Mercurial > hg > orthanc-stone

annotate Framework/Toolbox/FiniteProjectiveCamera.cpp @ 879:12b591d5d63c am-dev

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some Qt integration (wip)
author Alain Mazy <alain@mazy.be>
date Fri, 05 Jul 2019 14:52:43 +0200
parents ffec76a5f7eb
children 2d8ab34c8c91
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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
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5 * Copyright (C) 2017-2019 Osimis S.A., Belgium
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6 *
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7 * This program is free software: you can redistribute it and/or
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8 * modify it under the terms of the GNU Affero General Public License
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9 * as published by the Free Software Foundation, either version 3 of
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10 * the License, or (at your option) any later version.
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11 *
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12 * This program is distributed in the hope that it will be useful, but
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13 * WITHOUT ANY WARRANTY; without even the implied warranty of
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14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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15 * Affero General Public License for more details.
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16 *
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17 * You should have received a copy of the GNU Affero General Public License
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18 * along with this program. If not, see <http://www.gnu.org/licenses/>.
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19 **/
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21
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22 #include "FiniteProjectiveCamera.h"
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23
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24 #include "GeometryToolbox.h"
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25 #include "SubpixelReader.h"
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26
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27 #include <Core/Logging.h>
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28 #include <Core/OrthancException.h>
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29 #include <Core/Images/Image.h>
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30 #include <Core/Images/ImageProcessing.h>
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31
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32 namespace OrthancStone
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33 {
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34 void FiniteProjectiveCamera::ComputeMInverse()
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35 {
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36 using namespace boost::numeric::ublas;
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37
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38 // inv(M) = inv(K * R) = inv(R) * inv(K) = R' * inv(K). This
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39 // matrix is always invertible, by definition of finite
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40 // projective cameras (page 157).
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41 Matrix kinv;
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42 LinearAlgebra::InvertUpperTriangularMatrix(kinv, k_);
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43 minv_ = prod(trans(r_), kinv);
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44 }
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46
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47 void FiniteProjectiveCamera::Setup(const Matrix& k,
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48 const Matrix& r,
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49 const Vector& c)
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50 {
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51 if (k.size1() != 3 ||
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52 k.size2() != 3 ||
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53 !LinearAlgebra::IsCloseToZero(k(1, 0)) ||
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54 !LinearAlgebra::IsCloseToZero(k(2, 0)) ||
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55 !LinearAlgebra::IsCloseToZero(k(2, 1)))
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56 {
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57 LOG(ERROR) << "Invalid intrinsic parameters";
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58 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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59 }
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60
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61 if (r.size1() != 3 ||
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62 r.size2() != 3)
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63 {
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64 LOG(ERROR) << "Invalid size for a 3D rotation matrix";
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65 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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66 }
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67
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68 if (!LinearAlgebra::IsRotationMatrix(r, 100.0 * std::numeric_limits<float>::epsilon()))
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69 {
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70 LOG(ERROR) << "Invalid rotation matrix";
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71 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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72 }
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73
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74 if (c.size() != 3)
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75 {
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76 LOG(ERROR) << "Invalid camera center";
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77 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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78 }
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79
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80 k_ = k;
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81 r_ = r;
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82 c_ = c;
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83
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84 ComputeMInverse();
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85
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86 Matrix tmp = LinearAlgebra::IdentityMatrix(3);
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87 tmp.resize(3, 4);
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88 tmp(0, 3) = -c[0];
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89 tmp(1, 3) = -c[1];
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90 tmp(2, 3) = -c[2];
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91
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92 p_ = LinearAlgebra::Product(k, r, tmp);
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93
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94 assert(p_.size1() == 3 &&
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95 p_.size2() == 4);
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96
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97 }
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98
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99
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100 void FiniteProjectiveCamera::Setup(const Matrix& p)
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101 {
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102 if (p.size1() != 3 ||
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103 p.size2() != 4)
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104 {
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105 LOG(ERROR) << "Invalid camera matrix";
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106 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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107 }
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108
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109 p_ = p;
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110
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111 // M is the left 3x3 submatrix of "P"
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112 Matrix m = p;
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113 m.resize(3, 3);
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114
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115 // p4 is the last column of "P"
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116 Vector p4(3);
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117 p4[0] = p(0, 3);
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118 p4[1] = p(1, 3);
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119 p4[2] = p(2, 3);
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120
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121 // The RQ decomposition is explained on page 157
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122 LinearAlgebra::RQDecomposition3x3(k_, r_, m);
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123 ComputeMInverse();
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124
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125 c_ = LinearAlgebra::Product(-minv_, p4);
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126 }
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127
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128
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129 FiniteProjectiveCamera::FiniteProjectiveCamera(const double k[9],
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130 const double r[9],
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131 const double c[3])
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132 {
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133 Matrix kk, rr;
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134 Vector cc;
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135
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136 LinearAlgebra::FillMatrix(kk, 3, 3, k);
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137 LinearAlgebra::FillMatrix(rr, 3, 3, r);
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138 LinearAlgebra::FillVector(cc, 3, c);
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139
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140 Setup(kk, rr, cc);
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141 }
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142
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143
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144 FiniteProjectiveCamera::FiniteProjectiveCamera(const double p[12])
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145 {
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146 Matrix pp;
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147 LinearAlgebra::FillMatrix(pp, 3, 4, p);
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148 Setup(pp);
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149 }
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150
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151
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152 Vector FiniteProjectiveCamera::GetRayDirection(double x,
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153 double y) const
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154 {
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155 // This derives from Equation (6.14) on page 162, taking "mu =
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156 // 1" and noticing that "-inv(M)*p4" corresponds to the camera
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157 // center in finite projective cameras
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158
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159 // The (x,y) coordinates on the imaged plane, as an homogeneous vector
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160 Vector xx(3);
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161 xx[0] = x;
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162 xx[1] = y;
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163 xx[2] = 1.0;
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164
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165 return boost::numeric::ublas::prod(minv_, xx);
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166 }
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167
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168
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169
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170 static Vector SetupApply(const Vector& v,
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171 bool infinityAllowed)
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172 {
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173 if (v.size() == 3)
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174 {
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175 // Vector "v" in non-homogeneous coordinates, add the homogeneous component
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176 Vector vv;
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177 LinearAlgebra::AssignVector(vv, v[0], v[1], v[2], 1.0);
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178 return vv;
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179 }
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180 else if (v.size() == 4)
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181 {
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182 // Vector "v" is already in homogeneous coordinates
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183
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184 if (!infinityAllowed &&
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185 LinearAlgebra::IsCloseToZero(v[3]))
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186 {
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187 LOG(ERROR) << "Cannot apply a finite projective camera to a "
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188 << "point at infinity with this method";
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189 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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190 }
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191
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192 return v;
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193 }
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194 else
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195 {
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196 LOG(ERROR) << "The input vector must represent a point in 3D";
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197 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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198 }
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199 }
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200
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201
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202 void FiniteProjectiveCamera::ApplyFinite(double& x,
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203 double& y,
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204 const Vector& v) const
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205 {
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206 Vector p = boost::numeric::ublas::prod(p_, SetupApply(v, false));
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207
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208 if (LinearAlgebra::IsCloseToZero(p[2]))
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209 {
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210 // Point at infinity: Should not happen with a finite input point
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211 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
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212 }
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213 else
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214 {
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215 x = p[0] / p[2];
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216 y = p[1] / p[2];
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217 }
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218 }
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219
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220
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221 Vector FiniteProjectiveCamera::ApplyGeneral(const Vector& v) const
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222 {
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223 return boost::numeric::ublas::prod(p_, SetupApply(v, true));
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224 }
188
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225
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226
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227 static Vector AddHomogeneousCoordinate(const Vector& p)
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228 {
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229 assert(p.size() == 3);
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230 return LinearAlgebra::CreateVector(p[0], p[1], p[2], 1);
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231 }
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232
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233
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234 FiniteProjectiveCamera::FiniteProjectiveCamera(const Vector& camera,
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235 const Vector& principalPoint,
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236 double angle,
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237 unsigned int imageWidth,
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238 unsigned int imageHeight,
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239 double pixelSpacingX,
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240 double pixelSpacingY)
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241 {
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242 if (camera.size() != 3 ||
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243 principalPoint.size() != 3 ||
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244 LinearAlgebra::IsCloseToZero(pixelSpacingX) ||
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245 LinearAlgebra::IsCloseToZero(pixelSpacingY))
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246 {
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247 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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248 }
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249
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250 const double focal = boost::numeric::ublas::norm_2(camera - principalPoint);
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251
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252 if (LinearAlgebra::IsCloseToZero(focal))
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253 {
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254 LOG(ERROR) << "Camera lies on the image plane";
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255 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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256 }
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257
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258 Matrix a;
189
964118e7e6de unit test for AlignVectorsWithRotation
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259 GeometryToolbox::AlignVectorsWithRotation(a, camera - principalPoint,
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260 LinearAlgebra::CreateVector(0, 0, -1));
188
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261
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262 Matrix r = LinearAlgebra::Product(GeometryToolbox::CreateRotationMatrixAlongZ(angle), a);
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263
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264 Matrix k = LinearAlgebra::ZeroMatrix(3, 3);
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265 k(0,0) = focal / pixelSpacingX;
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266 k(1,1) = focal / pixelSpacingY;
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267 k(0,2) = static_cast<double>(imageWidth) / 2.0;
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268 k(1,2) = static_cast<double>(imageHeight) / 2.0;
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269 k(2,2) = 1;
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diff changeset
270
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271 Setup(k, r, camera);
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272
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273 {
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274 // Sanity checks
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275 Vector v1 = LinearAlgebra::Product(p_, AddHomogeneousCoordinate(camera));
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276 Vector v2 = LinearAlgebra::Product(p_, AddHomogeneousCoordinate(principalPoint));
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277
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278 if (!LinearAlgebra::IsCloseToZero(v1[2]) || // Camera is mapped to singularity
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279 LinearAlgebra::IsCloseToZero(v2[2]))
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280 {
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281 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
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282 }
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diff changeset
283
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284 // The principal point must be mapped to the center of the image
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285 v2 /= v2[2];
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286
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287 if (!LinearAlgebra::IsNear(v2[0], static_cast<double>(imageWidth) / 2.0) ||
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288 !LinearAlgebra::IsNear(v2[1], static_cast<double>(imageHeight) / 2.0))
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289 {
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290 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
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291 }
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292 }
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293 }
192
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294
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295
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296 template <Orthanc::PixelFormat TargetFormat,
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297 Orthanc::PixelFormat SourceFormat,
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298 bool MIP>
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299 static void ApplyRaytracerInternal(Orthanc::ImageAccessor& target,
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300 const FiniteProjectiveCamera& camera,
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301 const ImageBuffer3D& source,
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302 const VolumeImageGeometry& geometry,
192
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303 VolumeProjection projection)
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304 {
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305 if (source.GetFormat() != SourceFormat ||
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306 target.GetFormat() != TargetFormat ||
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307 !std::numeric_limits<float>::is_iec559 ||
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308 sizeof(float) != 4)
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309 {
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310 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
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311 }
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312
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313 LOG(WARNING) << "Input volume size: " << source.GetWidth() << "x"
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314 << source.GetHeight() << "x" << source.GetDepth();
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315 LOG(WARNING) << "Input pixel format: " << Orthanc::EnumerationToString(source.GetFormat());
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316 LOG(WARNING) << "Output image size: " << target.GetWidth() << "x" << target.GetHeight();
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317 LOG(WARNING) << "Output pixel format: " << Orthanc::EnumerationToString(target.GetFormat());
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318
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319 const unsigned int slicesCount = geometry.GetProjectionDepth(projection);
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320 const OrthancStone::Vector pixelSpacing = geometry.GetVoxelDimensions(projection);
192
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321 const unsigned int targetWidth = target.GetWidth();
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322 const unsigned int targetHeight = target.GetHeight();
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323
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324 Orthanc::Image accumulator(Orthanc::PixelFormat_Float32, targetWidth, targetHeight, false);
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325 Orthanc::Image counter(Orthanc::PixelFormat_Grayscale16, targetWidth, targetHeight, false);
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326 Orthanc::ImageProcessing::Set(accumulator, 0);
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327 Orthanc::ImageProcessing::Set(counter, 0);
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328
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329 typedef SubpixelReader<SourceFormat, ImageInterpolation_Nearest> SourceReader;
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330
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331 for (unsigned int z = 0; z < slicesCount; z++)
192
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332 {
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333 LOG(INFO) << "Applying raytracer on slice: " << z << "/" << slicesCount;
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334
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335 OrthancStone::CoordinateSystem3D slice = geometry.GetProjectionSlice(projection, z);
516
11fa6f00e33c Dummy changes (warnings, dummy dtor to check proper deletion, line wrapping) +
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336 OrthancStone::ImageBuffer3D::SliceReader sliceReader(source, projection, static_cast<unsigned int>(z));
192
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337
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338 SourceReader pixelReader(sliceReader.GetAccessor());
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339
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340 for (unsigned int y = 0; y < targetHeight; y++)
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341 {
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342 float *qacc = reinterpret_cast<float*>(accumulator.GetRow(y));
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343 uint16_t *qcount = reinterpret_cast<uint16_t*>(counter.GetRow(y));
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344
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345 for (unsigned int x = 0; x < targetWidth; x++)
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346 {
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347 // Backproject the ray originating from the center of the target pixel
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348 OrthancStone::Vector direction = camera.GetRayDirection(static_cast<double>(x + 0.5),
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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349 static_cast<double>(y + 0.5));
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350
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351 // Compute the 3D intersection of the ray with the slice plane
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352 OrthancStone::Vector p;
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353 if (slice.IntersectLine(p, camera.GetCenter(), direction))
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354 {
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355 // Compute the 2D coordinates of the intersections, in slice coordinates
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356 double ix, iy;
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357 slice.ProjectPoint(ix, iy, p);
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358
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359 ix /= pixelSpacing[0];
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360 iy /= pixelSpacing[1];
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361
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362 // Read and accumulate the value of the pixel
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363 float pixel;
693
9a474e90e832 Fixed a bunch of truncation warnings in various parts of the library
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diff changeset
364 if (pixelReader.GetFloatValue(
9a474e90e832 Fixed a bunch of truncation warnings in various parts of the library
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diff changeset
365 pixel, static_cast<float>(ix), static_cast<float>(iy)))
192
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366 {
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367 if (MIP)
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368 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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369 // MIP rendering
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370 if (*qcount == 0)
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371 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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372 (*qacc) = pixel;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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373 (*qcount) = 1;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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374 }
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375 else if (pixel > *qacc)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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376 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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377 (*qacc) = pixel;
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378 }
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379 }
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380 else
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381 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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382 // Mean intensity
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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383 (*qacc) += pixel;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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384 (*qcount) ++;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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385 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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386 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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387 }
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388
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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389 qacc++;
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390 qcount++;
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391 }
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392 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
393 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
394
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
395
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
396 typedef Orthanc::PixelTraits<TargetFormat> TargetTraits;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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397
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diff changeset
398 // "Flatten" the accumulator image to create the target image
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
399 for (unsigned int y = 0; y < targetHeight; y++)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
400 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
401 const float *qacc = reinterpret_cast<const float*>(accumulator.GetConstRow(y));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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402 const uint16_t *qcount = reinterpret_cast<const uint16_t*>(counter.GetConstRow(y));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
403 typename TargetTraits::PixelType *p = reinterpret_cast<typename TargetTraits::PixelType*>(target.GetRow(y));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
404
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
405 for (unsigned int x = 0; x < targetWidth; x++)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
406 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
407 if (*qcount == 0)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
408 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
409 TargetTraits::SetZero(*p);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
410 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
411 else
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
412 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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413 TargetTraits::FloatToPixel(*p, *qacc / static_cast<float>(*qcount));
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414 }
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415
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416 p++;
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417 qacc++;
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418 qcount++;
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419 }
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420 }
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421 }
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422
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423
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424 Orthanc::ImageAccessor*
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425 FiniteProjectiveCamera::ApplyRaytracer(const ImageBuffer3D& source,
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426 const VolumeImageGeometry& geometry,
192
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427 Orthanc::PixelFormat targetFormat,
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428 unsigned int targetWidth,
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429 unsigned int targetHeight,
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430 bool mip) const
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431 {
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432 // TODO - We consider the axial projection of the volume, but we
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433 // should choose the projection that is the "most perpendicular"
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434 // to the line joining the camera center and the principal point
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435 const VolumeProjection projection = VolumeProjection_Axial;
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436
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437 std::auto_ptr<Orthanc::ImageAccessor> target
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438 (new Orthanc::Image(targetFormat, targetWidth, targetHeight, false));
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439
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440 if (targetFormat == Orthanc::PixelFormat_Grayscale16 &&
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441 source.GetFormat() == Orthanc::PixelFormat_Grayscale16 && mip)
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442 {
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443 ApplyRaytracerInternal<Orthanc::PixelFormat_Grayscale16,
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444 Orthanc::PixelFormat_Grayscale16, true>
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445 (*target, *this, source, geometry, projection);
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446 }
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447 else if (targetFormat == Orthanc::PixelFormat_Grayscale16 &&
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448 source.GetFormat() == Orthanc::PixelFormat_Grayscale16 && !mip)
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449 {
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450 ApplyRaytracerInternal<Orthanc::PixelFormat_Grayscale16,
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451 Orthanc::PixelFormat_Grayscale16, false>
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452 (*target, *this, source, geometry, projection);
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453 }
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454 else
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455 {
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456 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
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457 }
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458
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459 return target.release();
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460 }
161
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461 }