Mercurial > hg > orthanc-stone
annotate Framework/Toolbox/FiniteProjectiveCamera.cpp @ 1368:33da5d02885f broker
SdlSimpleViewer rename
author | Benjamin Golinvaux <bgo@osimis.io> |
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date | Sat, 18 Apr 2020 14:45:22 +0200 |
parents | 8a0a62189f46 |
children | 30deba7bc8e2 |
rev | line source |
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161 | 1 /** |
2 * Stone of Orthanc | |
3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics | |
4 * Department, University Hospital of Liege, Belgium | |
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5 * Copyright (C) 2017-2020 Osimis S.A., Belgium |
161 | 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 #include "FiniteProjectiveCamera.h" | |
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> |
161 | 31 |
32 namespace OrthancStone | |
33 { | |
34 void FiniteProjectiveCamera::ComputeMInverse() | |
35 { | |
36 using namespace boost::numeric::ublas; | |
37 | |
38 // inv(M) = inv(K * R) = inv(R) * inv(K) = R' * inv(K). This | |
39 // matrix is always invertible, by definition of finite | |
40 // projective cameras (page 157). | |
41 Matrix kinv; | |
42 LinearAlgebra::InvertUpperTriangularMatrix(kinv, k_); | |
43 minv_ = prod(trans(r_), kinv); | |
44 } | |
45 | |
46 | |
47 void FiniteProjectiveCamera::Setup(const Matrix& k, | |
48 const Matrix& r, | |
49 const Vector& c) | |
50 { | |
51 if (k.size1() != 3 || | |
52 k.size2() != 3 || | |
53 !LinearAlgebra::IsCloseToZero(k(1, 0)) || | |
54 !LinearAlgebra::IsCloseToZero(k(2, 0)) || | |
55 !LinearAlgebra::IsCloseToZero(k(2, 1))) | |
56 { | |
57 LOG(ERROR) << "Invalid intrinsic parameters"; | |
58 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
59 } | |
60 | |
61 if (r.size1() != 3 || | |
62 r.size2() != 3) | |
63 { | |
64 LOG(ERROR) << "Invalid size for a 3D rotation matrix"; | |
65 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
66 } | |
67 | |
68 if (!LinearAlgebra::IsRotationMatrix(r, 100.0 * std::numeric_limits<float>::epsilon())) | |
69 { | |
70 LOG(ERROR) << "Invalid rotation matrix"; | |
71 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
72 } | |
73 | |
74 if (c.size() != 3) | |
75 { | |
76 LOG(ERROR) << "Invalid camera center"; | |
77 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
78 } | |
79 | |
80 k_ = k; | |
81 r_ = r; | |
82 c_ = c; | |
83 | |
84 ComputeMInverse(); | |
85 | |
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86 Matrix tmp = LinearAlgebra::IdentityMatrix(3); |
161 | 87 tmp.resize(3, 4); |
88 tmp(0, 3) = -c[0]; | |
89 tmp(1, 3) = -c[1]; | |
90 tmp(2, 3) = -c[2]; | |
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 |
161 | 97 } |
98 | |
99 | |
100 void FiniteProjectiveCamera::Setup(const Matrix& p) | |
101 { | |
102 if (p.size1() != 3 || | |
103 p.size2() != 4) | |
104 { | |
105 LOG(ERROR) << "Invalid camera matrix"; | |
106 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
107 } | |
108 | |
109 p_ = p; | |
110 | |
111 // M is the left 3x3 submatrix of "P" | |
112 Matrix m = p; | |
113 m.resize(3, 3); | |
114 | |
115 // p4 is the last column of "P" | |
116 Vector p4(3); | |
117 p4[0] = p(0, 3); | |
118 p4[1] = p(1, 3); | |
119 p4[2] = p(2, 3); | |
120 | |
121 // The RQ decomposition is explained on page 157 | |
122 LinearAlgebra::RQDecomposition3x3(k_, r_, m); | |
123 ComputeMInverse(); | |
124 | |
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125 c_ = LinearAlgebra::Product(-minv_, p4); |
161 | 126 } |
127 | |
128 | |
129 FiniteProjectiveCamera::FiniteProjectiveCamera(const double k[9], | |
130 const double r[9], | |
131 const double c[3]) | |
132 { | |
133 Matrix kk, rr; | |
134 Vector cc; | |
135 | |
136 LinearAlgebra::FillMatrix(kk, 3, 3, k); | |
137 LinearAlgebra::FillMatrix(rr, 3, 3, r); | |
138 LinearAlgebra::FillVector(cc, 3, c); | |
139 | |
140 Setup(kk, rr, cc); | |
141 } | |
142 | |
143 | |
144 FiniteProjectiveCamera::FiniteProjectiveCamera(const double p[12]) | |
145 { | |
146 Matrix pp; | |
147 LinearAlgebra::FillMatrix(pp, 3, 4, p); | |
148 Setup(pp); | |
149 } | |
150 | |
151 | |
152 Vector FiniteProjectiveCamera::GetRayDirection(double x, | |
153 double y) const | |
154 { | |
155 // This derives from Equation (6.14) on page 162, taking "mu = | |
156 // 1" and noticing that "-inv(M)*p4" corresponds to the camera | |
157 // center in finite projective cameras | |
158 | |
159 // The (x,y) coordinates on the imaged plane, as an homogeneous vector | |
160 Vector xx(3); | |
161 xx[0] = x; | |
162 xx[1] = y; | |
163 xx[2] = 1.0; | |
164 | |
165 return boost::numeric::ublas::prod(minv_, xx); | |
166 } | |
167 | |
168 | |
169 | |
170 static Vector SetupApply(const Vector& v, | |
171 bool infinityAllowed) | |
172 { | |
173 if (v.size() == 3) | |
174 { | |
175 // Vector "v" in non-homogeneous coordinates, add the homogeneous component | |
176 Vector vv; | |
177 LinearAlgebra::AssignVector(vv, v[0], v[1], v[2], 1.0); | |
178 return vv; | |
179 } | |
180 else if (v.size() == 4) | |
181 { | |
182 // Vector "v" is already in homogeneous coordinates | |
183 | |
184 if (!infinityAllowed && | |
185 LinearAlgebra::IsCloseToZero(v[3])) | |
186 { | |
187 LOG(ERROR) << "Cannot apply a finite projective camera to a " | |
188 << "point at infinity with this method"; | |
189 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
190 } | |
191 | |
192 return v; | |
193 } | |
194 else | |
195 { | |
196 LOG(ERROR) << "The input vector must represent a point in 3D"; | |
197 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
198 } | |
199 } | |
200 | |
201 | |
202 void FiniteProjectiveCamera::ApplyFinite(double& x, | |
203 double& y, | |
204 const Vector& v) const | |
205 { | |
206 Vector p = boost::numeric::ublas::prod(p_, SetupApply(v, false)); | |
207 | |
208 if (LinearAlgebra::IsCloseToZero(p[2])) | |
209 { | |
210 // Point at infinity: Should not happen with a finite input point | |
211 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError); | |
212 } | |
213 else | |
214 { | |
215 x = p[0] / p[2]; | |
216 y = p[1] / p[2]; | |
217 } | |
218 } | |
219 | |
220 | |
221 Vector FiniteProjectiveCamera::ApplyGeneral(const Vector& v) const | |
222 { | |
223 return boost::numeric::ublas::prod(p_, SetupApply(v, true)); | |
224 } | |
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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
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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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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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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, |
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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); |
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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); |
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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), |
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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; |
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364 if (pixelReader.GetFloatValue( |
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365 pixel, static_cast<float>(ix), static_cast<float>(iy))) |
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366 { |
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367 if (MIP) |
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368 { |
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369 // MIP rendering |
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370 if (*qcount == 0) |
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371 { |
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372 (*qacc) = pixel; |
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373 (*qcount) = 1; |
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374 } |
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375 else if (pixel > *qacc) |
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376 { |
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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 { |
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382 // Mean intensity |
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383 (*qacc) += pixel; |
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384 (*qcount) ++; |
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385 } |
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386 } |
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387 } |
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388 |
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389 qacc++; |
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390 qcount++; |
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391 } |
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392 } |
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393 } |
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394 |
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395 |
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396 typedef Orthanc::PixelTraits<TargetFormat> TargetTraits; |
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397 |
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398 // "Flatten" the accumulator image to create the target image |
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399 for (unsigned int y = 0; y < targetHeight; y++) |
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400 { |
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401 const float *qacc = reinterpret_cast<const float*>(accumulator.GetConstRow(y)); |
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402 const uint16_t *qcount = reinterpret_cast<const uint16_t*>(counter.GetConstRow(y)); |
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403 typename TargetTraits::PixelType *p = reinterpret_cast<typename TargetTraits::PixelType*>(target.GetRow(y)); |
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404 |
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405 for (unsigned int x = 0; x < targetWidth; x++) |
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406 { |
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407 if (*qcount == 0) |
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408 { |
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409 TargetTraits::SetZero(*p); |
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410 } |
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411 else |
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412 { |
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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, |
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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::unique_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 | 461 } |