Mercurial > hg > orthanc-stone
annotate Framework/Toolbox/LinearAlgebra.h @ 611:e3f21a265be5
Added version directive to GLSL shader code + glew init function in sample code
AND commented-out glew init function in StoneInitialize
| author | Benjamin Golinvaux <bgo@osimis.io> |
|---|---|
| date | Tue, 30 Apr 2019 16:07:48 +0200 |
| parents | b70e9be013e4 |
| children | 6af3099ed8da |
| rev | line source |
|---|---|
| 158 | 1 /** |
| 2 * Stone of Orthanc | |
| 3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics | |
| 4 * Department, University Hospital of Liege, Belgium | |
| 439 | 5 * Copyright (C) 2017-2019 Osimis S.A., Belgium |
| 158 | 6 * |
| 7 * This program is free software: you can redistribute it and/or | |
| 8 * modify it under the terms of the GNU Affero General Public License | |
| 9 * as published by the Free Software Foundation, either version 3 of | |
| 10 * the License, or (at your option) any later version. | |
| 11 * | |
| 12 * This program is distributed in the hope that it will be useful, but | |
| 13 * WITHOUT ANY WARRANTY; without even the implied warranty of | |
| 14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | |
| 15 * Affero General Public License for more details. | |
| 16 * | |
| 17 * You should have received a copy of the GNU Affero General Public License | |
| 18 * along with this program. If not, see <http://www.gnu.org/licenses/>. | |
| 19 **/ | |
| 20 | |
| 21 | |
| 22 #pragma once | |
| 23 | |
| 24 // Patch for ublas in Boost 1.64.0 | |
| 25 // https://github.com/dealii/dealii/issues/4302 | |
| 26 #include <boost/version.hpp> | |
| 27 #if BOOST_VERSION >= 106300 // or 64, need to check | |
| 28 # include <boost/serialization/array_wrapper.hpp> | |
| 29 #endif | |
| 30 | |
|
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31 #include <Core/DicomFormat/DicomMap.h> |
| 158 | 32 |
| 33 #include <boost/numeric/ublas/matrix.hpp> | |
| 34 #include <boost/numeric/ublas/vector.hpp> | |
| 35 | |
| 36 namespace OrthancStone | |
| 37 { | |
| 38 typedef boost::numeric::ublas::matrix<double> Matrix; | |
| 39 typedef boost::numeric::ublas::vector<double> Vector; | |
| 40 | |
| 41 namespace LinearAlgebra | |
| 42 { | |
| 43 void Print(const Vector& v); | |
| 44 | |
| 45 void Print(const Matrix& m); | |
| 46 | |
| 47 bool ParseVector(Vector& target, | |
| 48 const std::string& s); | |
| 49 | |
| 50 bool ParseVector(Vector& target, | |
| 51 const Orthanc::DicomMap& dataset, | |
| 52 const Orthanc::DicomTag& tag); | |
| 53 | |
| 181 | 54 inline void AssignVector(Vector& v, |
| 55 double v1, | |
| 56 double v2) | |
| 57 { | |
| 58 v.resize(2); | |
| 59 v[0] = v1; | |
| 60 v[1] = v2; | |
| 61 } | |
| 62 | |
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63 |
| 181 | 64 inline void AssignVector(Vector& v, |
| 65 double v1) | |
| 66 { | |
| 67 v.resize(1); | |
| 68 v[0] = v1; | |
| 69 } | |
| 70 | |
| 158 | 71 |
| 181 | 72 inline void AssignVector(Vector& v, |
| 73 double v1, | |
| 74 double v2, | |
| 75 double v3) | |
| 76 { | |
| 77 v.resize(3); | |
| 78 v[0] = v1; | |
| 79 v[1] = v2; | |
| 80 v[2] = v3; | |
| 81 } | |
| 82 | |
| 158 | 83 |
| 181 | 84 inline void AssignVector(Vector& v, |
| 85 double v1, | |
| 86 double v2, | |
| 87 double v3, | |
| 88 double v4) | |
| 89 { | |
| 90 v.resize(4); | |
| 91 v[0] = v1; | |
| 92 v[1] = v2; | |
| 93 v[2] = v3; | |
| 94 v[3] = v4; | |
| 95 } | |
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96 |
| 181 | 97 |
| 98 inline Vector CreateVector(double v1) | |
| 99 { | |
| 100 Vector v; | |
| 101 AssignVector(v, v1); | |
| 102 return v; | |
| 103 } | |
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104 |
| 181 | 105 |
| 106 inline Vector CreateVector(double v1, | |
| 107 double v2) | |
| 108 { | |
| 109 Vector v; | |
| 110 AssignVector(v, v1, v2); | |
| 111 return v; | |
| 112 } | |
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113 |
| 181 | 114 |
| 115 inline Vector CreateVector(double v1, | |
| 116 double v2, | |
| 117 double v3) | |
| 118 { | |
| 119 Vector v; | |
| 120 AssignVector(v, v1, v2, v3); | |
| 121 return v; | |
| 122 } | |
| 123 | |
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124 |
| 181 | 125 inline Vector CreateVector(double v1, |
| 126 double v2, | |
| 127 double v3, | |
| 128 double v4) | |
| 129 { | |
| 130 Vector v; | |
| 131 AssignVector(v, v1, v2, v3, v4); | |
| 132 return v; | |
| 133 } | |
| 134 | |
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135 |
| 158 | 136 inline bool IsNear(double x, |
| 137 double y, | |
| 138 double threshold) | |
| 139 { | |
| 140 return fabs(x - y) < threshold; | |
| 141 } | |
| 142 | |
| 181 | 143 inline bool IsNear(double x, |
| 144 double y) | |
| 145 { | |
| 146 // As most input is read as single-precision numbers, we take the | |
| 147 // epsilon machine for float32 into consideration to compare numbers | |
| 148 return IsNear(x, y, 10.0 * std::numeric_limits<float>::epsilon()); | |
| 149 } | |
| 158 | 150 |
| 151 inline bool IsCloseToZero(double x) | |
| 152 { | |
| 153 return IsNear(x, 0.0); | |
| 154 } | |
| 155 | |
| 156 void NormalizeVector(Vector& u); | |
| 157 | |
| 158 void CrossProduct(Vector& result, | |
| 159 const Vector& u, | |
| 160 const Vector& v); | |
| 161 | |
| 162 void FillMatrix(Matrix& target, | |
| 163 size_t rows, | |
| 164 size_t columns, | |
| 165 const double values[]); | |
| 166 | |
| 167 void FillVector(Vector& target, | |
| 168 size_t size, | |
| 169 const double values[]); | |
| 170 | |
| 171 void Convert(Matrix& target, | |
| 172 const Vector& source); | |
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173 |
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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 | 242 inline Vector Product(const Matrix& a, |
| 243 const Matrix& b, | |
| 244 const Matrix& c, | |
| 245 const Vector& d) | |
| 246 { | |
| 247 return Product(Product(a, b, c), d); | |
| 248 } | |
| 249 | |
| 250 | |
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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); |
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276 |
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277 void InvertMatrix(Matrix& target, |
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278 const Matrix& source); |
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279 |
| 169 | 280 // This is the same as "InvertMatrix()", but without exception |
| 281 bool InvertMatrixUnsafe(Matrix& target, | |
| 282 const Matrix& source); | |
| 283 | |
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284 void CreateSkewSymmetric(Matrix& s, |
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285 const Vector& v); |
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286 |
| 166 | 287 Matrix InvertScalingTranslationMatrix(const Matrix& t); |
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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 | 292 }; |
| 293 } |