Mercurial > hg > orthanc-stone

annotate Framework/Toolbox/ShearWarpProjectiveTransform.cpp @ 191:46cb2eedc2e0 wasm

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
ShearWarpProjectiveTransform
author Sebastien Jodogne <s.jodogne@gmail.com>
date Fri, 16 Mar 2018 15:01:52 +0100
parents
children 4abddd083374
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
191
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
1 /**
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
2 * Stone of Orthanc
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
4 * Department, University Hospital of Liege, Belgium
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
5 * Copyright (C) 2017-2018 Osimis S.A., Belgium
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
6 *
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
7 * This program is free software: you can redistribute it and/or
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
8 * modify it under the terms of the GNU Affero General Public License
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
9 * as published by the Free Software Foundation, either version 3 of
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
10 * the License, or (at your option) any later version.
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
11 *
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
12 * This program is distributed in the hope that it will be useful, but
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
13 * WITHOUT ANY WARRANTY; without even the implied warranty of
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
15 * Affero General Public License for more details.
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
16 *
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
17 * You should have received a copy of the GNU Affero General Public License
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
18 * along with this program. If not, see <http://www.gnu.org/licenses/>.
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
19 **/
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
20
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
21
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
22 #include "ShearWarpProjectiveTransform.h"
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
23
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
24 #include "ImageGeometry.h"
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
25 #include "Extent2D.h"
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
26 #include "FiniteProjectiveCamera.h"
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
27 #include "GeometryToolbox.h"
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
28
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
29 #include <Core/OrthancException.h>
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
30 #include <Core/Logging.h>
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
31
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
32 #include <boost/numeric/ublas/matrix_proxy.hpp>
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
33 #include <cassert>
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
34
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
35
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
36 namespace OrthancStone
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
37 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
38 static bool IsValidShear(const Matrix& M_shear)
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
39 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
40 return (LinearAlgebra::IsCloseToZero(M_shear(0, 1)) &&
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
41 LinearAlgebra::IsCloseToZero(M_shear(1, 0)) &&
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
42 LinearAlgebra::IsCloseToZero(M_shear(2, 0)) &&
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
43 LinearAlgebra::IsCloseToZero(M_shear(2, 1)) &&
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
44 LinearAlgebra::IsNear(1.0, M_shear(2, 2)) &&
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
45 LinearAlgebra::IsCloseToZero(M_shear(2, 3)) &&
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
46 LinearAlgebra::IsCloseToZero(M_shear(3, 0)) &&
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
47 LinearAlgebra::IsCloseToZero(M_shear(3, 1)) &&
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
48 LinearAlgebra::IsNear(1.0, M_shear(3, 3)));
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
49 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
50
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
51
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
52 static void ComputeShearParameters(double& scaling,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
53 double& offsetX,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
54 double& offsetY,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
55 const Matrix& shear,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
56 double z)
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
57 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
58 // Check out: ../../Resources/Computations/ComputeShearParameters.py
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
59
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
60 if (!LinearAlgebra::IsShearMatrix(shear))
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
61 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
62 LOG(ERROR) << "Not a valid shear matrix";
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
63 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
64 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
65
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
66 scaling = 1.0 / (shear(3,2) * z + 1.0);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
67 offsetX = shear(0,2) * z * scaling;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
68 offsetY = shear(1,2) * z * scaling;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
69 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
70
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
71
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
72 ShearWarpProjectiveTransform::
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
73 ShearWarpProjectiveTransform(const Matrix& M_view,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
74 //const Matrix& P, // Permutation applied to the volume
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
75 unsigned int volumeWidth,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
76 unsigned int volumeHeight,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
77 unsigned int volumeDepth,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
78 double pixelSpacingX,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
79 double pixelSpacingY,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
80 unsigned int imageWidth,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
81 unsigned int imageHeight)
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
82 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
83 eye_o.resize(4);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
84
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
85 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
86 // Find back the camera center given the "M_view" matrix
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
87 const double m11 = M_view(0, 0);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
88 const double m12 = M_view(0, 1);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
89 const double m13 = M_view(0, 2);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
90 const double m14 = M_view(0, 3);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
91 const double m21 = M_view(1, 0);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
92 const double m22 = M_view(1, 1);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
93 const double m23 = M_view(1, 2);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
94 const double m24 = M_view(1, 3);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
95 const double m41 = M_view(3, 0);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
96 const double m42 = M_view(3, 1);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
97 const double m43 = M_view(3, 2);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
98 const double m44 = M_view(3, 3);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
99
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
100 // Equations (A.8) to (A.11) on page 203. Also check out
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
101 // "Finding the camera center" in "Multiple View Geometry in
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
102 // Computer Vision - 2nd edition", page 163.
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
103 const double vx[9] = { m12, m13, m14, m22, m23, m24, m42, m43, m44 };
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
104 const double vy[9] = { m11, m13, m14, m21, m23, m24, m41, m43, m44 };
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
105 const double vz[9] = { m11, m12, m14, m21, m22, m24, m41, m42, m44 };
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
106 const double vw[9] = { m11, m12, m13, m21, m22, m23, m41, m42, m43 };
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
107
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
108 Matrix m;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
109
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
110 LinearAlgebra::FillMatrix(m, 3, 3, vx);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
111 eye_o[0] = -LinearAlgebra::ComputeDeterminant(m);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
112
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
113 LinearAlgebra::FillMatrix(m, 3, 3, vy);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
114 eye_o[1] = LinearAlgebra::ComputeDeterminant(m);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
115
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
116 LinearAlgebra::FillMatrix(m, 3, 3, vz);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
117 eye_o[2] = -LinearAlgebra::ComputeDeterminant(m);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
118
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
119 LinearAlgebra::FillMatrix(m, 3, 3, vw);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
120 eye_o[3] = LinearAlgebra::ComputeDeterminant(m);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
121
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
122 if (LinearAlgebra::IsCloseToZero(eye_o[3]))
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
123 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
124 LOG(ERROR) << "The shear-warp projective transform is not applicable to affine cameras";
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
125 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
126 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
127 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
128
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
129 #if 0
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
130 // Assume "T_shift = I" (the eye does not lie on plane k = 0)
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
131 const Matrix T_shift = LinearAlgebra::IdentityMatrix(4);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
132
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
133 // Equation (A.13) on page 204, given that the inverse of a
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
134 // permutation matrix is its transpose (TODO CHECK). If no T_shift
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
135 // or permutation P is applied, M'_view == M_view
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
136 const Matrix MM_view = LinearAlgebra::Product(
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
137 M_view,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
138 LinearAlgebra::Transpose(P),
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
139 LinearAlgebra::InvertScalingTranslationMatrix(T_shift));
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
140 #else
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
141 // This is a shortcut, as we take "T_shift = I" and "P = I"
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
142 const Matrix MM_view = M_view;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
143 #endif
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
144
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
145 // Equation (A.14) on page 207
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
146 Matrix MM_shear = LinearAlgebra::IdentityMatrix(4);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
147 MM_shear(0, 2) = -eye_o[0] / eye_o[2];
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
148 MM_shear(1, 2) = -eye_o[1] / eye_o[2];
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
149 MM_shear(3, 2) = -eye_o[3] / eye_o[2];
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
150
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
151
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
152 // Compute the extent of the intermediate image
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
153 Extent2D extent;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
154 double maxScaling = 1;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
155
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
156 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
157 // Compute the shearing factors of the two extreme planes of the
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
158 // volume (z=0 and z=volumeDepth)
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
159 double scaling, offsetX, offsetY;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
160 ComputeShearParameters(scaling, offsetX, offsetY, MM_shear, 0);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
161
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
162 if (scaling > 0)
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
163 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
164 extent.AddPoint(offsetX, offsetY);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
165 extent.AddPoint(offsetX + static_cast<double>(volumeWidth) * scaling,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
166 offsetY + static_cast<double>(volumeHeight) * scaling);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
167
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
168 if (scaling > maxScaling)
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
169 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
170 maxScaling = scaling;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
171 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
172 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
173
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
174 ComputeShearParameters(scaling, offsetX, offsetY, MM_shear, volumeDepth);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
175
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
176 if (scaling > 0)
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
177 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
178 extent.AddPoint(offsetX, offsetY);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
179 extent.AddPoint(offsetX + static_cast<double>(volumeWidth) * scaling,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
180 offsetY + static_cast<double>(volumeHeight) * scaling);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
181
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
182 if (scaling > maxScaling)
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
183 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
184 maxScaling = scaling;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
185 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
186 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
187 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
188
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
189 if (LinearAlgebra::IsCloseToZero(extent.GetWidth()) ||
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
190 LinearAlgebra::IsCloseToZero(extent.GetHeight()))
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
191 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
192 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
193 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
194
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
195 intermediateWidth_ = std::ceil(extent.GetWidth() / maxScaling);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
196 intermediateHeight_ = std::ceil(extent.GetHeight() / maxScaling);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
197
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
198 // This is the product "T * S" in Equation (A.16) on page 209
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
199 Matrix TS = LinearAlgebra::Product(
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
200 GeometryToolbox::CreateTranslationMatrix(static_cast<double>(intermediateWidth_) / 2.0,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
201 static_cast<double>(intermediateHeight_) / 2.0, 0),
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
202 GeometryToolbox::CreateScalingMatrix(1.0 / maxScaling, 1.0 / maxScaling, 1),
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
203 GeometryToolbox::CreateTranslationMatrix(-extent.GetCenterX(), -extent.GetCenterY(), 0));
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
204
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
205 // This is Equation (A.16) on page 209. WARNING: There is an
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
206 // error in Lacroute's thesis: "inv(MM_shear)" is used instead
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
207 // of "MM_shear".
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
208 M_shear = LinearAlgebra::Product(TS, MM_shear);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
209
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
210 if (!IsValidShear(M_shear))
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
211 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
212 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
213 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
214
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
215 // This is Equation (A.17) on page 209
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
216 Matrix tmp;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
217 LinearAlgebra::InvertMatrix(tmp, M_shear);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
218 M_warp = LinearAlgebra::Product(MM_view, tmp);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
219
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
220 // Intrinsic parameters of the camera
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
221 k_ = LinearAlgebra::ZeroMatrix(3, 4);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
222 k_(0, 0) = 1.0 / pixelSpacingX;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
223 k_(0, 3) = static_cast<double>(imageWidth) / 2.0;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
224 k_(1, 1) = 1.0 / pixelSpacingY;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
225 k_(1, 3) = static_cast<double>(imageHeight) / 2.0;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
226 k_(2, 3) = 1.0;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
227 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
228
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
229
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
230 FiniteProjectiveCamera *ShearWarpProjectiveTransform::CreateCamera() const
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
231 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
232 Matrix p = LinearAlgebra::Product(k_, M_warp, M_shear);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
233 return new FiniteProjectiveCamera(p);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
234 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
235
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
236
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
237 void ShearWarpProjectiveTransform::ComputeShearOnSlice(double& a11,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
238 double& b1,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
239 double& a22,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
240 double& b2,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
241 double& shearedZ,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
242 const double sourceZ)
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
243 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
244 // Check out: ../../Resources/Computations/ComputeShearOnSlice.py
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
245 assert(IsValidShear(M_shear));
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
246
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
247 const double s11 = M_shear(0, 0);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
248 const double s13 = M_shear(0, 2);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
249 const double s14 = M_shear(0, 3);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
250 const double s22 = M_shear(1, 1);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
251 const double s23 = M_shear(1, 2);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
252 const double s24 = M_shear(1, 3);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
253 const double s43 = M_shear(3, 2);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
254
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
255 double scaling = 1.0 / (s43 * sourceZ + 1.0);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
256 shearedZ = sourceZ * scaling;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
257
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
258 a11 = s11 * scaling;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
259 a22 = s22 * scaling;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
260
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
261 b1 = (s13 * sourceZ + s14) * scaling;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
262 b2 = (s23 * sourceZ + s24) * scaling;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
263 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
264
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
265
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
266 Matrix ShearWarpProjectiveTransform::CalibrateView(const Vector& camera,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
267 const Vector& principalPoint,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
268 double angle)
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
269 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
270 if (camera.size() != 3 ||
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
271 principalPoint.size() != 3)
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
272 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
273 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
274 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
275
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
276 const double sid = boost::numeric::ublas::norm_2(camera - principalPoint);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
277
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
278 Matrix a;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
279 GeometryToolbox::AlignVectorsWithRotation(a, camera - principalPoint,
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
280 LinearAlgebra::CreateVector(0, 0, -1));
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
281
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
282 Matrix r = LinearAlgebra::Product(GeometryToolbox::CreateRotationMatrixAlongZ(angle), a);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
283
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
284 a = LinearAlgebra::ZeroMatrix(4, 4);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
285 boost::numeric::ublas::subrange(a, 0, 3, 0, 3) = r;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
286
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
287 const Vector v = LinearAlgebra::Product(r, -camera);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
288 a(0, 3) = v[0];
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
289 a(1, 3) = v[1];
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
290 a(2, 3) = v[2];
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
291 a(3, 3) = 1;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
292
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
293 Matrix perspective = LinearAlgebra::ZeroMatrix(4, 4);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
294 // https://stackoverflow.com/questions/5267866/calculation-of-a-perspective-transformation-matrix
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
295 perspective(0, 0) = sid;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
296 perspective(1, 1) = sid;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
297 perspective(2, 2) = sid;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
298 perspective(3, 2) = 1;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
299
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
300 Matrix M_view = LinearAlgebra::Product(perspective, a);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
301 assert(M_view.size1() == 4 &&
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
302 M_view.size2() == 4);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
303
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
304 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
305 // Sanity checks
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
306 Vector p1 = LinearAlgebra::CreateVector(camera[0], camera[1], camera[2], 1.0);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
307 Vector p2 = LinearAlgebra::CreateVector(principalPoint[0], principalPoint[1], principalPoint[2], 1.0);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
308
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
309 Vector v1 = LinearAlgebra::Product(M_view, p1);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
310 Vector v2 = LinearAlgebra::Product(M_view, p2);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
311
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
312 if (!LinearAlgebra::IsCloseToZero(v1[3]) || // Must be mapped to singularity (w=0)
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
313 LinearAlgebra::IsCloseToZero(v2[3]))
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
314 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
315 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
316 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
317
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
318 // The principal point must be mapped to (0,0,z,1)
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
319 v2 /= v2[3];
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
320 if (!LinearAlgebra::IsCloseToZero(v2[0]) ||
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
321 !LinearAlgebra::IsCloseToZero(v2[1]))
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
322 {
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
323 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
324 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
325 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
326
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
327 return M_view;
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
328 }
46cb2eedc2e0 ShearWarpProjectiveTransform
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
329 }