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annotate Framework/Toolbox/LinearAlgebra.h @ 450:a04f08baba27

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author Alain Mazy <alain@mazy.be>
date Thu, 17 Jan 2019 18:27:40 +0100
parents b70e9be013e4
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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 #pragma once
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23
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24 // Patch for ublas in Boost 1.64.0
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25 // https://github.com/dealii/dealii/issues/4302
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26 #include <boost/version.hpp>
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27 #if BOOST_VERSION >= 106300 // or 64, need to check
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28 # include <boost/serialization/array_wrapper.hpp>
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29 #endif
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30
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31 #include <Core/DicomFormat/DicomMap.h>
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32
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33 #include <boost/numeric/ublas/matrix.hpp>
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34 #include <boost/numeric/ublas/vector.hpp>
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35
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36 namespace OrthancStone
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37 {
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38 typedef boost::numeric::ublas::matrix<double> Matrix;
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39 typedef boost::numeric::ublas::vector<double> Vector;
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40
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41 namespace LinearAlgebra
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42 {
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43 void Print(const Vector& v);
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44
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45 void Print(const Matrix& m);
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46
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47 bool ParseVector(Vector& target,
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48 const std::string& s);
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49
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50 bool ParseVector(Vector& target,
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51 const Orthanc::DicomMap& dataset,
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52 const Orthanc::DicomTag& tag);
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53
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54 inline void AssignVector(Vector& v,
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55 double v1,
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56 double v2)
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57 {
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58 v.resize(2);
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59 v[0] = v1;
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60 v[1] = v2;
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61 }
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64 inline void AssignVector(Vector& v,
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65 double v1)
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66 {
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67 v.resize(1);
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68 v[0] = v1;
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69 }
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72 inline void AssignVector(Vector& v,
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73 double v1,
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74 double v2,
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75 double v3)
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76 {
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77 v.resize(3);
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78 v[0] = v1;
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79 v[1] = v2;
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80 v[2] = v3;
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81 }
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82
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83
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84 inline void AssignVector(Vector& v,
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85 double v1,
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86 double v2,
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87 double v3,
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88 double v4)
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89 {
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90 v.resize(4);
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91 v[0] = v1;
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92 v[1] = v2;
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93 v[2] = v3;
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94 v[3] = v4;
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95 }
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97
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98 inline Vector CreateVector(double v1)
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99 {
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100 Vector v;
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101 AssignVector(v, v1);
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102 return v;
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103 }
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105
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106 inline Vector CreateVector(double v1,
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107 double v2)
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108 {
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109 Vector v;
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110 AssignVector(v, v1, v2);
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111 return v;
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112 }
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114
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115 inline Vector CreateVector(double v1,
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116 double v2,
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117 double v3)
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118 {
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119 Vector v;
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120 AssignVector(v, v1, v2, v3);
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121 return v;
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122 }
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123
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125 inline Vector CreateVector(double v1,
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126 double v2,
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127 double v3,
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128 double v4)
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129 {
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130 Vector v;
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131 AssignVector(v, v1, v2, v3, v4);
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132 return v;
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133 }
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136 inline bool IsNear(double x,
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137 double y,
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138 double threshold)
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139 {
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140 return fabs(x - y) < threshold;
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141 }
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142
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143 inline bool IsNear(double x,
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144 double y)
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145 {
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146 // As most input is read as single-precision numbers, we take the
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147 // epsilon machine for float32 into consideration to compare numbers
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148 return IsNear(x, y, 10.0 * std::numeric_limits<float>::epsilon());
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149 }
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150
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151 inline bool IsCloseToZero(double x)
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152 {
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153 return IsNear(x, 0.0);
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154 }
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155
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156 void NormalizeVector(Vector& u);
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157
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158 void CrossProduct(Vector& result,
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159 const Vector& u,
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160 const Vector& v);
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161
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162 void FillMatrix(Matrix& target,
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163 size_t rows,
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164 size_t columns,
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165 const double values[]);
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166
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167 void FillVector(Vector& target,
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168 size_t size,
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169 const double values[]);
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170
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171 void Convert(Matrix& target,
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172 const Vector& source);
159
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173
165
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174 inline Matrix Transpose(const Matrix& a)
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175 {
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176 return boost::numeric::ublas::trans(a);
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177 }
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178
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179
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180 inline Matrix IdentityMatrix(size_t size)
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181 {
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182 return boost::numeric::ublas::identity_matrix<double>(size);
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183 }
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184
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185
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186 inline Matrix ZeroMatrix(size_t size1,
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187 size_t size2)
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188 {
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189 return boost::numeric::ublas::zero_matrix<double>(size1, size2);
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190 }
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191
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192
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193 inline Matrix Product(const Matrix& a,
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194 const Matrix& b)
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195 {
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196 return boost::numeric::ublas::prod(a, b);
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197 }
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198
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199
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200 inline Vector Product(const Matrix& a,
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201 const Vector& 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 Matrix Product(const Matrix& a,
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208 const Matrix& b,
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209 const Matrix& c)
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210 {
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211 return Product(a, Product(b, c));
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212 }
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213
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214
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215 inline Matrix Product(const Matrix& a,
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216 const Matrix& b,
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217 const Matrix& c,
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218 const Matrix& d)
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219 {
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220 return Product(a, Product(b, c, d));
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221 }
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222
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223
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224 inline Matrix Product(const Matrix& a,
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225 const Matrix& b,
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226 const Matrix& c,
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227 const Matrix& d,
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228 const Matrix& e)
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229 {
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230 return Product(a, Product(b, c, d, e));
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231 }
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232
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233
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234 inline Vector Product(const Matrix& a,
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235 const Matrix& b,
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236 const Vector& c)
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237 {
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238 return Product(Product(a, b), c);
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239 }
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240
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241
166
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242 inline Vector Product(const Matrix& a,
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243 const Matrix& b,
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244 const Matrix& c,
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245 const Vector& d)
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246 {
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247 return Product(Product(a, b, c), d);
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248 }
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249
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250
159
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251 double ComputeDeterminant(const Matrix& a);
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252
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253 bool IsOrthogonalMatrix(const Matrix& q,
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254 double threshold);
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255
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256 bool IsOrthogonalMatrix(const Matrix& q);
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257
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258 bool IsRotationMatrix(const Matrix& r,
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259 double threshold);
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260
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261 bool IsRotationMatrix(const Matrix& r);
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262
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263 void InvertUpperTriangularMatrix(Matrix& output,
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264 const Matrix& k);
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265
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266 /**
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267 * This function computes the RQ decomposition of a 3x3 matrix,
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268 * using Givens rotations. Reference: Algorithm A4.1 (page 579) of
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269 * "Multiple View Geometry in Computer Vision" (2nd edition). The
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270 * output matrix "Q" is a rotation matrix, and "R" is upper
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271 * triangular.
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272 **/
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273 void RQDecomposition3x3(Matrix& r,
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274 Matrix& q,
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275 const Matrix& a);
163
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276
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277 void InvertMatrix(Matrix& target,
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278 const Matrix& source);
165
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279
169
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280 // This is the same as "InvertMatrix()", but without exception
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281 bool InvertMatrixUnsafe(Matrix& target,
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282 const Matrix& source);
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283
165
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284 void CreateSkewSymmetric(Matrix& s,
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285 const Vector& v);
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286
166
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287 Matrix InvertScalingTranslationMatrix(const Matrix& t);
165
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288
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289 bool IsShearMatrix(const Matrix& shear);
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290
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291 Matrix InvertShearMatrix(const Matrix& shear);
158
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292 };
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293 }