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annotate OrthancStone/Sources/Toolbox/FiniteProjectiveCamera.cpp @ 1870:3889ae96d2e9

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added copyright UCLouvain
author Sebastien Jodogne <s.jodogne@gmail.com>
date Tue, 11 Jan 2022 11:04:09 +0100
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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) 2017-2021 Osimis S.A., Belgium
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6 * Copyright (C) 2021-2021 Sebastien Jodogne, ICTEAM UCLouvain, Belgium
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7 *
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8 * This program is free software: you can redistribute it and/or
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9 * modify it under the terms of the GNU Lesser General Public License
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10 * as published by the Free Software Foundation, either version 3 of
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11 * the License, or (at your option) any later version.
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12 *
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13 * This program is distributed in the hope that it will be useful, but
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14 * WITHOUT ANY WARRANTY; without even the implied warranty of
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15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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16 * Lesser General Public License for more details.
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17 *
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18 * You should have received a copy of the GNU Lesser General Public
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19 * License along with this program. If not, see
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20 * <http://www.gnu.org/licenses/>.
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21 **/
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23
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24 #include "FiniteProjectiveCamera.h"
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25
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26 #include "GeometryToolbox.h"
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27 #include "SubpixelReader.h"
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28
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29 #include <Logging.h>
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30 #include <OrthancException.h>
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31 #include <Images/Image.h>
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32 #include <Images/ImageProcessing.h>
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33
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34 namespace OrthancStone
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35 {
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36 void FiniteProjectiveCamera::ComputeMInverse()
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37 {
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38 using namespace boost::numeric::ublas;
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39
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40 // inv(M) = inv(K * R) = inv(R) * inv(K) = R' * inv(K). This
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41 // matrix is always invertible, by definition of finite
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42 // projective cameras (page 157).
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43 Matrix kinv;
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44 LinearAlgebra::InvertUpperTriangularMatrix(kinv, k_);
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45 minv_ = prod(trans(r_), kinv);
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46 }
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48
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49 void FiniteProjectiveCamera::Setup(const Matrix& k,
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50 const Matrix& r,
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51 const Vector& c)
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52 {
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53 if (k.size1() != 3 ||
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54 k.size2() != 3 ||
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55 !LinearAlgebra::IsCloseToZero(k(1, 0)) ||
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56 !LinearAlgebra::IsCloseToZero(k(2, 0)) ||
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57 !LinearAlgebra::IsCloseToZero(k(2, 1)))
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58 {
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59 LOG(ERROR) << "Invalid intrinsic parameters";
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60 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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61 }
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62
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63 if (r.size1() != 3 ||
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64 r.size2() != 3)
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65 {
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66 LOG(ERROR) << "Invalid size for a 3D rotation matrix";
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67 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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68 }
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69
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70 if (!LinearAlgebra::IsRotationMatrix(r, 100.0 * std::numeric_limits<float>::epsilon()))
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71 {
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72 LOG(ERROR) << "Invalid rotation matrix";
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73 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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74 }
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75
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76 if (c.size() != 3)
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77 {
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78 LOG(ERROR) << "Invalid camera center";
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79 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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80 }
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81
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82 k_ = k;
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83 r_ = r;
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84 c_ = c;
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85
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86 ComputeMInverse();
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87
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88 Matrix tmp = LinearAlgebra::IdentityMatrix(3);
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89 tmp.resize(3, 4);
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90 tmp(0, 3) = -c[0];
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91 tmp(1, 3) = -c[1];
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92 tmp(2, 3) = -c[2];
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93
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94 p_ = LinearAlgebra::Product(k, r, tmp);
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95
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96 assert(p_.size1() == 3 &&
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97 p_.size2() == 4);
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98
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99 }
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101
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102 void FiniteProjectiveCamera::Setup(const Matrix& p)
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103 {
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104 if (p.size1() != 3 ||
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105 p.size2() != 4)
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106 {
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107 LOG(ERROR) << "Invalid camera matrix";
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108 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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109 }
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110
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111 p_ = p;
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112
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113 // M is the left 3x3 submatrix of "P"
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114 Matrix m = p;
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115 m.resize(3, 3);
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116
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117 // p4 is the last column of "P"
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118 Vector p4(3);
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119 p4[0] = p(0, 3);
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120 p4[1] = p(1, 3);
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121 p4[2] = p(2, 3);
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122
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123 // The RQ decomposition is explained on page 157
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124 LinearAlgebra::RQDecomposition3x3(k_, r_, m);
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125 ComputeMInverse();
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126
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127 c_ = LinearAlgebra::Product(-minv_, p4);
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128 }
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131 FiniteProjectiveCamera::FiniteProjectiveCamera(const double k[9],
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132 const double r[9],
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133 const double c[3])
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134 {
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135 Matrix kk, rr;
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136 Vector cc;
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137
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138 LinearAlgebra::FillMatrix(kk, 3, 3, k);
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139 LinearAlgebra::FillMatrix(rr, 3, 3, r);
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140 LinearAlgebra::FillVector(cc, 3, c);
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141
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142 Setup(kk, rr, cc);
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143 }
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144
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145
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146 FiniteProjectiveCamera::FiniteProjectiveCamera(const double p[12])
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147 {
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148 Matrix pp;
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149 LinearAlgebra::FillMatrix(pp, 3, 4, p);
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150 Setup(pp);
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151 }
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152
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153
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154 Vector FiniteProjectiveCamera::GetRayDirection(double x,
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155 double y) const
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156 {
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157 // This derives from Equation (6.14) on page 162, taking "mu =
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158 // 1" and noticing that "-inv(M)*p4" corresponds to the camera
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159 // center in finite projective cameras
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160
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161 // The (x,y) coordinates on the imaged plane, as an homogeneous vector
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162 Vector xx(3);
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163 xx[0] = x;
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164 xx[1] = y;
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165 xx[2] = 1.0;
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166
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167 return boost::numeric::ublas::prod(minv_, xx);
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168 }
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169
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170
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171
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172 static Vector SetupApply(const Vector& v,
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173 bool infinityAllowed)
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174 {
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175 if (v.size() == 3)
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176 {
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177 // Vector "v" in non-homogeneous coordinates, add the homogeneous component
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178 Vector vv;
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179 LinearAlgebra::AssignVector(vv, v[0], v[1], v[2], 1.0);
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180 return vv;
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181 }
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182 else if (v.size() == 4)
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183 {
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184 // Vector "v" is already in homogeneous coordinates
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185
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186 if (!infinityAllowed &&
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187 LinearAlgebra::IsCloseToZero(v[3]))
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188 {
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189 LOG(ERROR) << "Cannot apply a finite projective camera to a "
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190 << "point at infinity with this method";
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191 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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192 }
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193
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194 return v;
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195 }
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196 else
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197 {
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198 LOG(ERROR) << "The input vector must represent a point in 3D";
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199 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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200 }
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201 }
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202
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203
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204 void FiniteProjectiveCamera::ApplyFinite(double& x,
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205 double& y,
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206 const Vector& v) const
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207 {
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208 Vector p = boost::numeric::ublas::prod(p_, SetupApply(v, false));
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209
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210 if (LinearAlgebra::IsCloseToZero(p[2]))
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211 {
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212 // Point at infinity: Should not happen with a finite input point
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213 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
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214 }
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215 else
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216 {
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217 x = p[0] / p[2];
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218 y = p[1] / p[2];
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219 }
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220 }
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221
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222
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223 Vector FiniteProjectiveCamera::ApplyGeneral(const Vector& v) const
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224 {
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225 return boost::numeric::ublas::prod(p_, SetupApply(v, true));
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226 }
188
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227
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228
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229 static Vector AddHomogeneousCoordinate(const Vector& p)
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230 {
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231 assert(p.size() == 3);
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232 return LinearAlgebra::CreateVector(p[0], p[1], p[2], 1);
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233 }
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234
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235
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236 FiniteProjectiveCamera::FiniteProjectiveCamera(const Vector& camera,
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237 const Vector& principalPoint,
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238 double angle,
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239 unsigned int imageWidth,
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240 unsigned int imageHeight,
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241 double pixelSpacingX,
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242 double pixelSpacingY)
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243 {
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244 if (camera.size() != 3 ||
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245 principalPoint.size() != 3 ||
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246 LinearAlgebra::IsCloseToZero(pixelSpacingX) ||
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247 LinearAlgebra::IsCloseToZero(pixelSpacingY))
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248 {
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249 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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250 }
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251
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252 const double focal = boost::numeric::ublas::norm_2(camera - principalPoint);
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253
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254 if (LinearAlgebra::IsCloseToZero(focal))
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255 {
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256 LOG(ERROR) << "Camera lies on the image plane";
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257 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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258 }
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259
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260 Matrix a;
189
964118e7e6de unit test for AlignVectorsWithRotation
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261 GeometryToolbox::AlignVectorsWithRotation(a, camera - principalPoint,
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262 LinearAlgebra::CreateVector(0, 0, -1));
188
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263
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264 Matrix r = LinearAlgebra::Product(GeometryToolbox::CreateRotationMatrixAlongZ(angle), a);
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265
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266 Matrix k = LinearAlgebra::ZeroMatrix(3, 3);
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267 k(0,0) = focal / pixelSpacingX;
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268 k(1,1) = focal / pixelSpacingY;
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269 k(0,2) = static_cast<double>(imageWidth) / 2.0;
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270 k(1,2) = static_cast<double>(imageHeight) / 2.0;
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271 k(2,2) = 1;
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272
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273 Setup(k, r, camera);
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274
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275 {
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276 // Sanity checks
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277 Vector v1 = LinearAlgebra::Product(p_, AddHomogeneousCoordinate(camera));
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278 Vector v2 = LinearAlgebra::Product(p_, AddHomogeneousCoordinate(principalPoint));
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279
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280 if (!LinearAlgebra::IsCloseToZero(v1[2]) || // Camera is mapped to singularity
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281 LinearAlgebra::IsCloseToZero(v2[2]))
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282 {
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283 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
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284 }
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285
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286 // The principal point must be mapped to the center of the image
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287 v2 /= v2[2];
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288
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289 if (!LinearAlgebra::IsNear(v2[0], static_cast<double>(imageWidth) / 2.0) ||
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290 !LinearAlgebra::IsNear(v2[1], static_cast<double>(imageHeight) / 2.0))
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291 {
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292 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
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293 }
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294 }
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295 }
192
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296
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297
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298 template <Orthanc::PixelFormat TargetFormat,
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299 Orthanc::PixelFormat SourceFormat,
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300 bool MIP>
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301 static void ApplyRaytracerInternal(Orthanc::ImageAccessor& target,
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302 const FiniteProjectiveCamera& camera,
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303 const ImageBuffer3D& source,
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304 const VolumeImageGeometry& geometry,
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305 VolumeProjection projection)
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306 {
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307 if (source.GetFormat() != SourceFormat ||
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308 target.GetFormat() != TargetFormat ||
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309 !std::numeric_limits<float>::is_iec559 ||
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310 sizeof(float) != 4)
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311 {
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312 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
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313 }
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314
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315 LOG(WARNING) << "Input volume size: " << source.GetWidth() << "x"
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316 << source.GetHeight() << "x" << source.GetDepth();
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317 LOG(WARNING) << "Input pixel format: " << Orthanc::EnumerationToString(source.GetFormat());
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318 LOG(WARNING) << "Output image size: " << target.GetWidth() << "x" << target.GetHeight();
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319 LOG(WARNING) << "Output pixel format: " << Orthanc::EnumerationToString(target.GetFormat());
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320
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321 const unsigned int slicesCount = geometry.GetProjectionDepth(projection);
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322 const Vector pixelSpacing = geometry.GetVoxelDimensions(projection);
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323 const unsigned int targetWidth = target.GetWidth();
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324 const unsigned int targetHeight = target.GetHeight();
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325
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326 Orthanc::Image accumulator(Orthanc::PixelFormat_Float32, targetWidth, targetHeight, false);
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327 Orthanc::Image counter(Orthanc::PixelFormat_Grayscale16, targetWidth, targetHeight, false);
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328 Orthanc::ImageProcessing::Set(accumulator, 0);
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329 Orthanc::ImageProcessing::Set(counter, 0);
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330
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331 typedef SubpixelReader<SourceFormat, ImageInterpolation_Nearest> SourceReader;
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332
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333 for (unsigned int z = 0; z < slicesCount; z++)
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334 {
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335 LOG(INFO) << "Applying raytracer on slice: " << z << "/" << slicesCount;
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336
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337 CoordinateSystem3D slice = geometry.GetProjectionSlice(projection, z);
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338 ImageBuffer3D::SliceReader sliceReader(source, projection, static_cast<unsigned int>(z));
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339
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340 SourceReader pixelReader(sliceReader.GetAccessor());
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341
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342 for (unsigned int y = 0; y < targetHeight; y++)
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343 {
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344 float *qacc = reinterpret_cast<float*>(accumulator.GetRow(y));
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345 uint16_t *qcount = reinterpret_cast<uint16_t*>(counter.GetRow(y));
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346
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347 for (unsigned int x = 0; x < targetWidth; x++)
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348 {
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349 // Backproject the ray originating from the center of the target pixel
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350 Vector direction = camera.GetRayDirection(static_cast<double>(x + 0.5),
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351 static_cast<double>(y + 0.5));
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352
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353 // Compute the 3D intersection of the ray with the slice plane
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354 Vector p;
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355 if (slice.IntersectLine(p, camera.GetCenter(), direction))
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356 {
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357 // Compute the 2D coordinates of the intersections, in slice coordinates
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358 double ix, iy;
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359 slice.ProjectPoint(ix, iy, p);
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360
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361 ix /= pixelSpacing[0];
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362 iy /= pixelSpacing[1];
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363
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364 // Read and accumulate the value of the pixel
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365 float pixel;
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366 if (pixelReader.GetFloatValue(
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367 pixel, static_cast<float>(ix), static_cast<float>(iy)))
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368 {
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369 if (MIP)
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370 {
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371 // MIP rendering
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372 if (*qcount == 0)
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373 {
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374 (*qacc) = pixel;
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375 (*qcount) = 1;
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376 }
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377 else if (pixel > *qacc)
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378 {
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379 (*qacc) = pixel;
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380 }
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381 }
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382 else
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383 {
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384 // Mean intensity
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385 (*qacc) += pixel;
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386 (*qcount) ++;
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387 }
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388 }
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389 }
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390
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391 qacc++;
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392 qcount++;
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393 }
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394 }
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395 }
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396
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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397
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
398 typedef Orthanc::PixelTraits<TargetFormat> TargetTraits;
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399
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400 // "Flatten" the accumulator image to create the target image
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diff changeset
401 for (unsigned int y = 0; y < targetHeight; y++)
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diff changeset
402 {
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403 const float *qacc = reinterpret_cast<const float*>(accumulator.GetConstRow(y));
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diff changeset
404 const uint16_t *qcount = reinterpret_cast<const uint16_t*>(counter.GetConstRow(y));
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diff changeset
405 typename TargetTraits::PixelType *p = reinterpret_cast<typename TargetTraits::PixelType*>(target.GetRow(y));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
406
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diff changeset
407 for (unsigned int x = 0; x < targetWidth; x++)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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diff changeset
408 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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409 if (*qcount == 0)
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410 {
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411 TargetTraits::SetZero(*p);
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412 }
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413 else
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414 {
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415 TargetTraits::FloatToPixel(*p, *qacc / static_cast<float>(*qcount));
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416 }
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417
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418 p++;
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419 qacc++;
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420 qcount++;
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421 }
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422 }
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423 }
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424
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425
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426 Orthanc::ImageAccessor*
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427 FiniteProjectiveCamera::ApplyRaytracer(const ImageBuffer3D& source,
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428 const VolumeImageGeometry& geometry,
192
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429 Orthanc::PixelFormat targetFormat,
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430 unsigned int targetWidth,
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431 unsigned int targetHeight,
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432 bool mip) const
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433 {
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434 // TODO - We consider the axial projection of the volume, but we
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435 // should choose the projection that is the "most perpendicular"
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436 // to the line joining the camera center and the principal point
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437 const VolumeProjection projection = VolumeProjection_Axial;
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438
1298
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439 std::unique_ptr<Orthanc::ImageAccessor> target
192
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440 (new Orthanc::Image(targetFormat, targetWidth, targetHeight, false));
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441
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442 if (targetFormat == Orthanc::PixelFormat_Grayscale16 &&
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443 source.GetFormat() == Orthanc::PixelFormat_Grayscale16 && mip)
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444 {
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445 ApplyRaytracerInternal<Orthanc::PixelFormat_Grayscale16,
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446 Orthanc::PixelFormat_Grayscale16, true>
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447 (*target, *this, source, geometry, projection);
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448 }
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449 else if (targetFormat == Orthanc::PixelFormat_Grayscale16 &&
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
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450 source.GetFormat() == Orthanc::PixelFormat_Grayscale16 && !mip)
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451 {
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452 ApplyRaytracerInternal<Orthanc::PixelFormat_Grayscale16,
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453 Orthanc::PixelFormat_Grayscale16, false>
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c3bbb130abc4 removing dependencies in ImageBuffer3D
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454 (*target, *this, source, geometry, projection);
192
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455 }
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456 else
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457 {
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458 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
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459 }
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460
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461 return target.release();
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462 }
161
197a5ddaf68c FiniteProjectiveCamera
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463 }