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annotate Framework/Toolbox/LinearAlgebra.cpp @ 790:9f68155c75b0

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speeding up LinearAlgebra::ParseVector()
author Sebastien Jodogne <s.jodogne@gmail.com>
date Tue, 28 May 2019 08:29:01 +0200
parents 5aa728500586
children 61ba4b504e9a
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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) 2017-2019 Osimis S.A., Belgium
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6 *
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7 * This program is free software: you can redistribute it and/or
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8 * modify it under the terms of the GNU Affero General Public License
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9 * as published by the Free Software Foundation, either version 3 of
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10 * the License, or (at your option) any later version.
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11 *
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12 * This program is distributed in the hope that it will be useful, but
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13 * WITHOUT ANY WARRANTY; without even the implied warranty of
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14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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15 * Affero General Public License for more details.
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16 *
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17 * You should have received a copy of the GNU Affero General Public License
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18 * along with this program. If not, see <http://www.gnu.org/licenses/>.
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19 **/
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20
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21
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22 #include "LinearAlgebra.h"
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23
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24 #include <Core/Logging.h>
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25 #include <Core/OrthancException.h>
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26 #include <Core/Toolbox.h>
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27
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28 #include <stdio.h>
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29 #include <boost/numeric/ublas/lu.hpp>
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30
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31 namespace OrthancStone
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32 {
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33 namespace LinearAlgebra
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34 {
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35 void Print(const Vector& v)
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36 {
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37 for (size_t i = 0; i < v.size(); i++)
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38 {
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39 printf("%g\n", v[i]);
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40 //printf("%8.2f\n", v[i]);
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41 }
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42 printf("\n");
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43 }
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44
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45
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46 void Print(const Matrix& m)
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47 {
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48 for (size_t i = 0; i < m.size1(); i++)
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49 {
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50 for (size_t j = 0; j < m.size2(); j++)
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51 {
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52 printf("%g ", m(i,j));
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53 //printf("%8.2f ", m(i,j));
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54 }
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55 printf("\n");
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56 }
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57 printf("\n");
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58 }
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59
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60
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61 bool ParseVector(Vector& target,
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62 const std::string& value)
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63 {
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64 std::vector<std::string> items;
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65 Orthanc::Toolbox::TokenizeString(items, Orthanc::Toolbox::StripSpaces(value), '\\');
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66
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67 target.resize(items.size());
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68
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69 for (size_t i = 0; i < items.size(); i++)
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70 {
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71 try
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72 {
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73 /**
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74 * We don't use "boost::lexical_cast<>" here, as it is very
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75 * slow. As we are parsing many doubles, we prefer to use
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76 * the standard "std::stod" function:
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77 * http://www.cplusplus.com/reference/string/stod/
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78 **/
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79
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80 target[i] = std::stod(items[i]);
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81 }
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82 catch (std::exception&)
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83 {
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84 target.clear();
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85 return false;
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86 }
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87 }
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88
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89 return true;
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90 }
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91
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92
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93 bool ParseVector(Vector& target,
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94 const Orthanc::DicomMap& dataset,
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95 const Orthanc::DicomTag& tag)
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96 {
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97 std::string value;
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98 return (dataset.CopyToString(value, tag, false) &&
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99 ParseVector(target, value));
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100 }
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101
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102
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103 void NormalizeVector(Vector& u)
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104 {
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105 double norm = boost::numeric::ublas::norm_2(u);
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106 if (!IsCloseToZero(norm))
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107 {
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108 u = u / norm;
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109 }
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110 }
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111
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112
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113 void CrossProduct(Vector& result,
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114 const Vector& u,
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115 const Vector& v)
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116 {
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117 if (u.size() != 3 ||
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118 v.size() != 3)
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119 {
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120 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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121 }
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122
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123 result.resize(3);
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124
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125 result[0] = u[1] * v[2] - u[2] * v[1];
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126 result[1] = u[2] * v[0] - u[0] * v[2];
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127 result[2] = u[0] * v[1] - u[1] * v[0];
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128 }
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129
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130
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131 void FillMatrix(Matrix& target,
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132 size_t rows,
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133 size_t columns,
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134 const double values[])
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135 {
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136 target.resize(rows, columns);
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137
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138 size_t index = 0;
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139
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140 for (size_t y = 0; y < rows; y++)
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141 {
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142 for (size_t x = 0; x < columns; x++, index++)
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143 {
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144 target(y, x) = values[index];
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145 }
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146 }
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147 }
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148
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149
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150 void FillVector(Vector& target,
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151 size_t size,
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152 const double values[])
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153 {
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154 target.resize(size);
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155
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156 for (size_t i = 0; i < size; i++)
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157 {
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158 target[i] = values[i];
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159 }
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160 }
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161
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162
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163 void Convert(Matrix& target,
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164 const Vector& source)
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165 {
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166 const size_t n = source.size();
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167
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168 target.resize(n, 1);
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169
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170 for (size_t i = 0; i < n; i++)
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171 {
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172 target(i, 0) = source[i];
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173 }
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174 }
159
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175
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176
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177 double ComputeDeterminant(const Matrix& a)
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178 {
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179 if (a.size1() != a.size2())
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180 {
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181 LOG(ERROR) << "Determinant only exists for square matrices";
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182 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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183 }
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184
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185 // https://en.wikipedia.org/wiki/Rule_of_Sarrus
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186 if (a.size1() == 1)
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187 {
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188 return a(0,0);
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189 }
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190 else if (a.size1() == 2)
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191 {
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192 return a(0,0) * a(1,1) - a(0,1) * a(1,0);
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193 }
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194 else if (a.size1() == 3)
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195 {
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196 return (a(0,0) * a(1,1) * a(2,2) +
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197 a(0,1) * a(1,2) * a(2,0) +
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198 a(0,2) * a(1,0) * a(2,1) -
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199 a(2,0) * a(1,1) * a(0,2) -
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200 a(2,1) * a(1,2) * a(0,0) -
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201 a(2,2) * a(1,0) * a(0,1));
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202 }
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203 else
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204 {
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205 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
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206 }
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207 }
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208
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209
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210 bool IsOrthogonalMatrix(const Matrix& q,
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211 double threshold)
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212 {
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213 // https://en.wikipedia.org/wiki/Orthogonal_matrix
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214
392
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215 if (q.size1() != q.size2())
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216 {
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217 LOG(ERROR) << "An orthogonal matrix must be squared";
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218 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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219 }
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220
159
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221 using namespace boost::numeric::ublas;
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222
392
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223 const Matrix check = prod(trans(q), q) - identity_matrix<double>(q.size1());
159
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224
160
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225 type_traits<double>::real_type norm = norm_inf(check);
159
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226
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227 return (norm <= threshold);
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228 }
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229
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230
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231 bool IsOrthogonalMatrix(const Matrix& q)
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232 {
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233 return IsOrthogonalMatrix(q, 10.0 * std::numeric_limits<float>::epsilon());
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234 }
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235
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236
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237 bool IsRotationMatrix(const Matrix& r,
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238 double threshold)
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239 {
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240 return (IsOrthogonalMatrix(r, threshold) &&
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241 IsNear(ComputeDeterminant(r), 1.0, threshold));
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242 }
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243
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244
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245 bool IsRotationMatrix(const Matrix& r)
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246 {
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247 return IsRotationMatrix(r, 10.0 * std::numeric_limits<float>::epsilon());
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248 }
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249
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250
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251 void InvertUpperTriangularMatrix(Matrix& output,
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252 const Matrix& k)
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253 {
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254 if (k.size1() != k.size2())
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255 {
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256 LOG(ERROR) << "Determinant only exists for square matrices";
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257 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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258 }
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259
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260 output.resize(k.size1(), k.size2());
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261
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262 for (size_t i = 1; i < k.size1(); i++)
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263 {
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264 for (size_t j = 0; j < i; j++)
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265 {
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266 if (!IsCloseToZero(k(i, j)))
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267 {
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268 LOG(ERROR) << "Not an upper triangular matrix";
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269 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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270 }
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271
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272 output(i, j) = 0; // The output is also upper triangular
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273 }
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274 }
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275
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276 if (k.size1() == 3)
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277 {
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278 // https://math.stackexchange.com/a/1004181
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diff changeset
279 double a = k(0, 0);
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280 double b = k(0, 1);
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281 double c = k(0, 2);
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282 double d = k(1, 1);
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283 double e = k(1, 2);
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284 double f = k(2, 2);
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285
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diff changeset
286 if (IsCloseToZero(a) ||
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diff changeset
287 IsCloseToZero(d) ||
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diff changeset
288 IsCloseToZero(f))
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diff changeset
289 {
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parents: 158
diff changeset
290 LOG(ERROR) << "Singular upper triangular matrix";
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
291 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
292 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
293 else
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
294 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
295 output(0, 0) = 1.0 / a;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
296 output(0, 1) = -b / (a * d);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
297 output(0, 2) = (b * e - c * d) / (a * f * d);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
298 output(1, 1) = 1.0 / d;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
299 output(1, 2) = -e / (f * d);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
300 output(2, 2) = 1.0 / f;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
301 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
302 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
303 else
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
304 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
305 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
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 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
308
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
309
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
310 static void GetGivensComponent(double& c,
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Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
311 double& s,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
312 const Matrix& a,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
313 size_t i,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
314 size_t j)
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 assert(i < 3 && j < 3);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
317
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
318 double x = a(i, i);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
319 double y = a(i, j);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
320 double n = sqrt(x * x + y * y);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
321
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
322 if (IsCloseToZero(n))
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
323 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
324 c = 1;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
325 s = 0;
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 else
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
328 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
329 c = x / n;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
330 s = -y / n;
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 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
333
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
334
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
335 /**
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
336 * This function computes the RQ decomposition of a 3x3 matrix,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
337 * using Givens rotations. Reference: Algorithm A4.1 (page 579) of
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
338 * "Multiple View Geometry in Computer Vision" (2nd edition). The
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
339 * output matrix "Q" is a rotation matrix, and "R" is upper
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
340 * triangular.
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 void RQDecomposition3x3(Matrix& r,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
343 Matrix& q,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
344 const Matrix& a)
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
345 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
346 using namespace boost::numeric::ublas;
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 if (a.size1() != 3 ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
349 a.size2() != 3)
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 LOG(ERROR) << "Only applicable to a 3x3 matrix";
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
352 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
355 r.resize(3, 3);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
356 q.resize(3, 3);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
357
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
358 r = a;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
359 q = identity_matrix<double>(3);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
360
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
361 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
362 // Set A(2,1) to zero
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
363 double c, s;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
364 GetGivensComponent(c, s, r, 2, 1);
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 double v[9] = { 1, 0, 0,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
367 0, c, -s,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
368 0, s, c };
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
369
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
370 Matrix g;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
371 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
372
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
373 r = prod(r, g);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
374 q = prod(trans(g), q);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
375 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
376
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
377
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
378 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
379 // Set A(2,0) to zero
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
380 double c, s;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
381 GetGivensComponent(c, s, r, 2, 0);
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 double v[9] = { c, 0, -s,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
384 0, 1, 0,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
385 s, 0, c };
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
386
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
387 Matrix g;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
388 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
389
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
390 r = prod(r, g);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
391 q = prod(trans(g), q);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
392 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
393
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
394
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
395 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
396 // Set A(1,0) to zero
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
397 double c, s;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
398 GetGivensComponent(c, s, r, 1, 0);
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 double v[9] = { c, -s, 0,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
401 s, c, 0,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
402 0, 0, 1 };
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
403
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
404 Matrix g;
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
405 FillMatrix(g, 3, 3, v);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
406
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
407 r = prod(r, g);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
408 q = prod(trans(g), q);
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 if (!IsCloseToZero(norm_inf(prod(r, q) - a)) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
412 !IsRotationMatrix(q) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
413 !IsCloseToZero(r(1, 0)) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
414 !IsCloseToZero(r(2, 0)) ||
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
415 !IsCloseToZero(r(2, 1)))
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
416 {
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
417 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
418 }
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
419 }
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
420
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
421
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
422 bool InvertMatrixUnsafe(Matrix& target,
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
423 const Matrix& source)
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
424 {
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
425 if (source.size1() != source.size2())
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
426 {
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
427 LOG(ERROR) << "Inverse only exists for square matrices";
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
428 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
429 }
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
430
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
431 if (source.size1() < 4)
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
432 {
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
433 // For matrices with size below 4, use direct computations
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
434 // instead of LU decomposition
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
435
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
436 if (source.size1() == 0)
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
437 {
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
438 // 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
439 target.resize(0, 0);
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
440 return true;
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
441 }
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
442
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
443 double determinant = ComputeDeterminant(source);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
444
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
445 if (IsCloseToZero(determinant))
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
446 {
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
447 return false;
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
448 }
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
449
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
450 double denominator = 1.0 / determinant;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
451
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
452 target.resize(source.size1(), source.size2());
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
453
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
454 if (source.size1() == 1)
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
455 {
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
456 target(0, 0) = denominator;
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
457
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
458 return true;
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
459 }
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
460 else if (source.size1() == 2)
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
461 {
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
462 // 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
463 target(0, 0) = source(1, 1) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
464 target(0, 1) = -source(0, 1) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
465 target(1, 0) = -source(1, 0) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
466 target(1, 1) = source(0, 0) * denominator;
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
467
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
468 return true;
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
469 }
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
470 else if (source.size1() == 3)
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
471 {
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
472 // 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
473 const double a = source(0, 0);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
474 const double b = source(0, 1);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
475 const double c = source(0, 2);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
476 const double d = source(1, 0);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
477 const double e = source(1, 1);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
478 const double f = source(1, 2);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
479 const double g = source(2, 0);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
480 const double h = source(2, 1);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
481 const double i = source(2, 2);
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
482
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
483 target(0, 0) = (e * i - f * h) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
484 target(0, 1) = -(b * i - c * h) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
485 target(0, 2) = (b * f - c * e) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
486 target(1, 0) = -(d * i - f * g) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
487 target(1, 1) = (a * i - c * g) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
488 target(1, 2) = -(a * f - c * d) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
489 target(2, 0) = (d * h - e * g) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
490 target(2, 1) = -(a * h - b * g) * denominator;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
491 target(2, 2) = (a * e - b * d) * denominator;
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
492
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
493 return true;
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
494 }
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
495 else
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
496 {
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
497 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
498 }
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
499 }
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
500 else
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
501 {
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
502 // General case, using LU decomposition
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
503
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
504 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
505
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
506 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
507
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
508 if (boost::numeric::ublas::lu_factorize(a, permutation) != 0)
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
509 {
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
510 return false;
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
511 }
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
512 else
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
513 {
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
514 target = boost::numeric::ublas::identity_matrix<double>(source.size1());
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
515 lu_substitute(a, permutation, target);
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 }
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
518 }
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
519 }
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
520
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
521
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
522
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
523 void InvertMatrix(Matrix& target,
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
524 const Matrix& source)
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
525 {
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
526 if (!InvertMatrixUnsafe(target, source))
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
527 {
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
528 LOG(ERROR) << "Cannot invert singular matrix";
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
529 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
530 }
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
531 }
165
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
532
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
533
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
534 void CreateSkewSymmetric(Matrix& s,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
535 const Vector& v)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
536 {
392
d87fe075d31b to graveyard
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 212
diff changeset
537 if (v.size() != 3)
d87fe075d31b to graveyard
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 212
diff changeset
538 {
d87fe075d31b to graveyard
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 212
diff changeset
539 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
d87fe075d31b to graveyard
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 212
diff changeset
540 }
165
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
541
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
542 s.resize(3, 3);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
543 s(0,0) = 0;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
544 s(0,1) = -v[2];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
545 s(0,2) = v[1];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
546 s(1,0) = v[2];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
547 s(1,1) = 0;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
548 s(1,2) = -v[0];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
549 s(2,0) = -v[1];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
550 s(2,1) = v[0];
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
551 s(2,2) = 0;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
552 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
553
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
554
166
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 165
diff changeset
555 Matrix InvertScalingTranslationMatrix(const Matrix& t)
165
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
556 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
557 if (t.size1() != 4 ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
558 t.size2() != 4 ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
559 !LinearAlgebra::IsCloseToZero(t(0,1)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
560 !LinearAlgebra::IsCloseToZero(t(0,2)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
561 !LinearAlgebra::IsCloseToZero(t(1,0)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
562 !LinearAlgebra::IsCloseToZero(t(1,2)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
563 !LinearAlgebra::IsCloseToZero(t(2,0)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
564 !LinearAlgebra::IsCloseToZero(t(2,1)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
565 !LinearAlgebra::IsCloseToZero(t(3,0)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
566 !LinearAlgebra::IsCloseToZero(t(3,1)) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
567 !LinearAlgebra::IsCloseToZero(t(3,2)))
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
568 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
569 LOG(ERROR) << "This matrix is more than a zoom/translate transform";
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
570 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
571 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
572
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
573 const double sx = t(0,0);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
574 const double sy = t(1,1);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
575 const double sz = t(2,2);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
576 const double w = t(3,3);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
577
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
578 if (LinearAlgebra::IsCloseToZero(sx) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
579 LinearAlgebra::IsCloseToZero(sy) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
580 LinearAlgebra::IsCloseToZero(sz) ||
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
581 LinearAlgebra::IsCloseToZero(w))
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
582 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
583 LOG(ERROR) << "Singular transform";
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
584 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
585 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
586
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
587 const double tx = t(0,3);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
588 const double ty = t(1,3);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
589 const double tz = t(2,3);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
590
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
591 Matrix m = IdentityMatrix(4);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
592
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
593 m(0,0) = 1.0 / sx;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
594 m(1,1) = 1.0 / sy;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
595 m(2,2) = 1.0 / sz;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
596 m(3,3) = 1.0 / w;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
597
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
598 m(0,3) = -tx / (sx * w);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
599 m(1,3) = -ty / (sy * w);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
600 m(2,3) = -tz / (sz * w);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
601
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
602 return m;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
603 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
604
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
605
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
606 bool IsShearMatrix(const Matrix& shear)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
607 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
608 return (shear.size1() == 4 &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
609 shear.size2() == 4 &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
610 LinearAlgebra::IsNear(1.0, shear(0,0)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
611 LinearAlgebra::IsNear(0.0, shear(0,1)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
612 LinearAlgebra::IsNear(0.0, shear(0,3)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
613 LinearAlgebra::IsNear(0.0, shear(1,0)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
614 LinearAlgebra::IsNear(1.0, shear(1,1)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
615 LinearAlgebra::IsNear(0.0, shear(1,3)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
616 LinearAlgebra::IsNear(0.0, shear(2,0)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
617 LinearAlgebra::IsNear(0.0, shear(2,1)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
618 LinearAlgebra::IsNear(1.0, shear(2,2)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
619 LinearAlgebra::IsNear(0.0, shear(2,3)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
620 LinearAlgebra::IsNear(0.0, shear(3,0)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
621 LinearAlgebra::IsNear(0.0, shear(3,1)) &&
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
622 LinearAlgebra::IsNear(1.0, shear(3,3)));
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
623 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
624
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
625
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
626 Matrix InvertShearMatrix(const Matrix& shear)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
627 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
628 if (!IsShearMatrix(shear))
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 LOG(ERROR) << "Not a valid shear matrix";
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
631 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
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
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
634 Matrix m = IdentityMatrix(4);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
635 m(0,2) = -shear(0,2);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
636 m(1,2) = -shear(1,2);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
637 m(3,2) = -shear(3,2);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
638
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
639 return m;
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 164
diff changeset
640 }
158
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
641 }
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
642 }