Mercurial > hg > orthanc-stone
annotate OrthancStone/Sources/Toolbox/CoordinateSystem3D.cpp @ 1640:52b8b96cb55f
cleaning namespaces
| author | Sebastien Jodogne <s.jodogne@gmail.com> |
|---|---|
| date | Tue, 10 Nov 2020 16:55:22 +0100 |
| parents | 78509230f0d7 |
| children | 4a43106bc122 |
| rev | line source |
|---|---|
| 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) 2017-2020 Osimis S.A., Belgium |
| 0 | 6 * |
| 7 * This program is free software: you can redistribute it and/or | |
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8 * modify it under the terms of the GNU Lesser General Public License |
| 47 | 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 | |
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14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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15 * Lesser General Public License for more details. |
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16 * |
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17 * You should have received a copy of the GNU Lesser General Public |
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18 * License along with this program. If not, see |
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19 * <http://www.gnu.org/licenses/>. |
| 0 | 20 **/ |
| 21 | |
| 22 | |
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23 #include "CoordinateSystem3D.h" |
| 0 | 24 |
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25 #include "LinearAlgebra.h" |
| 0 | 26 #include "GeometryToolbox.h" |
| 27 | |
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28 #include <Logging.h> |
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29 #include <Toolbox.h> |
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30 #include <OrthancException.h> |
| 0 | 31 |
| 32 namespace OrthancStone | |
| 33 { | |
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34 void CoordinateSystem3D::CheckAndComputeNormal() |
| 0 | 35 { |
| 36 // DICOM expects normal vectors to define the axes: "The row and | |
| 37 // column direction cosine vectors shall be normal, i.e., the dot | |
| 38 // product of each direction cosine vector with itself shall be | |
| 39 // unity." | |
| 40 // http://dicom.nema.org/medical/dicom/current/output/chtml/part03/sect_C.7.6.2.html | |
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41 if (!LinearAlgebra::IsNear(boost::numeric::ublas::norm_2(axisX_), 1.0) || |
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42 !LinearAlgebra::IsNear(boost::numeric::ublas::norm_2(axisY_), 1.0)) |
| 0 | 43 { |
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44 LOG(WARNING) << "Invalid 3D geometry: Axes are not normal vectors"; |
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45 SetupCanonical(); |
| 0 | 46 } |
| 47 | |
| 48 // The vectors within "Image Orientation Patient" must be | |
| 49 // orthogonal, according to the DICOM specification: "The row and | |
| 50 // column direction cosine vectors shall be orthogonal, i.e., | |
| 51 // their dot product shall be zero." | |
| 52 // http://dicom.nema.org/medical/dicom/current/output/chtml/part03/sect_C.7.6.2.html | |
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53 else if (!LinearAlgebra::IsCloseToZero(boost::numeric::ublas::inner_prod(axisX_, axisY_))) |
| 0 | 54 { |
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55 LOG(WARNING) << "Invalid 3D geometry: Image orientation patient is not orthogonal"; |
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56 SetupCanonical(); |
| 0 | 57 } |
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58 else |
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59 { |
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60 LinearAlgebra::CrossProduct(normal_, axisX_, axisY_); |
| 0 | 61 |
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62 d_ = -(normal_[0] * origin_[0] + normal_[1] * origin_[1] + normal_[2] * origin_[2]); |
| 0 | 63 |
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64 // Just a sanity check, it should be useless by construction |
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65 assert(LinearAlgebra::IsNear(boost::numeric::ublas::norm_2(normal_), 1.0)); |
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66 } |
| 0 | 67 } |
| 68 | |
| 69 | |
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70 void CoordinateSystem3D::SetupCanonical() |
| 0 | 71 { |
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72 valid_ = false; |
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73 |
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74 LinearAlgebra::AssignVector(origin_, 0, 0, 0); |
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75 LinearAlgebra::AssignVector(axisX_, 1, 0, 0); |
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76 LinearAlgebra::AssignVector(axisY_, 0, 1, 0); |
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77 LinearAlgebra::AssignVector(normal_, 0, 0, 1); |
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78 d_ = 0; |
| 0 | 79 } |
| 80 | |
| 81 | |
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82 CoordinateSystem3D::CoordinateSystem3D(const Vector& origin, |
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83 const Vector& axisX, |
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84 const Vector& axisY) : |
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85 valid_(true), |
| 0 | 86 origin_(origin), |
| 87 axisX_(axisX), | |
| 88 axisY_(axisY) | |
| 89 { | |
| 90 CheckAndComputeNormal(); | |
| 91 } | |
| 92 | |
| 93 | |
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94 void CoordinateSystem3D::Setup(const std::string& imagePositionPatient, |
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95 const std::string& imageOrientationPatient) |
| 0 | 96 { |
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97 valid_ = true; |
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98 |
| 0 | 99 std::string tmpPosition = Orthanc::Toolbox::StripSpaces(imagePositionPatient); |
| 100 std::string tmpOrientation = Orthanc::Toolbox::StripSpaces(imageOrientationPatient); | |
| 101 | |
| 102 Vector orientation; | |
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103 if (!LinearAlgebra::ParseVector(origin_, tmpPosition) || |
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104 !LinearAlgebra::ParseVector(orientation, tmpOrientation) || |
| 0 | 105 origin_.size() != 3 || |
| 106 orientation.size() != 6) | |
| 107 { | |
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108 LOG(WARNING) << "Bad 3D geometry: image position/orientation patient: \"" |
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109 << tmpPosition << "\" / \"" << tmpOrientation << "\""; |
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110 SetupCanonical(); |
| 0 | 111 } |
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112 else |
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113 { |
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114 axisX_.resize(3); |
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115 axisX_[0] = orientation[0]; |
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116 axisX_[1] = orientation[1]; |
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117 axisX_[2] = orientation[2]; |
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119 axisY_.resize(3); |
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120 axisY_[0] = orientation[3]; |
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121 axisY_[1] = orientation[4]; |
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122 axisY_[2] = orientation[5]; |
| 0 | 123 |
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124 CheckAndComputeNormal(); |
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125 } |
| 0 | 126 } |
| 127 | |
| 128 | |
| 1504 | 129 CoordinateSystem3D::CoordinateSystem3D(const IDicomDataset& dicom) |
| 0 | 130 { |
| 32 | 131 std::string a, b; |
| 132 | |
| 1571 | 133 if (dicom.GetStringValue(a, DicomPath(Orthanc::DICOM_TAG_IMAGE_POSITION_PATIENT)) && |
| 134 dicom.GetStringValue(b, DicomPath(Orthanc::DICOM_TAG_IMAGE_ORIENTATION_PATIENT))) | |
| 0 | 135 { |
| 32 | 136 Setup(a, b); |
| 0 | 137 } |
| 138 else | |
| 139 { | |
| 140 SetupCanonical(); | |
| 141 } | |
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142 } |
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143 |
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144 |
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145 CoordinateSystem3D::CoordinateSystem3D(const Orthanc::DicomMap& dicom) |
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146 { |
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147 std::string a, b; |
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148 |
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149 if (dicom.LookupStringValue(a, Orthanc::DICOM_TAG_IMAGE_POSITION_PATIENT, false) && |
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150 dicom.LookupStringValue(b, Orthanc::DICOM_TAG_IMAGE_ORIENTATION_PATIENT, false)) |
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151 { |
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152 Setup(a, b); |
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153 } |
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154 else |
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155 { |
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156 SetupCanonical(); |
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157 } |
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158 } |
| 0 | 159 |
| 160 | |
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161 void CoordinateSystem3D::SetOrigin(const Vector& origin) |
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162 { |
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163 if (origin.size() != 3) |
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164 { |
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165 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); |
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166 } |
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167 else |
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168 { |
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169 origin_ = origin; |
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170 } |
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171 } |
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172 |
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173 |
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174 Vector CoordinateSystem3D::MapSliceToWorldCoordinates(double x, |
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175 double y) const |
| 0 | 176 { |
| 177 return origin_ + x * axisX_ + y * axisY_; | |
| 178 } | |
| 179 | |
| 180 | |
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181 double CoordinateSystem3D::ProjectAlongNormal(const Vector& point) const |
| 0 | 182 { |
| 183 return boost::numeric::ublas::inner_prod(point, normal_); | |
| 184 } | |
| 185 | |
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186 void CoordinateSystem3D::ProjectPoint2(double& offsetX, double& offsetY, const Vector& point) const |
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187 { |
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188 // Project the point onto the slice |
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189 double projectionX,projectionY,projectionZ; |
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190 GeometryToolbox::ProjectPointOntoPlane2(projectionX, projectionY, projectionZ, point, normal_, origin_); |
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191 |
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192 // As the axes are orthonormal vectors thanks to |
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193 // CheckAndComputeNormal(), the following dot products give the |
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194 // offset of the origin of the slice wrt. the origin of the |
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195 // reference plane https://en.wikipedia.org/wiki/Vector_projection |
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196 offsetX = axisX_[0] * (projectionX - origin_[0]) + axisX_[1] * (projectionY - origin_[1]) + axisX_[2] * (projectionZ - origin_[2]); |
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197 offsetY = axisY_[0] * (projectionX - origin_[0]) + axisY_[1] * (projectionY - origin_[1]) + axisY_[2] * (projectionZ - origin_[2]); |
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198 } |
| 0 | 199 |
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200 void CoordinateSystem3D::ProjectPoint(double& offsetX, |
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201 double& offsetY, |
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202 const Vector& point) const |
| 0 | 203 { |
| 204 // Project the point onto the slice | |
| 205 Vector projection; | |
| 206 GeometryToolbox::ProjectPointOntoPlane(projection, point, normal_, origin_); | |
| 207 | |
| 208 // As the axes are orthonormal vectors thanks to | |
| 209 // CheckAndComputeNormal(), the following dot products give the | |
| 210 // offset of the origin of the slice wrt. the origin of the | |
| 211 // reference plane https://en.wikipedia.org/wiki/Vector_projection | |
| 212 offsetX = boost::numeric::ublas::inner_prod(axisX_, projection - origin_); | |
| 213 offsetY = boost::numeric::ublas::inner_prod(axisY_, projection - origin_); | |
| 214 } | |
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215 |
| 152 | 216 bool CoordinateSystem3D::IntersectSegment(Vector& p, |
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217 const Vector& edgeFrom, |
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218 const Vector& edgeTo) const |
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219 { |
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220 return GeometryToolbox::IntersectPlaneAndSegment(p, normal_, d_, edgeFrom, edgeTo); |
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221 } |
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222 |
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223 |
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224 bool CoordinateSystem3D::IntersectLine(Vector& p, |
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225 const Vector& origin, |
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226 const Vector& direction) const |
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227 { |
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228 return GeometryToolbox::IntersectPlaneAndLine(p, normal_, d_, origin, direction); |
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229 } |
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230 |
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231 |
| 757 | 232 bool CoordinateSystem3D::ComputeDistance(double& distance, |
| 233 const CoordinateSystem3D& a, | |
| 234 const CoordinateSystem3D& b) | |
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235 { |
| 986 | 236 bool opposite = false; // Ignored |
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237 |
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238 if (GeometryToolbox::IsParallelOrOpposite(opposite, a.GetNormal(), b.GetNormal())) |
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239 { |
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240 distance = std::abs(a.ProjectAlongNormal(a.GetOrigin()) - |
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241 a.ProjectAlongNormal(b.GetOrigin())); |
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242 return true; |
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243 } |
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244 else |
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245 { |
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246 return false; |
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247 } |
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248 } |
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249 |
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250 std::ostream& operator<< (std::ostream& s, const CoordinateSystem3D& that) |
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251 { |
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252 s << "origin: " << that.origin_ << " normal: " << that.normal_ |
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253 << " axisX: " << that.axisX_ << " axisY: " << that.axisY_ |
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254 << " D: " << that.d_; |
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255 return s; |
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256 } |
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257 |
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258 |
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259 CoordinateSystem3D CoordinateSystem3D::NormalizeCuttingPlane(const CoordinateSystem3D& plane) |
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260 { |
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261 double ox, oy; |
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262 plane.ProjectPoint(ox, oy, LinearAlgebra::CreateVector(0, 0, 0)); |
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263 |
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264 CoordinateSystem3D normalized(plane); |
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265 normalized.SetOrigin(plane.MapSliceToWorldCoordinates(ox, oy)); |
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266 return normalized; |
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267 } |
| 0 | 268 } |