annotate OrthancStone/Sources/Toolbox/LinearAlgebra.h @ 1962:c6272d7bb6d9

display of orientation markers in Stone Web viewer
author Sebastien Jodogne <s.jodogne@gmail.com>
date Thu, 27 Oct 2022 19:12:29 +0200
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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
1871
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5 * Copyright (C) 2017-2022 Osimis S.A., Belgium
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6 * Copyright (C) 2021-2022 Sebastien Jodogne, ICTEAM UCLouvain, Belgium
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7 *
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8 * This program is free software: you can redistribute it and/or
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9 * modify it under the terms of the GNU Lesser General Public License
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10 * as published by the Free Software Foundation, either version 3 of
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11 * the License, or (at your option) any later version.
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12 *
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13 * This program is distributed in the hope that it will be useful, but
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14 * WITHOUT ANY WARRANTY; without even the implied warranty of
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15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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16 * Lesser General Public License for more details.
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17 *
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18 * You should have received a copy of the GNU Lesser General Public
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19 * License along with this program. If not, see
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20 * <http://www.gnu.org/licenses/>.
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21 **/
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22
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23
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24 #pragma once
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25
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26 // Patch for ublas in Boost 1.64.0
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27 // https://github.com/dealii/dealii/issues/4302
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28 #include <boost/version.hpp>
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29 #if BOOST_VERSION >= 106300 // or 64, need to check
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30 # include <boost/serialization/array_wrapper.hpp>
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31 #endif
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32
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33 #include <DicomFormat/DicomMap.h>
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34
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35 #include <boost/numeric/ublas/matrix.hpp>
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36 #include <boost/numeric/ublas/vector.hpp>
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37
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38 namespace OrthancStone
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39 {
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40 typedef boost::numeric::ublas::matrix<double> Matrix;
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41 typedef boost::numeric::ublas::vector<double> Vector;
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42
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32eaf4929b08 OrthancMultiframeVolumeLoader and OrthancSeriesVolumeProgressiveLoader now implement IGeometryProvider so that the geometry reference can be switched (CT or DOSE, for instance) + VolumeImageGeometry::SetSize renamed to VolumeImageGeometry::SetSizeInVoxels + prevent text layer update if text or properties do not change + a few stream operator<< for debug (Vector, Matrix,...) + fixed memory access aligment issues in ImageBuffer3D::ExtractSagittalSlice + fix for wrong screen Y offset of mpr slices in DicomVolumeImageMPRSlicer.
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43 // logs, debugging...
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44 std::ostream& operator<<(std::ostream& s, const Vector& vec);
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45 std::ostream& operator<<(std::ostream& s, const Matrix& m);
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46
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47 namespace LinearAlgebra
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48 {
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49 void Print(const Vector& v);
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50
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51 void Print(const Matrix& m);
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52
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53 bool ParseVector(Vector& target,
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54 const std::string& s);
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55
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56 bool ParseVector(Vector& target,
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57 const Orthanc::DicomMap& dataset,
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58 const Orthanc::DicomTag& tag);
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59
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60 inline void AssignVector(Vector& v,
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61 double v1,
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62 double v2)
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63 {
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64 v.resize(2);
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65 v[0] = v1;
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66 v[1] = v2;
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67 }
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70 inline void AssignVector(Vector& v,
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71 double v1)
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72 {
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73 v.resize(1);
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74 v[0] = v1;
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75 }
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78 inline void AssignVector(Vector& v,
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79 double v1,
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80 double v2,
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81 double v3)
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82 {
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83 v.resize(3);
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84 v[0] = v1;
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85 v[1] = v2;
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86 v[2] = v3;
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87 }
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90 inline void AssignVector(Vector& v,
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91 double v1,
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92 double v2,
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93 double v3,
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94 double v4)
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95 {
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96 v.resize(4);
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97 v[0] = v1;
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98 v[1] = v2;
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99 v[2] = v3;
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100 v[3] = v4;
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101 }
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103
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104 inline Vector CreateVector(double v1)
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105 {
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106 Vector v;
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107 AssignVector(v, v1);
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108 return v;
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109 }
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111
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112 inline Vector CreateVector(double v1,
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113 double v2)
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114 {
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115 Vector v;
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116 AssignVector(v, v1, v2);
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117 return v;
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118 }
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119
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120
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121 inline Vector CreateVector(double v1,
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122 double v2,
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123 double v3)
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124 {
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125 Vector v;
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126 AssignVector(v, v1, v2, v3);
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127 return v;
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128 }
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131 inline Vector CreateVector(double v1,
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132 double v2,
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133 double v3,
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134 double v4)
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135 {
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136 Vector v;
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137 AssignVector(v, v1, v2, v3, v4);
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138 return v;
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139 }
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142 inline bool IsNear(double x,
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143 double y,
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144 double threshold)
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145 {
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146 return fabs(x - y) <= threshold;
158
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147 }
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148
181
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149 inline bool IsNear(double x,
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150 double y)
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151 {
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152 // As most input is read as single-precision numbers, we take the
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153 // epsilon machine for float32 into consideration to compare numbers
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154 return IsNear(x, y, 10.0 * std::numeric_limits<float>::epsilon());
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155 }
158
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156
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157 inline bool IsCloseToZero(double x)
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158 {
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159 return IsNear(x, 0.0);
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160 }
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161
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162 void NormalizeVector(Vector& u);
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163
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164 void CrossProduct(Vector& result,
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165 const Vector& u,
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166 const Vector& v);
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167
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168 double DotProduct(const Vector& u, const Vector& v);
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169
158
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170 void FillMatrix(Matrix& target,
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171 size_t rows,
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172 size_t columns,
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173 const double values[]);
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174
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175 void FillVector(Vector& target,
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176 size_t size,
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177 const double values[]);
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178
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179 void Convert(Matrix& target,
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180 const Vector& source);
159
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181
165
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182 inline Matrix Transpose(const Matrix& a)
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183 {
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184 return boost::numeric::ublas::trans(a);
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185 }
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186
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187
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188 inline Matrix IdentityMatrix(size_t size)
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189 {
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190 return boost::numeric::ublas::identity_matrix<double>(size);
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191 }
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192
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193
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194 inline Matrix ZeroMatrix(size_t size1,
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195 size_t size2)
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196 {
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197 return boost::numeric::ublas::zero_matrix<double>(size1, size2);
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198 }
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199
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200
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201 inline Matrix Product(const Matrix& a,
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202 const Matrix& b)
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203 {
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204 return boost::numeric::ublas::prod(a, b);
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205 }
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206
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207
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208 inline Vector Product(const Matrix& a,
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209 const Vector& b)
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210 {
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211 return boost::numeric::ublas::prod(a, b);
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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 {
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219 return Product(a, Product(b, c));
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220 }
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221
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222
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223 inline Matrix Product(const Matrix& a,
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224 const Matrix& b,
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225 const Matrix& c,
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226 const Matrix& d)
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227 {
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228 return Product(a, Product(b, c, d));
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229 }
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230
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231
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232 inline Matrix Product(const Matrix& a,
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233 const Matrix& b,
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234 const Matrix& c,
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235 const Matrix& d,
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236 const Matrix& e)
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237 {
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238 return Product(a, Product(b, c, d, e));
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239 }
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240
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241
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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 Vector& c)
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245 {
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246 return Product(Product(a, b), c);
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247 }
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248
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249
166
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250 inline Vector Product(const Matrix& a,
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251 const Matrix& b,
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252 const Matrix& c,
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253 const Vector& d)
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254 {
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255 return Product(Product(a, b, c), d);
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256 }
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257
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258
159
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259 double ComputeDeterminant(const Matrix& a);
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260
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261 bool IsOrthogonalMatrix(const Matrix& q,
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262 double threshold);
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263
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264 bool IsOrthogonalMatrix(const Matrix& q);
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265
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266 bool IsRotationMatrix(const Matrix& r,
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267 double threshold);
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268
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269 bool IsRotationMatrix(const Matrix& r);
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270
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271 void InvertUpperTriangularMatrix(Matrix& output,
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272 const Matrix& k);
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273
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274 /**
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275 * This function computes the RQ decomposition of a 3x3 matrix,
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276 * using Givens rotations. Reference: Algorithm A4.1 (page 579) of
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277 * "Multiple View Geometry in Computer Vision" (2nd edition). The
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278 * output matrix "Q" is a rotation matrix, and "R" is upper
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279 * triangular.
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280 **/
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281 void RQDecomposition3x3(Matrix& r,
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282 Matrix& q,
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283 const Matrix& a);
163
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284
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285 void InvertMatrix(Matrix& target,
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286 const Matrix& source);
165
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287
169
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288 // This is the same as "InvertMatrix()", but without exception
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289 bool InvertMatrixUnsafe(Matrix& target,
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290 const Matrix& source);
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291
165
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292 void CreateSkewSymmetric(Matrix& s,
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293 const Vector& v);
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294
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295 Matrix InvertScalingTranslationMatrix(const Matrix& t);
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296
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297 bool IsShearMatrix(const Matrix& shear);
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298
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299 Matrix InvertShearMatrix(const Matrix& shear);
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300
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301 double ComputeMedian(std::vector<double>& v);
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303 float ComputeMedian(std::vector<float>& v);
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304 };
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305 }