Mercurial > hg > orthanc-stone
annotate Framework/Toolbox/GeometryToolbox.cpp @ 156:441cfe8e7440 wasm
fill matrix
author | Sebastien Jodogne <s.jodogne@gmail.com> |
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date | Thu, 08 Feb 2018 15:22:35 +0100 |
parents | c5044bbfc303 |
children | 2309e8d86efe |
rev | line source |
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0 | 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) 2017-2018 Osimis S.A., Belgium |
0 | 6 * |
7 * This program is free software: you can redistribute it and/or | |
47 | 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. | |
0 | 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 | |
47 | 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 | |
0 | 18 * along with this program. If not, see <http://www.gnu.org/licenses/>. |
19 **/ | |
20 | |
21 | |
22 #include "GeometryToolbox.h" | |
23 | |
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24 #include <Core/Logging.h> |
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25 #include <Core/OrthancException.h> |
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26 #include <Core/Toolbox.h> |
0 | 27 |
28 #include <stdio.h> | |
29 #include <boost/lexical_cast.hpp> | |
30 | |
31 namespace OrthancStone | |
32 { | |
33 namespace GeometryToolbox | |
34 { | |
35 void Print(const Vector& v) | |
36 { | |
37 for (size_t i = 0; i < v.size(); i++) | |
38 { | |
39 printf("%8.2f\n", v[i]); | |
40 } | |
41 printf("\n"); | |
42 } | |
43 | |
44 | |
150 | 45 void Print(const Matrix& m) |
46 { | |
47 for (size_t i = 0; i < m.size1(); i++) | |
48 { | |
49 for (size_t j = 0; j < m.size2(); j++) | |
50 { | |
51 printf("%8.2f ", m(i,j)); | |
52 } | |
53 printf("\n"); | |
54 } | |
55 } | |
56 | |
57 | |
0 | 58 bool ParseVector(Vector& target, |
59 const std::string& value) | |
60 { | |
61 std::vector<std::string> items; | |
62 Orthanc::Toolbox::TokenizeString(items, value, '\\'); | |
63 | |
64 target.resize(items.size()); | |
65 | |
66 for (size_t i = 0; i < items.size(); i++) | |
67 { | |
68 try | |
69 { | |
70 target[i] = boost::lexical_cast<double>(Orthanc::Toolbox::StripSpaces(items[i])); | |
71 } | |
72 catch (boost::bad_lexical_cast&) | |
73 { | |
74 target.clear(); | |
75 return false; | |
76 } | |
77 } | |
78 | |
79 return true; | |
80 } | |
81 | |
82 | |
32 | 83 bool ParseVector(Vector& target, |
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84 const Orthanc::DicomMap& dataset, |
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85 const Orthanc::DicomTag& tag) |
32 | 86 { |
87 std::string value; | |
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88 return (dataset.CopyToString(value, tag, false) && |
32 | 89 ParseVector(target, value)); |
90 } | |
91 | |
92 | |
0 | 93 void AssignVector(Vector& v, |
94 double v1, | |
95 double v2) | |
96 { | |
97 v.resize(2); | |
98 v[0] = v1; | |
99 v[1] = v2; | |
100 } | |
101 | |
102 | |
103 void AssignVector(Vector& v, | |
104 double v1, | |
105 double v2, | |
106 double v3) | |
107 { | |
108 v.resize(3); | |
109 v[0] = v1; | |
110 v[1] = v2; | |
111 v[2] = v3; | |
112 } | |
113 | |
114 | |
115 bool IsNear(double x, | |
116 double y) | |
117 { | |
118 // As most input is read as single-precision numbers, we take the | |
119 // epsilon machine for float32 into consideration to compare numbers | |
120 return IsNear(x, y, 10.0 * std::numeric_limits<float>::epsilon()); | |
121 } | |
122 | |
123 | |
124 void NormalizeVector(Vector& u) | |
125 { | |
126 double norm = boost::numeric::ublas::norm_2(u); | |
127 if (!IsCloseToZero(norm)) | |
128 { | |
129 u = u / norm; | |
130 } | |
131 } | |
132 | |
133 | |
134 void CrossProduct(Vector& result, | |
135 const Vector& u, | |
136 const Vector& v) | |
137 { | |
138 if (u.size() != 3 || | |
139 v.size() != 3) | |
140 { | |
141 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
142 } | |
143 | |
144 result.resize(3); | |
145 | |
146 result[0] = u[1] * v[2] - u[2] * v[1]; | |
147 result[1] = u[2] * v[0] - u[0] * v[2]; | |
148 result[2] = u[0] * v[1] - u[1] * v[0]; | |
149 } | |
150 | |
151 | |
152 void ProjectPointOntoPlane(Vector& result, | |
153 const Vector& point, | |
154 const Vector& planeNormal, | |
155 const Vector& planeOrigin) | |
156 { | |
157 double norm = boost::numeric::ublas::norm_2(planeNormal); | |
158 if (IsCloseToZero(norm)) | |
159 { | |
160 // Division by zero | |
161 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
162 } | |
163 | |
164 // Make sure the norm of the normal is 1 | |
165 Vector n; | |
166 n = planeNormal / norm; | |
167 | |
168 // Algebraic form of line–plane intersection, where the line passes | |
169 // through "point" along the direction "normal" (thus, l == n) | |
170 // https://en.wikipedia.org/wiki/Line%E2%80%93plane_intersection#Algebraic_form | |
171 result = boost::numeric::ublas::inner_prod(planeOrigin - point, n) * n + point; | |
172 } | |
173 | |
174 | |
175 | |
176 bool IsParallelOrOpposite(bool& isOpposite, | |
177 const Vector& u, | |
178 const Vector& v) | |
179 { | |
180 // The dot product of the two vectors gives the cosine of the angle | |
181 // between the vectors | |
182 // https://en.wikipedia.org/wiki/Dot_product | |
183 | |
184 double normU = boost::numeric::ublas::norm_2(u); | |
185 double normV = boost::numeric::ublas::norm_2(v); | |
186 | |
187 if (IsCloseToZero(normU) || | |
188 IsCloseToZero(normV)) | |
189 { | |
190 return false; | |
191 } | |
192 | |
193 double cosAngle = boost::numeric::ublas::inner_prod(u, v) / (normU * normV); | |
194 | |
195 // The angle must be zero, so the cosine must be almost equal to | |
196 // cos(0) == 1 (or cos(180) == -1 if allowOppositeDirection == true) | |
197 | |
198 if (IsCloseToZero(cosAngle - 1.0)) | |
199 { | |
200 isOpposite = false; | |
201 return true; | |
202 } | |
203 else if (IsCloseToZero(fabs(cosAngle) - 1.0)) | |
204 { | |
205 isOpposite = true; | |
206 return true; | |
207 } | |
208 else | |
209 { | |
210 return false; | |
211 } | |
212 } | |
213 | |
214 | |
215 bool IsParallel(const Vector& u, | |
216 const Vector& v) | |
217 { | |
218 bool isOpposite; | |
219 return (IsParallelOrOpposite(isOpposite, u, v) && | |
220 !isOpposite); | |
221 } | |
222 | |
223 | |
224 bool IntersectTwoPlanes(Vector& p, | |
225 Vector& direction, | |
226 const Vector& origin1, | |
227 const Vector& normal1, | |
228 const Vector& origin2, | |
229 const Vector& normal2) | |
230 { | |
231 // This is "Intersection of 2 Planes", possibility "(C) 3 Plane | |
232 // Intersect Point" of: | |
233 // http://geomalgorithms.com/a05-_intersect-1.html | |
234 | |
235 // The direction of the line of intersection is orthogonal to the | |
236 // normal of both planes | |
237 CrossProduct(direction, normal1, normal2); | |
238 | |
239 double norm = boost::numeric::ublas::norm_2(direction); | |
240 if (IsCloseToZero(norm)) | |
241 { | |
242 // The two planes are parallel or coincident | |
243 return false; | |
244 } | |
245 | |
246 double d1 = -boost::numeric::ublas::inner_prod(normal1, origin1); | |
247 double d2 = -boost::numeric::ublas::inner_prod(normal2, origin2); | |
248 Vector tmp = d2 * normal1 - d1 * normal2; | |
249 | |
250 CrossProduct(p, tmp, direction); | |
251 p /= norm; | |
252 | |
253 return true; | |
254 } | |
255 | |
256 | |
257 bool ClipLineToRectangle(double& x1, // Coordinates of the clipped line (out) | |
258 double& y1, | |
259 double& x2, | |
260 double& y2, | |
261 const double ax, // Two points defining the line (in) | |
262 const double ay, | |
263 const double bx, | |
264 const double by, | |
265 const double& xmin, // Coordinates of the rectangle (in) | |
266 const double& ymin, | |
267 const double& xmax, | |
268 const double& ymax) | |
269 { | |
270 // This is Skala algorithm for rectangles, "A new approach to line | |
271 // and line segment clipping in homogeneous coordinates" | |
272 // (2005). This is a direct, non-optimized translation of Algorithm | |
273 // 2 in the paper. | |
274 | |
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275 static const uint8_t tab1[16] = { 255 /* none */, |
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276 0, |
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277 0, |
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278 1, |
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279 1, |
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280 255 /* na */, |
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281 0, |
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282 2, |
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283 2, |
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284 0, |
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285 255 /* na */, |
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286 1, |
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287 1, |
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288 0, |
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289 0, |
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290 255 /* none */ }; |
0 | 291 |
292 | |
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293 static const uint8_t tab2[16] = { 255 /* none */, |
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294 3, |
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295 1, |
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296 3, |
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297 2, |
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298 255 /* na */, |
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299 2, |
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300 3, |
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301 3, |
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302 2, |
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303 255 /* na */, |
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304 2, |
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305 3, |
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306 1, |
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307 3, |
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308 255 /* none */ }; |
0 | 309 |
310 // Create the coordinates of the rectangle | |
311 Vector x[4]; | |
312 AssignVector(x[0], xmin, ymin, 1.0); | |
313 AssignVector(x[1], xmax, ymin, 1.0); | |
314 AssignVector(x[2], xmax, ymax, 1.0); | |
315 AssignVector(x[3], xmin, ymax, 1.0); | |
316 | |
317 // Move to homogoneous coordinates in 2D | |
318 Vector p; | |
319 | |
320 { | |
321 Vector a, b; | |
322 AssignVector(a, ax, ay, 1.0); | |
323 AssignVector(b, bx, by, 1.0); | |
324 CrossProduct(p, a, b); | |
325 } | |
326 | |
327 uint8_t c = 0; | |
328 | |
329 for (unsigned int k = 0; k < 4; k++) | |
330 { | |
331 if (boost::numeric::ublas::inner_prod(p, x[k]) >= 0) | |
332 { | |
333 c |= (1 << k); | |
334 } | |
335 } | |
336 | |
337 assert(c < 16); | |
338 | |
339 uint8_t i = tab1[c]; | |
340 uint8_t j = tab2[c]; | |
341 | |
342 if (i == 255 || j == 255) | |
343 { | |
344 return false; // No intersection | |
345 } | |
346 else | |
347 { | |
348 Vector a, b, e; | |
349 CrossProduct(e, x[i], x[(i + 1) % 4]); | |
350 CrossProduct(a, p, e); | |
351 CrossProduct(e, x[j], x[(j + 1) % 4]); | |
352 CrossProduct(b, p, e); | |
353 | |
354 // Go back to non-homogeneous coordinates | |
355 x1 = a[0] / a[2]; | |
356 y1 = a[1] / a[2]; | |
357 x2 = b[0] / b[2]; | |
358 y2 = b[1] / b[2]; | |
359 | |
360 return true; | |
361 } | |
362 } | |
32 | 363 |
364 | |
365 void GetPixelSpacing(double& spacingX, | |
366 double& spacingY, | |
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367 const Orthanc::DicomMap& dicom) |
32 | 368 { |
369 Vector v; | |
370 | |
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371 if (ParseVector(v, dicom, Orthanc::DICOM_TAG_PIXEL_SPACING)) |
32 | 372 { |
373 if (v.size() != 2 || | |
374 v[0] <= 0 || | |
375 v[1] <= 0) | |
376 { | |
377 LOG(ERROR) << "Bad value for PixelSpacing tag"; | |
378 throw Orthanc::OrthancException(Orthanc::ErrorCode_BadFileFormat); | |
379 } | |
380 else | |
381 { | |
382 spacingX = v[0]; | |
383 spacingY = v[1]; | |
384 } | |
385 } | |
386 else | |
387 { | |
388 // The "PixelSpacing" is of type 1C: It could be absent, use | |
389 // default value in such a case | |
390 spacingX = 1; | |
391 spacingY = 1; | |
392 } | |
393 } | |
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394 |
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395 |
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396 Matrix CreateRotationMatrixAlongX(double a) |
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397 { |
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398 // Rotate along X axis (R_x) |
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399 // https://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations |
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400 Matrix r(3, 3); |
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401 r(0,0) = 1; |
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402 r(0,1) = 0; |
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403 r(0,2) = 0; |
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404 r(1,0) = 0; |
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405 r(1,1) = cos(a); |
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406 r(1,2) = -sin(a); |
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407 r(2,0) = 0; |
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408 r(2,1) = sin(a); |
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409 r(2,2) = cos(a); |
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410 return r; |
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411 } |
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412 |
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413 |
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414 Matrix CreateRotationMatrixAlongY(double a) |
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415 { |
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416 // Rotate along Y axis (R_y) |
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417 // https://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations |
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418 Matrix r(3, 3); |
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419 r(0,0) = cos(a); |
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420 r(0,1) = 0; |
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421 r(0,2) = sin(a); |
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422 r(1,0) = 0; |
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423 r(1,1) = 1; |
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424 r(1,2) = 0; |
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425 r(2,0) = -sin(a); |
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426 r(2,1) = 0; |
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427 r(2,2) = cos(a); |
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428 return r; |
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429 } |
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430 |
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431 |
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432 Matrix CreateRotationMatrixAlongZ(double a) |
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433 { |
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434 // Rotate along Z axis (R_z) |
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435 // https://en.wikipedia.org/wiki/Rotation_matrix#Basic_rotations |
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436 Matrix r(3, 3); |
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437 r(0,0) = cos(a); |
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438 r(0,1) = -sin(a); |
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439 r(0,2) = 0; |
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440 r(1,0) = sin(a); |
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441 r(1,1) = cos(a); |
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442 r(1,2) = 0; |
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443 r(2,0) = 0; |
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444 r(2,1) = 0; |
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445 r(2,2) = 1; |
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446 return r; |
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447 } |
151
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448 |
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449 |
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450 bool IntersectPlaneAndSegment(Vector& p, |
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451 const Vector& normal, |
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452 double d, |
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453 const Vector& edgeFrom, |
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454 const Vector& edgeTo) |
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455 { |
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456 // http://geomalgorithms.com/a05-_intersect-1.html#Line-Plane-Intersection |
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457 |
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458 // Check for parallel line and plane |
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459 Vector direction = edgeTo - edgeFrom; |
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460 double denominator = boost::numeric::ublas::inner_prod(direction, normal); |
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461 |
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462 if (fabs(denominator) < 100.0 * std::numeric_limits<double>::epsilon()) |
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463 { |
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464 return false; |
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465 } |
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466 else |
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467 { |
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468 // Compute intersection |
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469 double t = -(normal[0] * edgeFrom[0] + |
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470 normal[1] * edgeFrom[1] + |
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471 normal[2] * edgeFrom[2] + d) / denominator; |
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472 |
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473 if (t >= 0 && t <= 1) |
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474 { |
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475 // The intersection lies inside edge segment |
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476 p = edgeFrom + t * direction; |
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477 return true; |
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478 } |
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479 else |
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480 { |
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481 return false; |
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482 } |
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483 } |
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484 } |
156 | 485 |
486 | |
487 void FillMatrix(Matrix& target, | |
488 size_t rows, | |
489 size_t columns, | |
490 const double values[]) | |
491 { | |
492 target.resize(rows, columns); | |
493 | |
494 size_t index = 0; | |
495 | |
496 for (size_t y = 0; y < rows; y++) | |
497 { | |
498 for (size_t x = 0; x < columns; x++, index++) | |
499 { | |
500 target(y, x) = values[index]; | |
501 } | |
502 } | |
503 } | |
504 | |
505 | |
506 void FillVector(Vector& target, | |
507 size_t size, | |
508 const double values[]) | |
509 { | |
510 target.resize(size); | |
511 | |
512 for (size_t i = 0; i < size; i++) | |
513 { | |
514 target[i] = values[i]; | |
515 } | |
516 } | |
517 | |
518 | |
519 void Convert(Matrix& target, | |
520 const Vector& source) | |
521 { | |
522 const size_t n = source.size(); | |
523 | |
524 target.resize(n, 1); | |
525 | |
526 for (size_t i = 0; i < n; i++) | |
527 { | |
528 target(i, 0) = source[i]; | |
529 } | |
530 } | |
0 | 531 } |
532 } |