Mercurial > hg > orthanc-stone

annotate Framework/Toolbox/LinearAlgebra.h @ 439:b70e9be013e4

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
preparing for 2019
author Sebastien Jodogne <s.jodogne@gmail.com>
date Mon, 24 Dec 2018 13:41:12 +0100
parents 5412adf19980
children 6af3099ed8da
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
158
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
1 /**
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
2 * Stone of Orthanc
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
4 * Department, University Hospital of Liege, Belgium
439
b70e9be013e4 preparing for 2019
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 212
diff changeset
5 * Copyright (C) 2017-2019 Osimis S.A., Belgium
158
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
6 *
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
7 * This program is free software: you can redistribute it and/or
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
8 * modify it under the terms of the GNU Affero General Public License
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
9 * as published by the Free Software Foundation, either version 3 of
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
10 * the License, or (at your option) any later version.
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
11 *
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
12 * This program is distributed in the hope that it will be useful, but
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
13 * WITHOUT ANY WARRANTY; without even the implied warranty of
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
15 * Affero General Public License for more details.
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
16 *
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
17 * You should have received a copy of the GNU Affero General Public License
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
18 * along with this program. If not, see <http://www.gnu.org/licenses/>.
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
19 **/
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
20
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
21
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
22 #pragma once
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
23
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
24 // Patch for ublas in Boost 1.64.0
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
25 // https://github.com/dealii/dealii/issues/4302
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
26 #include <boost/version.hpp>
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
27 #if BOOST_VERSION >= 106300 // or 64, need to check
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
28 # include <boost/serialization/array_wrapper.hpp>
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
29 #endif
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
30
212
5412adf19980 resort to OrthancFramework
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 201
diff changeset
31 #include <Core/DicomFormat/DicomMap.h>
158
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
32
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
33 #include <boost/numeric/ublas/matrix.hpp>
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
34 #include <boost/numeric/ublas/vector.hpp>
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
35
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
36 namespace OrthancStone
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
37 {
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
38 typedef boost::numeric::ublas::matrix<double> Matrix;
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
39 typedef boost::numeric::ublas::vector<double> Vector;
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
40
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
41 namespace LinearAlgebra
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
42 {
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
43 void Print(const Vector& v);
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
44
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
45 void Print(const Matrix& m);
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
46
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
47 bool ParseVector(Vector& target,
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
48 const std::string& s);
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
49
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
50 bool ParseVector(Vector& target,
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
51 const Orthanc::DicomMap& dataset,
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
52 const Orthanc::DicomTag& tag);
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
53
181
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
54 inline void AssignVector(Vector& v,
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
55 double v1,
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
56 double v2)
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
57 {
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
58 v.resize(2);
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
59 v[0] = v1;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
60 v[1] = v2;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
61 }
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
62
165
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
63
181
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
64 inline void AssignVector(Vector& v,
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
65 double v1)
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
66 {
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
67 v.resize(1);
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
68 v[0] = v1;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
69 }
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
70
158
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
71
181
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
72 inline void AssignVector(Vector& v,
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
73 double v1,
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
74 double v2,
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
75 double v3)
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
76 {
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
77 v.resize(3);
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
78 v[0] = v1;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
79 v[1] = v2;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
80 v[2] = v3;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
81 }
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
82
158
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
83
181
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
84 inline void AssignVector(Vector& v,
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
85 double v1,
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
86 double v2,
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
87 double v3,
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
88 double v4)
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
89 {
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
90 v.resize(4);
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
91 v[0] = v1;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
92 v[1] = v2;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
93 v[2] = v3;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
94 v[3] = v4;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
95 }
161
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 159
diff changeset
96
181
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
97
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
98 inline Vector CreateVector(double v1)
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
99 {
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
100 Vector v;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
101 AssignVector(v, v1);
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
102 return v;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
103 }
165
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
104
181
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
105
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
106 inline Vector CreateVector(double v1,
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
107 double v2)
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
108 {
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
109 Vector v;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
110 AssignVector(v, v1, v2);
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
111 return v;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
112 }
165
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
113
181
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
114
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
115 inline Vector CreateVector(double v1,
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
116 double v2,
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
117 double v3)
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
118 {
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
119 Vector v;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
120 AssignVector(v, v1, v2, v3);
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
121 return v;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
122 }
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
123
165
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
124
181
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
125 inline Vector CreateVector(double v1,
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
126 double v2,
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
127 double v3,
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
128 double v4)
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
129 {
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
130 Vector v;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
131 AssignVector(v, v1, v2, v3, v4);
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
132 return v;
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
133 }
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
134
165
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
135
158
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
136 inline bool IsNear(double x,
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
137 double y,
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
138 double threshold)
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
139 {
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
140 return fabs(x - y) < threshold;
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
141 }
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
142
181
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
143 inline bool IsNear(double x,
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
144 double y)
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
145 {
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
146 // As most input is read as single-precision numbers, we take the
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
147 // epsilon machine for float32 into consideration to compare numbers
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
148 return IsNear(x, y, 10.0 * std::numeric_limits<float>::epsilon());
ff8556874557 speedup
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 169
diff changeset
149 }
158
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
150
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
151 inline bool IsCloseToZero(double x)
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
152 {
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
153 return IsNear(x, 0.0);
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
154 }
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
155
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
156 void NormalizeVector(Vector& u);
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
157
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
158 void CrossProduct(Vector& result,
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
159 const Vector& u,
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
160 const Vector& v);
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
161
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
162 void FillMatrix(Matrix& target,
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
163 size_t rows,
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
164 size_t columns,
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
165 const double values[]);
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
166
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
167 void FillVector(Vector& target,
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
168 size_t size,
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
169 const double values[]);
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
170
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
171 void Convert(Matrix& target,
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
172 const Vector& source);
159
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
173
165
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
174 inline Matrix Transpose(const Matrix& a)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
175 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
176 return boost::numeric::ublas::trans(a);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
177 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
178
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
179
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
180 inline Matrix IdentityMatrix(size_t size)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
181 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
182 return boost::numeric::ublas::identity_matrix<double>(size);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
183 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
184
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
185
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
186 inline Matrix ZeroMatrix(size_t size1,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
187 size_t size2)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
188 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
189 return boost::numeric::ublas::zero_matrix<double>(size1, size2);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
190 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
191
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
192
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
193 inline Matrix Product(const Matrix& a,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
194 const Matrix& b)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
195 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
196 return boost::numeric::ublas::prod(a, b);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
197 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
198
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
199
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
200 inline Vector Product(const Matrix& a,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
201 const Vector& b)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
202 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
203 return boost::numeric::ublas::prod(a, b);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
204 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
205
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
206
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
207 inline Matrix Product(const Matrix& a,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
208 const Matrix& b,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
209 const Matrix& c)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
210 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
211 return Product(a, Product(b, c));
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
212 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
213
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
214
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
215 inline Matrix Product(const Matrix& a,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
216 const Matrix& b,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
217 const Matrix& c,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
218 const Matrix& d)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
219 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
220 return Product(a, Product(b, c, d));
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
221 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
222
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
223
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
224 inline Matrix Product(const Matrix& a,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
225 const Matrix& b,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
226 const Matrix& c,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
227 const Matrix& d,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
228 const Matrix& e)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
229 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
230 return Product(a, Product(b, c, d, e));
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
231 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
232
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
233
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
234 inline Vector Product(const Matrix& a,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
235 const Matrix& b,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
236 const Vector& c)
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
237 {
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
238 return Product(Product(a, b), c);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
239 }
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
240
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
241
166
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 165
diff changeset
242 inline Vector Product(const Matrix& a,
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 165
diff changeset
243 const Matrix& b,
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 165
diff changeset
244 const Matrix& c,
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 165
diff changeset
245 const Vector& d)
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 165
diff changeset
246 {
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 165
diff changeset
247 return Product(Product(a, b, c), d);
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 165
diff changeset
248 }
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 165
diff changeset
249
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 165
diff changeset
250
159
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
251 double ComputeDeterminant(const Matrix& a);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
252
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
253 bool IsOrthogonalMatrix(const Matrix& q,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
254 double threshold);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
255
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
256 bool IsOrthogonalMatrix(const Matrix& q);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
257
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
258 bool IsRotationMatrix(const Matrix& r,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
259 double threshold);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
260
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
261 bool IsRotationMatrix(const Matrix& r);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
262
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
263 void InvertUpperTriangularMatrix(Matrix& output,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
264 const Matrix& k);
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
265
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
266 /**
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
267 * This function computes the RQ decomposition of a 3x3 matrix,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
268 * using Givens rotations. Reference: Algorithm A4.1 (page 579) of
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
269 * "Multiple View Geometry in Computer Vision" (2nd edition). The
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
270 * output matrix "Q" is a rotation matrix, and "R" is upper
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
271 * triangular.
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
272 **/
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
273 void RQDecomposition3x3(Matrix& r,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
274 Matrix& q,
0a73d76333db populating LinearAlgebra
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 158
diff changeset
275 const Matrix& a);
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
276
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
277 void InvertMatrix(Matrix& target,
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
278 const Matrix& source);
165
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
279
169
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
280 // This is the same as "InvertMatrix()", but without exception
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
281 bool InvertMatrixUnsafe(Matrix& target,
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
282 const Matrix& source);
7105e51e4907 InvertMatrixUnsafe
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 166
diff changeset
283
165
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
284 void CreateSkewSymmetric(Matrix& s,
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
285 const Vector& v);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
286
166
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 165
diff changeset
287 Matrix InvertScalingTranslationMatrix(const Matrix& t);
165
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
288
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
289 bool IsShearMatrix(const Matrix& shear);
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
290
8d50e6be565d LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
291 Matrix InvertShearMatrix(const Matrix& shear);
158
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
292 };
a053ca7fa5c6 LinearAlgebra toolbox
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
293 }