 64, need to check | |
| 29 # include <boost/serialization/array_wrapper.hpp> | |
| 30 #endif | |
| 31 | |
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32 #include <DicomFormat/DicomMap.h> |
| 158 | 33 |
| 34 #include <boost/numeric/ublas/matrix.hpp> | |
| 35 #include <boost/numeric/ublas/vector.hpp> | |
| 36 | |
| 37 namespace OrthancStone | |
| 38 { | |
| 39 typedef boost::numeric::ublas::matrix<double> Matrix; | |
| 40 typedef boost::numeric::ublas::vector<double> Vector; | |
| 41 | |
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42 // logs, debugging... |
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43 std::ostream& operator<<(std::ostream& s, const Vector& vec); |
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44 std::ostream& operator<<(std::ostream& s, const Matrix& m); |
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45 |
| 158 | 46 namespace LinearAlgebra |
| 47 { | |
| 48 void Print(const Vector& v); | |
| 49 | |
| 50 void Print(const Matrix& m); | |
| 51 | |
| 52 bool ParseVector(Vector& target, | |
| 53 const std::string& s); | |
| 54 | |
| 55 bool ParseVector(Vector& target, | |
| 56 const Orthanc::DicomMap& dataset, | |
| 57 const Orthanc::DicomTag& tag); | |
| 58 | |
| 181 | 59 inline void AssignVector(Vector& v, |
| 60 double v1, | |
| 61 double v2) | |
| 62 { | |
| 63 v.resize(2); | |
| 64 v[0] = v1; | |
| 65 v[1] = v2; | |
| 66 } | |
| 67 | |
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68 |
| 181 | 69 inline void AssignVector(Vector& v, |
| 70 double v1) | |
| 71 { | |
| 72 v.resize(1); | |
| 73 v[0] = v1; | |
| 74 } | |
| 75 | |
| 158 | 76 |
| 181 | 77 inline void AssignVector(Vector& v, |
| 78 double v1, | |
| 79 double v2, | |
| 80 double v3) | |
| 81 { | |
| 82 v.resize(3); | |
| 83 v[0] = v1; | |
| 84 v[1] = v2; | |
| 85 v[2] = v3; | |
| 86 } | |
| 87 | |
| 158 | 88 |
| 181 | 89 inline void AssignVector(Vector& v, |
| 90 double v1, | |
| 91 double v2, | |
| 92 double v3, | |
| 93 double v4) | |
| 94 { | |
| 95 v.resize(4); | |
| 96 v[0] = v1; | |
| 97 v[1] = v2; | |
| 98 v[2] = v3; | |
| 99 v[3] = v4; | |
| 100 } | |
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101 |
| 181 | 102 |
| 103 inline Vector CreateVector(double v1) | |
| 104 { | |
| 105 Vector v; | |
| 106 AssignVector(v, v1); | |
| 107 return v; | |
| 108 } | |
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109 |
| 181 | 110 |
| 111 inline Vector CreateVector(double v1, | |
| 112 double v2) | |
| 113 { | |
| 114 Vector v; | |
| 115 AssignVector(v, v1, v2); | |
| 116 return v; | |
| 117 } | |
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118 |
| 181 | 119 |
| 120 inline Vector CreateVector(double v1, | |
| 121 double v2, | |
| 122 double v3) | |
| 123 { | |
| 124 Vector v; | |
| 125 AssignVector(v, v1, v2, v3); | |
| 126 return v; | |
| 127 } | |
| 128 | |
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129 |
| 181 | 130 inline Vector CreateVector(double v1, |
| 131 double v2, | |
| 132 double v3, | |
| 133 double v4) | |
| 134 { | |
| 135 Vector v; | |
| 136 AssignVector(v, v1, v2, v3, v4); | |
| 137 return v; | |
| 138 } | |
| 139 | |
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140 |
| 158 | 141 inline bool IsNear(double x, |
| 142 double y, | |
| 143 double threshold) | |
| 144 { | |
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145 return fabs(x - y) <= threshold; |
| 158 | 146 } |
| 147 | |
| 181 | 148 inline bool IsNear(double x, |
| 149 double y) | |
| 150 { | |
| 151 // As most input is read as single-precision numbers, we take the | |
| 152 // epsilon machine for float32 into consideration to compare numbers | |
| 153 return IsNear(x, y, 10.0 * std::numeric_limits<float>::epsilon()); | |
| 154 } | |
| 158 | 155 |
| 156 inline bool IsCloseToZero(double x) | |
| 157 { | |
| 158 return IsNear(x, 0.0); | |
| 159 } | |
| 160 | |
| 161 void NormalizeVector(Vector& u); | |
| 162 | |
| 163 void CrossProduct(Vector& result, | |
| 164 const Vector& u, | |
| 165 const Vector& v); | |
| 1002 | 166 |
| 167 double DotProduct(const Vector& u, const Vector& v); | |
| 168 | |
| 158 | 169 void FillMatrix(Matrix& target, |
| 170 size_t rows, | |
| 171 size_t columns, | |
| 172 const double values[]); | |
| 173 | |
| 174 void FillVector(Vector& target, | |
| 175 size_t size, | |
| 176 const double values[]); | |
| 177 | |
| 178 void Convert(Matrix& target, | |
| 179 const Vector& source); | |
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180 |
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181 inline Matrix Transpose(const Matrix& a) |
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182 { |
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183 return boost::numeric::ublas::trans(a); |
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184 } |
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185 |
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186 |
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187 inline Matrix IdentityMatrix(size_t size) |
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188 { |
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189 return boost::numeric::ublas::identity_matrix<double>(size); |
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190 } |
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191 |
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192 |
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193 inline Matrix ZeroMatrix(size_t size1, |
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194 size_t size2) |
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195 { |
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196 return boost::numeric::ublas::zero_matrix<double>(size1, size2); |
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197 } |
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198 |
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199 |
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200 inline Matrix Product(const Matrix& a, |
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201 const Matrix& b) |
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202 { |
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203 return boost::numeric::ublas::prod(a, b); |
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204 } |
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205 |
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206 |
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207 inline Vector Product(const Matrix& a, |
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208 const Vector& b) |
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209 { |
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210 return boost::numeric::ublas::prod(a, b); |
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211 } |
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212 |
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213 |
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214 inline Matrix Product(const Matrix& a, |
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215 const Matrix& b, |
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216 const Matrix& c) |
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217 { |
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218 return Product(a, Product(b, c)); |
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219 } |
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220 |
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221 |
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222 inline Matrix Product(const Matrix& a, |
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223 const Matrix& b, |
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224 const Matrix& c, |
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225 const Matrix& d) |
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226 { |
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227 return Product(a, Product(b, c, d)); |
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228 } |
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229 |
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230 |
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231 inline Matrix Product(const Matrix& a, |
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232 const Matrix& b, |
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233 const Matrix& c, |
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234 const Matrix& d, |
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235 const Matrix& e) |
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236 { |
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237 return Product(a, Product(b, c, d, e)); |
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238 } |
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239 |
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240 |
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241 inline Vector Product(const Matrix& a, |
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242 const Matrix& b, |
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243 const Vector& c) |
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244 { |
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245 return Product(Product(a, b), c); |
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246 } |
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247 |
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248 |
| 166 | 249 inline Vector Product(const Matrix& a, |
| 250 const Matrix& b, | |
| 251 const Matrix& c, | |
| 252 const Vector& d) | |
| 253 { | |
| 254 return Product(Product(a, b, c), d); | |
| 255 } | |
| 256 | |
| 257 | |
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258 double ComputeDeterminant(const Matrix& a); |
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259 |
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260 bool IsOrthogonalMatrix(const Matrix& q, |
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261 double threshold); |
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262 |
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263 bool IsOrthogonalMatrix(const Matrix& q); |
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264 |
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265 bool IsRotationMatrix(const Matrix& r, |
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266 double threshold); |
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267 |
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268 bool IsRotationMatrix(const Matrix& r); |
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269 |
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270 void InvertUpperTriangularMatrix(Matrix& output, |
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271 const Matrix& k); |
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272 |
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273 /** |
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274 * This function computes the RQ decomposition of a 3x3 matrix, |
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275 * using Givens rotations. Reference: Algorithm A4.1 (page 579) of |
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276 * "Multiple View Geometry in Computer Vision" (2nd edition). The |
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277 * output matrix "Q" is a rotation matrix, and "R" is upper |
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278 * triangular. |
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279 **/ |
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280 void RQDecomposition3x3(Matrix& r, |
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281 Matrix& q, |
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282 const Matrix& a); |
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283 |
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284 void InvertMatrix(Matrix& target, |
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285 const Matrix& source); |
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286 |
| 169 | 287 // This is the same as "InvertMatrix()", but without exception |
| 288 bool InvertMatrixUnsafe(Matrix& target, | |
| 289 const Matrix& source); | |
| 290 | |
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291 void CreateSkewSymmetric(Matrix& s, |
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292 const Vector& v); |
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293 |
| 166 | 294 Matrix InvertScalingTranslationMatrix(const Matrix& t); |
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295 |
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296 bool IsShearMatrix(const Matrix& shear); |
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297 |
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298 Matrix InvertShearMatrix(const Matrix& shear); |
| 158 | 299 }; |
| 300 } |