PlusMath.h

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/*=Plus=header=begin======================================================
  Program: Plus
  Copyright (c) Laboratory for Percutaneous Surgery. All rights reserved.
  See License.txt for details.
=========================================================Plus=header=end*/

#ifndef __PLUSMATH_H
#define __PLUSMATH_H

#include "PlusConfigure.h"
#include "vtkPlusCommonExport.h"

#include <vector>

#include "vnl/vnl_matrix_fixed.h"
#include "vnl/vnl_vector.h"
#include "vnl/vnl_sparse_matrix.h"
#include "vtkMath.h"

#include <igsioMath.h>

class vtkMatrix4x4;
class vtkTransform;

#if _MSC_VER == 1600 // VS 2010
namespace std
{
  double vtkPlusCommonExport round(double arg);
}
#endif

class vtkPlusCommonExport PlusMath
{
public:

  static PlusStatus LSQRMinimize(const std::vector< std::vector<double> > &aMatrix, const std::vector<double> &bVector, vnl_vector<double> &resultVector, double* mean = NULL, double* stdev = NULL, vnl_vector<unsigned int>* notOutliersIndices=NULL); 
  static PlusStatus LSQRMinimize(const std::vector<vnl_vector<double> > &aMatrix, const std::vector<double> &bVector, vnl_vector<double> &resultVector, double* mean = NULL, double* stdev = NULL , vnl_vector<unsigned int>* notOutliersIndices=NULL); 
  static PlusStatus LSQRMinimize(const vnl_sparse_matrix<double> &sparseMatrixLeftSide, const vnl_vector<double> &vectorRightSide, vnl_vector<double> &resultVector, double* mean = NULL, double* stdev = NULL, vnl_vector<unsigned int>* notOutliersIndices=NULL); 

  static void ConvertVnlMatrixToVtkMatrix(const vnl_matrix_fixed<double,4,4>& inVnlMatrix, vtkMatrix4x4* outVtkMatrix); 
  static void ConvertVtkMatrixToVnlMatrix(const vtkMatrix4x4* inVtkMatrix, vnl_matrix_fixed<double,4,4>& outVnlMatrix );


  static void PrintMatrix(vnl_matrix_fixed<double,4,4> matrix, std::ostringstream &stream, int precision = 3);

  static void LogMatrix(const vnl_matrix_fixed<double,4,4>& matrix, int precision = 3);

protected:
  PlusMath(); 
  ~PlusMath();

  static PlusStatus RemoveOutliersFromLSQR(
    vnl_sparse_matrix<double> &sparseMatrixLeftSide, 
    vnl_vector<double> &vectorRightSide, 
    vnl_vector<double> &resultVector, 
    bool &outlierFound, 
    double thresholdMultiplier = 3.0, 
    double* mean = NULL, 
    double* stdev = NULL,
    vnl_vector<unsigned int>* nonOutlierIndices = NULL
  ); 

private: 
  PlusMath(PlusMath const&);
  PlusMath& operator=(PlusMath const&);
};

#endif