Mercurial > hg > orthanc-stone
annotate Framework/Toolbox/FiniteProjectiveCamera.cpp @ 188:45b03b04a777 wasm
calibration of FiniteProjectiveCamera
| author | Sebastien Jodogne <s.jodogne@gmail.com> |
|---|---|
| date | Fri, 16 Mar 2018 13:02:17 +0100 |
| parents | 197a5ddaf68c |
| children | 964118e7e6de |
| rev | line source |
|---|---|
| 161 | 1 /** |
| 2 * Stone of Orthanc | |
| 3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics | |
| 4 * Department, University Hospital of Liege, Belgium | |
| 5 * Copyright (C) 2017-2018 Osimis S.A., Belgium | |
| 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 |
| 161 | 26 #include <Core/Logging.h> |
| 27 #include <Core/OrthancException.h> | |
| 28 | |
| 29 namespace OrthancStone | |
| 30 { | |
| 31 void FiniteProjectiveCamera::ComputeMInverse() | |
| 32 { | |
| 33 using namespace boost::numeric::ublas; | |
| 34 | |
| 35 // inv(M) = inv(K * R) = inv(R) * inv(K) = R' * inv(K). This | |
| 36 // matrix is always invertible, by definition of finite | |
| 37 // projective cameras (page 157). | |
| 38 Matrix kinv; | |
| 39 LinearAlgebra::InvertUpperTriangularMatrix(kinv, k_); | |
| 40 minv_ = prod(trans(r_), kinv); | |
| 41 } | |
| 42 | |
| 43 | |
| 44 void FiniteProjectiveCamera::Setup(const Matrix& k, | |
| 45 const Matrix& r, | |
| 46 const Vector& c) | |
| 47 { | |
| 48 if (k.size1() != 3 || | |
| 49 k.size2() != 3 || | |
| 50 !LinearAlgebra::IsCloseToZero(k(1, 0)) || | |
| 51 !LinearAlgebra::IsCloseToZero(k(2, 0)) || | |
| 52 !LinearAlgebra::IsCloseToZero(k(2, 1))) | |
| 53 { | |
| 54 LOG(ERROR) << "Invalid intrinsic parameters"; | |
| 55 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
| 56 } | |
| 57 | |
| 58 if (r.size1() != 3 || | |
| 59 r.size2() != 3) | |
| 60 { | |
| 61 LOG(ERROR) << "Invalid size for a 3D rotation matrix"; | |
| 62 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
| 63 } | |
| 64 | |
| 65 if (!LinearAlgebra::IsRotationMatrix(r, 100.0 * std::numeric_limits<float>::epsilon())) | |
| 66 { | |
| 67 LOG(ERROR) << "Invalid rotation matrix"; | |
| 68 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
| 69 } | |
| 70 | |
| 71 if (c.size() != 3) | |
| 72 { | |
| 73 LOG(ERROR) << "Invalid camera center"; | |
| 74 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
| 75 } | |
| 76 | |
| 77 k_ = k; | |
| 78 r_ = r; | |
| 79 c_ = c; | |
| 80 | |
| 81 ComputeMInverse(); | |
| 82 | |
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83 Matrix tmp = LinearAlgebra::IdentityMatrix(3); |
| 161 | 84 tmp.resize(3, 4); |
| 85 tmp(0, 3) = -c[0]; | |
| 86 tmp(1, 3) = -c[1]; | |
| 87 tmp(2, 3) = -c[2]; | |
| 88 | |
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89 p_ = LinearAlgebra::Product(k, r, tmp); |
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90 |
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91 assert(p_.size1() == 3 && |
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92 p_.size2() == 4); |
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93 |
| 161 | 94 } |
| 95 | |
| 96 | |
| 97 void FiniteProjectiveCamera::Setup(const Matrix& p) | |
| 98 { | |
| 99 if (p.size1() != 3 || | |
| 100 p.size2() != 4) | |
| 101 { | |
| 102 LOG(ERROR) << "Invalid camera matrix"; | |
| 103 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
| 104 } | |
| 105 | |
| 106 p_ = p; | |
| 107 | |
| 108 // M is the left 3x3 submatrix of "P" | |
| 109 Matrix m = p; | |
| 110 m.resize(3, 3); | |
| 111 | |
| 112 // p4 is the last column of "P" | |
| 113 Vector p4(3); | |
| 114 p4[0] = p(0, 3); | |
| 115 p4[1] = p(1, 3); | |
| 116 p4[2] = p(2, 3); | |
| 117 | |
| 118 // The RQ decomposition is explained on page 157 | |
| 119 LinearAlgebra::RQDecomposition3x3(k_, r_, m); | |
| 120 ComputeMInverse(); | |
| 121 | |
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122 c_ = LinearAlgebra::Product(-minv_, p4); |
| 161 | 123 } |
| 124 | |
| 125 | |
| 126 FiniteProjectiveCamera::FiniteProjectiveCamera(const double k[9], | |
| 127 const double r[9], | |
| 128 const double c[3]) | |
| 129 { | |
| 130 Matrix kk, rr; | |
| 131 Vector cc; | |
| 132 | |
| 133 LinearAlgebra::FillMatrix(kk, 3, 3, k); | |
| 134 LinearAlgebra::FillMatrix(rr, 3, 3, r); | |
| 135 LinearAlgebra::FillVector(cc, 3, c); | |
| 136 | |
| 137 Setup(kk, rr, cc); | |
| 138 } | |
| 139 | |
| 140 | |
| 141 FiniteProjectiveCamera::FiniteProjectiveCamera(const double p[12]) | |
| 142 { | |
| 143 Matrix pp; | |
| 144 LinearAlgebra::FillMatrix(pp, 3, 4, p); | |
| 145 Setup(pp); | |
| 146 } | |
| 147 | |
| 148 | |
| 149 Vector FiniteProjectiveCamera::GetRayDirection(double x, | |
| 150 double y) const | |
| 151 { | |
| 152 // This derives from Equation (6.14) on page 162, taking "mu = | |
| 153 // 1" and noticing that "-inv(M)*p4" corresponds to the camera | |
| 154 // center in finite projective cameras | |
| 155 | |
| 156 // The (x,y) coordinates on the imaged plane, as an homogeneous vector | |
| 157 Vector xx(3); | |
| 158 xx[0] = x; | |
| 159 xx[1] = y; | |
| 160 xx[2] = 1.0; | |
| 161 | |
| 162 return boost::numeric::ublas::prod(minv_, xx); | |
| 163 } | |
| 164 | |
| 165 | |
| 166 | |
| 167 static Vector SetupApply(const Vector& v, | |
| 168 bool infinityAllowed) | |
| 169 { | |
| 170 if (v.size() == 3) | |
| 171 { | |
| 172 // Vector "v" in non-homogeneous coordinates, add the homogeneous component | |
| 173 Vector vv; | |
| 174 LinearAlgebra::AssignVector(vv, v[0], v[1], v[2], 1.0); | |
| 175 return vv; | |
| 176 } | |
| 177 else if (v.size() == 4) | |
| 178 { | |
| 179 // Vector "v" is already in homogeneous coordinates | |
| 180 | |
| 181 if (!infinityAllowed && | |
| 182 LinearAlgebra::IsCloseToZero(v[3])) | |
| 183 { | |
| 184 LOG(ERROR) << "Cannot apply a finite projective camera to a " | |
| 185 << "point at infinity with this method"; | |
| 186 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
| 187 } | |
| 188 | |
| 189 return v; | |
| 190 } | |
| 191 else | |
| 192 { | |
| 193 LOG(ERROR) << "The input vector must represent a point in 3D"; | |
| 194 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
| 195 } | |
| 196 } | |
| 197 | |
| 198 | |
| 199 void FiniteProjectiveCamera::ApplyFinite(double& x, | |
| 200 double& y, | |
| 201 const Vector& v) const | |
| 202 { | |
| 203 Vector p = boost::numeric::ublas::prod(p_, SetupApply(v, false)); | |
| 204 | |
| 205 if (LinearAlgebra::IsCloseToZero(p[2])) | |
| 206 { | |
| 207 // Point at infinity: Should not happen with a finite input point | |
| 208 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError); | |
| 209 } | |
| 210 else | |
| 211 { | |
| 212 x = p[0] / p[2]; | |
| 213 y = p[1] / p[2]; | |
| 214 } | |
| 215 } | |
| 216 | |
| 217 | |
| 218 Vector FiniteProjectiveCamera::ApplyGeneral(const Vector& v) const | |
| 219 { | |
| 220 return boost::numeric::ublas::prod(p_, SetupApply(v, true)); | |
| 221 } | |
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222 |
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223 |
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224 static Vector AddHomogeneousCoordinate(const Vector& p) |
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225 { |
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226 assert(p.size() == 3); |
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227 return LinearAlgebra::CreateVector(p[0], p[1], p[2], 1); |
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228 } |
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229 |
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230 |
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231 FiniteProjectiveCamera::FiniteProjectiveCamera(const Vector& camera, |
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232 const Vector& principalPoint, |
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233 double angle, |
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234 unsigned int imageWidth, |
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235 unsigned int imageHeight, |
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236 double pixelSpacingX, |
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237 double pixelSpacingY) |
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238 { |
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239 if (camera.size() != 3 || |
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240 principalPoint.size() != 3 || |
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241 LinearAlgebra::IsCloseToZero(pixelSpacingX) || |
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242 LinearAlgebra::IsCloseToZero(pixelSpacingY)) |
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243 { |
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244 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); |
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245 } |
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246 |
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247 const double focal = boost::numeric::ublas::norm_2(camera - principalPoint); |
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248 |
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249 if (LinearAlgebra::IsCloseToZero(focal)) |
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250 { |
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251 LOG(ERROR) << "Camera lies on the image plane"; |
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252 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); |
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253 } |
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254 |
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255 Matrix a; |
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256 LinearAlgebra::AlignVectorsWithRotation(a, camera - principalPoint, |
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257 LinearAlgebra::CreateVector(0, 0, -1)); |
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258 |
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259 Matrix r = LinearAlgebra::Product(GeometryToolbox::CreateRotationMatrixAlongZ(angle), a); |
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260 |
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261 Matrix k = LinearAlgebra::ZeroMatrix(3, 3); |
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262 k(0,0) = focal / pixelSpacingX; |
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263 k(1,1) = focal / pixelSpacingY; |
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264 k(0,2) = static_cast<double>(imageWidth) / 2.0; |
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265 k(1,2) = static_cast<double>(imageHeight) / 2.0; |
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266 k(2,2) = 1; |
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267 |
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268 Setup(k, r, camera); |
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269 |
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270 { |
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271 // Sanity checks |
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272 Vector v1 = LinearAlgebra::Product(p_, AddHomogeneousCoordinate(camera)); |
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273 Vector v2 = LinearAlgebra::Product(p_, AddHomogeneousCoordinate(principalPoint)); |
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274 |
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275 if (!LinearAlgebra::IsCloseToZero(v1[2]) || // Camera is mapped to singularity |
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276 LinearAlgebra::IsCloseToZero(v2[2])) |
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277 { |
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278 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError); |
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279 } |
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280 |
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281 // The principal point must be mapped to the center of the image |
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282 v2 /= v2[2]; |
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283 |
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284 if (!LinearAlgebra::IsNear(v2[0], static_cast<double>(imageWidth) / 2.0) || |
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285 !LinearAlgebra::IsNear(v2[1], static_cast<double>(imageHeight) / 2.0)) |
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parents:
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286 { |
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287 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError); |
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parents:
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288 } |
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Sebastien Jodogne <s.jodogne@gmail.com>
parents:
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289 } |
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Sebastien Jodogne <s.jodogne@gmail.com>
parents:
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290 } |
| 161 | 291 } |