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199 | class Mat44(object):
'''
A 4x4 matrix for 3D affine transformation.
Args:
mat: The matrix, can be a 1D array of length 12 or 16, or a 2D array of shape (3,4) or (4,4).
byrow: Whether the matrix is in row-major order (default) or column-major order.
space_from: The space from which the matrix is defined, choices are "ras", "voxel", "ras_tkr", "mni305", "mni152".
* "ras": scanner-RAS space
* "voxel": voxel indexing space (or IJK space)
* "ras_tkr": FreeSurfer RAS space, this is the space used internally by the viewer engine in JavaScript
* "mni305": MNI305 template space
* "mni152": MNI152 template space
> threebrainpy does not limit the choices, but the viewer only supports these spaces.
space_to: The space to which the matrix is defined, choices are the same as `space_from`.
modality_from: The imaging modality from which the matrix is defined, choices are "T1" or "CT" other modalities may be
added in the future, default is "T1".
modality_to: The imaging modality to which the matrix is defined. If set to `None`, then it will be set
with the same value as `modality_from` automatically; default choice is `None`.
Examples:
>>> Mat44([1,2,3,4,5,6,7,8,9,10,11,12])
Mat44 (T1.ras -> T1.ras):
array([[ 1., 2., 3., 4.],
[ 5., 6., 7., 8.],
[ 9., 10., 11., 12.],
[ 0., 0., 0., 1.]])
>>> Mat44([1,2,3,4,5,6,7,8,9,10,11,12], byrow=False)
Mat44 (T1.ras -> T1.ras):
array([[ 1., 4., 7., 10.],
[ 2., 5., 8., 11.],
[ 3., 6., 9., 12.],
[ 0., 0., 0., 1.]])
>>> Mat44([-1,0,0,128,0,0,1,-128,0,-1,0,128], space_from="voxel", space_to="ras_tkr")
Mat44 (T1.voxel -> T1.ras_tkr):
array([[ -1., 0., 0., 128.],
[ 0., 0., 1., -128.],
[ 0., -1., 0., 128.],
[ 0., 0., 0., 1.]])
'''
def __init__(self, mat : Union[np.ndarray, list, tuple, None] = None, byrow : bool = True,
space_from : str = 'ras', space_to : str = 'ras',
modality_from : str = "T1", modality_to : str = "T1"):
if mat is None:
self.mat = np.eye(4)
else:
mat = np.array(mat, copy = True, dtype=float)
if mat.size == 12:
if byrow:
mat = mat.reshape(3,4)
else:
mat = mat.reshape(4,3).transpose()
map = np.append(mat, [[0,0,0,1]], axis=0)
else:
map = mat.reshape(4, 4)
if not byrow:
mat = mat.transpose()
self.mat = map
self.space_from = space_from
self.space_to = space_to
self.modality_from = modality_from
self.modality_to = modality_from if modality_to is None else modality_to
self.extra = {}
def __mul__(self, other):
if isinstance(other, Mat44):
# modalities must match
if self.modality_from != other.modality_to:
raise ValueError(f"Mat44 multiply: modalities must match, but got {self.modality_from} and {other.modality_to}")
# spaces must match
if self.space_from != other.space_to:
raise ValueError(f"Mat44 multiply: spaces must match, but got {self.space_from} and {other.space_to}")
return Mat44(np.matmul(self.mat, other.mat), modality_from=other.modality_from, modality_to=self.modality_to, space_from=other.space_from, space_to=self.space_to)
def __repr__(self):
re = repr(self.mat)
return f"Mat44 ({self.modality_from}.{self.space_from} -> {self.modality_to}.{self.space_to}): \n{ re }"
def __str__(self):
return str(self.mat)
def __getitem__(self, key):
return self.mat[key]
def __setitem__(self, key, value):
self.mat[key] = value
def __eq__(self, other):
return np.allclose(self.mat, other.mat)
def __ne__(self, other):
return not np.allclose(self.mat, other.mat)
def __hash__(self):
return hash(str(self.mat))
def __copy__(self):
return Mat44(self.mat.copy(), space_from = self.space_from, space_to = self.space_to, modality_from = self.modality_from, modality_to = self.modality_to)
def __deepcopy__(self, memo):
return Mat44(self.mat.copy(), space_from = self.space_from, space_to = self.space_to, modality_from = self.modality_from, modality_to = self.modality_to)
def __iter__(self):
return iter(self.mat)
def __len__(self):
return len(self.mat)
def __abs__(self):
return abs(self.mat)
def __neg__(self):
return Mat44(-self.mat, space_from = self.space_from, space_to = self.space_to, modality_from = self.modality_from, modality_to = self.modality_to)
def __pos__(self):
return Mat44(+self.mat, space_from = self.space_from, space_to = self.space_to, modality_from = self.modality_from, modality_to = self.modality_to)
def __add__(self, other):
if isinstance(other, Mat44):
# modalities must match
if self.modality_from != other.modality_from:
raise ValueError(f"Mat44 add: modality_from must match, but got {self.modality_from} and {other.modality_from}")
if self.modality_to != other.modality_to:
raise ValueError(f"Mat44 add: modality_from must match, but got {self.modality_to} and {other.modality_to}")
# spaces must match
if self.space_from != other.space_from:
raise ValueError(f"Mat44 add: space_from must match, but got {self.space_from} and {other.space_from}")
if self.space_to != other.space_to:
raise ValueError(f"Mat44 add: space_to must match, but got {self.space_to} and {other.space_to}")
return Mat44(self.mat + other.mat, space_from = self.space_from, space_to = self.space_to, modality_from = self.modality_from, modality_to = self.modality_to)
def __sub__(self, other):
if isinstance(other, Mat44):
# modalities must match
if self.modality_from != other.modality_from:
raise ValueError(f"Mat44 add: modality_from must match, but got {self.modality_from} and {other.modality_from}")
if self.modality_to != other.modality_to:
raise ValueError(f"Mat44 add: modality_from must match, but got {self.modality_to} and {other.modality_to}")
# spaces must match
if self.space_from != other.space_from:
raise ValueError(f"Mat44 add: space_from must match, but got {self.space_from} and {other.space_from}")
if self.space_to != other.space_to:
raise ValueError(f"Mat44 add: space_to must match, but got {self.space_to} and {other.space_to}")
return Mat44(self.mat - other.mat, space_from = self.space_from, space_to = self.space_to, modality_from = self.modality_from, modality_to = self.modality_to)
def __floordiv__(self, other):
if isinstance(other, Mat44):
# modalities must match
if self.modality_from != other.modality_from:
raise ValueError(f"Mat44 add: modality_from must match, but got {self.modality_from} and {other.modality_from}")
if self.modality_to != other.modality_to:
raise ValueError(f"Mat44 add: modality_from must match, but got {self.modality_to} and {other.modality_to}")
# spaces must match
if self.space_from != other.space_from:
raise ValueError(f"Mat44 add: space_from must match, but got {self.space_from} and {other.space_from}")
if self.space_to != other.space_to:
raise ValueError(f"Mat44 add: space_to must match, but got {self.space_to} and {other.space_to}")
return Mat44(self.mat // other.mat, space_from = self.space_from, space_to = self.space_to, modality_from = self.modality_from, modality_to = self.modality_to)
def __mod__(self, other):
if isinstance(other, Mat44):
# modalities must match
if self.modality_from != other.modality_from:
raise ValueError(f"Mat44 add: modality_from must match, but got {self.modality_from} and {other.modality_from}")
if self.modality_to != other.modality_to:
raise ValueError(f"Mat44 add: modality_from must match, but got {self.modality_to} and {other.modality_to}")
# spaces must match
if self.space_from != other.space_from:
raise ValueError(f"Mat44 add: space_from must match, but got {self.space_from} and {other.space_from}")
if self.space_to != other.space_to:
raise ValueError(f"Mat44 add: space_to must match, but got {self.space_to} and {other.space_to}")
return Mat44(self.mat % other.mat, space_from = self.space_from, space_to = self.space_to, modality_from = self.modality_from, modality_to = self.modality_to)
def __pow__(self, other):
if isinstance(other, Mat44):
# modalities must match
if self.modality_from != other.modality_from:
raise ValueError(f"Mat44 add: modality_from must match, but got {self.modality_from} and {other.modality_from}")
if self.modality_to != other.modality_to:
raise ValueError(f"Mat44 add: modality_from must match, but got {self.modality_to} and {other.modality_to}")
# spaces must match
if self.space_from != other.space_from:
raise ValueError(f"Mat44 add: space_from must match, but got {self.space_from} and {other.space_from}")
if self.space_to != other.space_to:
raise ValueError(f"Mat44 add: space_to must match, but got {self.space_to} and {other.space_to}")
return Mat44(self.mat ** other.mat, space_from = self.space_from, space_to = self.space_to, modality_from = self.modality_from, modality_to = self.modality_to)
def __invert__(self):
return Mat44(np.linalg.inv(self.mat), space_from = self.space_to, space_to = self.space_from, modality_from = self.modality_to, modality_to = self.modality_from)
def to_json(self, **kwargs):
return json.dumps(np.ndarray.flatten(self.mat).tolist(), **kwargs)
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