Mercurial > hg > orthanc-stone

annotate Framework/Toolbox/FiniteProjectiveCamera.cpp @ 1477:5732edec7cbd

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
sorting frames in 3D
author Sebastien Jodogne <s.jodogne@gmail.com>
date Thu, 18 Jun 2020 15:48:59 +0200
parents 30deba7bc8e2
children
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
161
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
1 /**
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
2 * Stone of Orthanc
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
4 * Department, University Hospital of Liege, Belgium
1270
2d8ab34c8c91 upgrade to year 2020
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 811
diff changeset
5 * Copyright (C) 2017-2020 Osimis S.A., Belgium
161
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
6 *
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
7 * This program is free software: you can redistribute it and/or
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
8 * modify it under the terms of the GNU Affero General Public License
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
9 * as published by the Free Software Foundation, either version 3 of
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
10 * the License, or (at your option) any later version.
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
11 *
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
12 * This program is distributed in the hope that it will be useful, but
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
13 * WITHOUT ANY WARRANTY; without even the implied warranty of
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
15 * Affero General Public License for more details.
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
16 *
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
17 * You should have received a copy of the GNU Affero General Public License
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
18 * along with this program. If not, see <http://www.gnu.org/licenses/>.
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
19 **/
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
20
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
21
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
22 #include "FiniteProjectiveCamera.h"
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
23
188
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
24 #include "GeometryToolbox.h"
192
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
25 #include "SubpixelReader.h"
188
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
26
1455
30deba7bc8e2 simplifying include_directories
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 1298
diff changeset
27 #include <Logging.h>
30deba7bc8e2 simplifying include_directories
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 1298
diff changeset
28 #include <OrthancException.h>
30deba7bc8e2 simplifying include_directories
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 1298
diff changeset
29 #include <Images/Image.h>
30deba7bc8e2 simplifying include_directories
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 1298
diff changeset
30 #include <Images/ImageProcessing.h>
161
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
31
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
32 namespace OrthancStone
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
33 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
34 void FiniteProjectiveCamera::ComputeMInverse()
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
35 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
36 using namespace boost::numeric::ublas;
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
37
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
38 // inv(M) = inv(K * R) = inv(R) * inv(K) = R' * inv(K). This
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
39 // matrix is always invertible, by definition of finite
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
40 // projective cameras (page 157).
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
41 Matrix kinv;
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
42 LinearAlgebra::InvertUpperTriangularMatrix(kinv, k_);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
43 minv_ = prod(trans(r_), kinv);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
44 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
45
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
46
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
47 void FiniteProjectiveCamera::Setup(const Matrix& k,
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
48 const Matrix& r,
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
49 const Vector& c)
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
50 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
51 if (k.size1() != 3 ||
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
52 k.size2() != 3 ||
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
53 !LinearAlgebra::IsCloseToZero(k(1, 0)) ||
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
54 !LinearAlgebra::IsCloseToZero(k(2, 0)) ||
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
55 !LinearAlgebra::IsCloseToZero(k(2, 1)))
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
56 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
57 LOG(ERROR) << "Invalid intrinsic parameters";
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
58 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
59 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
60
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
61 if (r.size1() != 3 ||
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
62 r.size2() != 3)
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
63 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
64 LOG(ERROR) << "Invalid size for a 3D rotation matrix";
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
65 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
66 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
67
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
68 if (!LinearAlgebra::IsRotationMatrix(r, 100.0 * std::numeric_limits<float>::epsilon()))
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
69 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
70 LOG(ERROR) << "Invalid rotation matrix";
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
71 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
72 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
73
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
74 if (c.size() != 3)
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
75 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
76 LOG(ERROR) << "Invalid camera center";
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
77 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
78 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
79
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
80 k_ = k;
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
81 r_ = r;
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
82 c_ = c;
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
83
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
84 ComputeMInverse();
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
85
188
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
86 Matrix tmp = LinearAlgebra::IdentityMatrix(3);
161
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
87 tmp.resize(3, 4);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
88 tmp(0, 3) = -c[0];
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
89 tmp(1, 3) = -c[1];
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
90 tmp(2, 3) = -c[2];
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
91
188
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
92 p_ = LinearAlgebra::Product(k, r, tmp);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
93
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
94 assert(p_.size1() == 3 &&
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
95 p_.size2() == 4);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
96
161
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
97 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
98
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
99
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
100 void FiniteProjectiveCamera::Setup(const Matrix& p)
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
101 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
102 if (p.size1() != 3 ||
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
103 p.size2() != 4)
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
104 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
105 LOG(ERROR) << "Invalid camera matrix";
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
106 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
107 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
108
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
109 p_ = p;
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
110
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
111 // M is the left 3x3 submatrix of "P"
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
112 Matrix m = p;
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
113 m.resize(3, 3);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
114
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
115 // p4 is the last column of "P"
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
116 Vector p4(3);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
117 p4[0] = p(0, 3);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
118 p4[1] = p(1, 3);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
119 p4[2] = p(2, 3);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
120
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
121 // The RQ decomposition is explained on page 157
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
122 LinearAlgebra::RQDecomposition3x3(k_, r_, m);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
123 ComputeMInverse();
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
124
188
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
125 c_ = LinearAlgebra::Product(-minv_, p4);
161
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
126 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
127
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
128
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
129 FiniteProjectiveCamera::FiniteProjectiveCamera(const double k[9],
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
130 const double r[9],
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
131 const double c[3])
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
132 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
133 Matrix kk, rr;
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
134 Vector cc;
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
135
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
136 LinearAlgebra::FillMatrix(kk, 3, 3, k);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
137 LinearAlgebra::FillMatrix(rr, 3, 3, r);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
138 LinearAlgebra::FillVector(cc, 3, c);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
139
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
140 Setup(kk, rr, cc);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
141 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
142
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
143
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
144 FiniteProjectiveCamera::FiniteProjectiveCamera(const double p[12])
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
145 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
146 Matrix pp;
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
147 LinearAlgebra::FillMatrix(pp, 3, 4, p);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
148 Setup(pp);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
149 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
150
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
151
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
152 Vector FiniteProjectiveCamera::GetRayDirection(double x,
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
153 double y) const
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
154 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
155 // This derives from Equation (6.14) on page 162, taking "mu =
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
156 // 1" and noticing that "-inv(M)*p4" corresponds to the camera
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
157 // center in finite projective cameras
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
158
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
159 // The (x,y) coordinates on the imaged plane, as an homogeneous vector
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
160 Vector xx(3);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
161 xx[0] = x;
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
162 xx[1] = y;
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
163 xx[2] = 1.0;
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
164
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
165 return boost::numeric::ublas::prod(minv_, xx);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
166 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
167
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
168
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
169
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
170 static Vector SetupApply(const Vector& v,
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
171 bool infinityAllowed)
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
172 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
173 if (v.size() == 3)
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
174 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
175 // Vector "v" in non-homogeneous coordinates, add the homogeneous component
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
176 Vector vv;
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
177 LinearAlgebra::AssignVector(vv, v[0], v[1], v[2], 1.0);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
178 return vv;
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
179 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
180 else if (v.size() == 4)
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
181 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
182 // Vector "v" is already in homogeneous coordinates
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
183
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
184 if (!infinityAllowed &&
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
185 LinearAlgebra::IsCloseToZero(v[3]))
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
186 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
187 LOG(ERROR) << "Cannot apply a finite projective camera to a "
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
188 << "point at infinity with this method";
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
189 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
190 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
191
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
192 return v;
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
193 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
194 else
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
195 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
196 LOG(ERROR) << "The input vector must represent a point in 3D";
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
197 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
198 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
199 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
200
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
201
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
202 void FiniteProjectiveCamera::ApplyFinite(double& x,
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
203 double& y,
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
204 const Vector& v) const
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
205 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
206 Vector p = boost::numeric::ublas::prod(p_, SetupApply(v, false));
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
207
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
208 if (LinearAlgebra::IsCloseToZero(p[2]))
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
209 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
210 // Point at infinity: Should not happen with a finite input point
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
211 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
212 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
213 else
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
214 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
215 x = p[0] / p[2];
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
216 y = p[1] / p[2];
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
217 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
218 }
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
219
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
220
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
221 Vector FiniteProjectiveCamera::ApplyGeneral(const Vector& v) const
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
222 {
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
223 return boost::numeric::ublas::prod(p_, SetupApply(v, true));
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
224 }
188
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
225
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
226
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
227 static Vector AddHomogeneousCoordinate(const Vector& p)
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
228 {
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
229 assert(p.size() == 3);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
230 return LinearAlgebra::CreateVector(p[0], p[1], p[2], 1);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
231 }
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
232
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
233
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
234 FiniteProjectiveCamera::FiniteProjectiveCamera(const Vector& camera,
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
235 const Vector& principalPoint,
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
236 double angle,
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
237 unsigned int imageWidth,
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
238 unsigned int imageHeight,
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
239 double pixelSpacingX,
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
240 double pixelSpacingY)
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
241 {
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
242 if (camera.size() != 3 ||
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
243 principalPoint.size() != 3 ||
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
244 LinearAlgebra::IsCloseToZero(pixelSpacingX) ||
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
245 LinearAlgebra::IsCloseToZero(pixelSpacingY))
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
246 {
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
247 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
248 }
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
249
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
250 const double focal = boost::numeric::ublas::norm_2(camera - principalPoint);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
251
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
252 if (LinearAlgebra::IsCloseToZero(focal))
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
253 {
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
254 LOG(ERROR) << "Camera lies on the image plane";
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
255 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
256 }
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
257
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
258 Matrix a;
189
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
259 GeometryToolbox::AlignVectorsWithRotation(a, camera - principalPoint,
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
260 LinearAlgebra::CreateVector(0, 0, -1));
188
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
261
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
262 Matrix r = LinearAlgebra::Product(GeometryToolbox::CreateRotationMatrixAlongZ(angle), a);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
263
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
264 Matrix k = LinearAlgebra::ZeroMatrix(3, 3);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
265 k(0,0) = focal / pixelSpacingX;
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
266 k(1,1) = focal / pixelSpacingY;
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
267 k(0,2) = static_cast<double>(imageWidth) / 2.0;
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
268 k(1,2) = static_cast<double>(imageHeight) / 2.0;
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
269 k(2,2) = 1;
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
270
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
271 Setup(k, r, camera);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
272
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
273 {
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
274 // Sanity checks
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
275 Vector v1 = LinearAlgebra::Product(p_, AddHomogeneousCoordinate(camera));
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
276 Vector v2 = LinearAlgebra::Product(p_, AddHomogeneousCoordinate(principalPoint));
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
277
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
278 if (!LinearAlgebra::IsCloseToZero(v1[2]) || // Camera is mapped to singularity
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
279 LinearAlgebra::IsCloseToZero(v2[2]))
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
280 {
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
281 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
282 }
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
283
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
284 // The principal point must be mapped to the center of the image
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
285 v2 /= v2[2];
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
286
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
287 if (!LinearAlgebra::IsNear(v2[0], static_cast<double>(imageWidth) / 2.0) ||
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
288 !LinearAlgebra::IsNear(v2[1], static_cast<double>(imageHeight) / 2.0))
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
289 {
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
290 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
291 }
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
292 }
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
293 }
192
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
294
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
295
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
296 template <Orthanc::PixelFormat TargetFormat,
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
297 Orthanc::PixelFormat SourceFormat,
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
298 bool MIP>
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
299 static void ApplyRaytracerInternal(Orthanc::ImageAccessor& target,
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
300 const FiniteProjectiveCamera& camera,
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
301 const ImageBuffer3D& source,
735
c3bbb130abc4 removing dependencies in ImageBuffer3D
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 693
diff changeset
302 const VolumeImageGeometry& geometry,
192
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
303 VolumeProjection projection)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
304 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
305 if (source.GetFormat() != SourceFormat ||
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
306 target.GetFormat() != TargetFormat ||
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
307 !std::numeric_limits<float>::is_iec559 ||
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
308 sizeof(float) != 4)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
309 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
310 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
311 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
312
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
313 LOG(WARNING) << "Input volume size: " << source.GetWidth() << "x"
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
314 << source.GetHeight() << "x" << source.GetDepth();
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
315 LOG(WARNING) << "Input pixel format: " << Orthanc::EnumerationToString(source.GetFormat());
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
316 LOG(WARNING) << "Output image size: " << target.GetWidth() << "x" << target.GetHeight();
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
317 LOG(WARNING) << "Output pixel format: " << Orthanc::EnumerationToString(target.GetFormat());
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
318
811
ffec76a5f7eb deprecating ParallelSlices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 735
diff changeset
319 const unsigned int slicesCount = geometry.GetProjectionDepth(projection);
735
c3bbb130abc4 removing dependencies in ImageBuffer3D
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 693
diff changeset
320 const OrthancStone::Vector pixelSpacing = geometry.GetVoxelDimensions(projection);
192
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
321 const unsigned int targetWidth = target.GetWidth();
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
322 const unsigned int targetHeight = target.GetHeight();
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
323
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
324 Orthanc::Image accumulator(Orthanc::PixelFormat_Float32, targetWidth, targetHeight, false);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
325 Orthanc::Image counter(Orthanc::PixelFormat_Grayscale16, targetWidth, targetHeight, false);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
326 Orthanc::ImageProcessing::Set(accumulator, 0);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
327 Orthanc::ImageProcessing::Set(counter, 0);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
328
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
329 typedef SubpixelReader<SourceFormat, ImageInterpolation_Nearest> SourceReader;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
330
811
ffec76a5f7eb deprecating ParallelSlices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 735
diff changeset
331 for (unsigned int z = 0; z < slicesCount; z++)
192
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
332 {
811
ffec76a5f7eb deprecating ParallelSlices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 735
diff changeset
333 LOG(INFO) << "Applying raytracer on slice: " << z << "/" << slicesCount;
ffec76a5f7eb deprecating ParallelSlices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 735
diff changeset
334
ffec76a5f7eb deprecating ParallelSlices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 735
diff changeset
335 OrthancStone::CoordinateSystem3D slice = geometry.GetProjectionSlice(projection, z);
516
11fa6f00e33c Dummy changes (warnings, dummy dtor to check proper deletion, line wrapping) +
Benjamin Golinvaux <bgo@osimis.io>
parents: 439
diff changeset
336 OrthancStone::ImageBuffer3D::SliceReader sliceReader(source, projection, static_cast<unsigned int>(z));
192
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
337
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
338 SourceReader pixelReader(sliceReader.GetAccessor());
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
339
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
340 for (unsigned int y = 0; y < targetHeight; y++)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
341 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
342 float *qacc = reinterpret_cast<float*>(accumulator.GetRow(y));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
343 uint16_t *qcount = reinterpret_cast<uint16_t*>(counter.GetRow(y));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
344
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
345 for (unsigned int x = 0; x < targetWidth; x++)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
346 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
347 // Backproject the ray originating from the center of the target pixel
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
348 OrthancStone::Vector direction = camera.GetRayDirection(static_cast<double>(x + 0.5),
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
349 static_cast<double>(y + 0.5));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
350
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
351 // Compute the 3D intersection of the ray with the slice plane
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
352 OrthancStone::Vector p;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
353 if (slice.IntersectLine(p, camera.GetCenter(), direction))
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
354 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
355 // Compute the 2D coordinates of the intersections, in slice coordinates
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
356 double ix, iy;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
357 slice.ProjectPoint(ix, iy, p);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
358
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
359 ix /= pixelSpacing[0];
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
360 iy /= pixelSpacing[1];
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
361
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
362 // Read and accumulate the value of the pixel
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
363 float pixel;
693
9a474e90e832 Fixed a bunch of truncation warnings in various parts of the library
Benjamin Golinvaux <bgo@osimis.io>
parents: 684
diff changeset
364 if (pixelReader.GetFloatValue(
9a474e90e832 Fixed a bunch of truncation warnings in various parts of the library
Benjamin Golinvaux <bgo@osimis.io>
parents: 684
diff changeset
365 pixel, static_cast<float>(ix), static_cast<float>(iy)))
192
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
366 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
367 if (MIP)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
368 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
369 // MIP rendering
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
370 if (*qcount == 0)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
371 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
372 (*qacc) = pixel;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
373 (*qcount) = 1;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
374 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
375 else if (pixel > *qacc)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
376 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
377 (*qacc) = pixel;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
378 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
379 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
380 else
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
381 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
382 // Mean intensity
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
383 (*qacc) += pixel;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
384 (*qcount) ++;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
385 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
386 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
387 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
388
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
389 qacc++;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
390 qcount++;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
391 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
392 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
393 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
394
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
395
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
396 typedef Orthanc::PixelTraits<TargetFormat> TargetTraits;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
397
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
398 // "Flatten" the accumulator image to create the target image
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
399 for (unsigned int y = 0; y < targetHeight; y++)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
400 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
401 const float *qacc = reinterpret_cast<const float*>(accumulator.GetConstRow(y));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
402 const uint16_t *qcount = reinterpret_cast<const uint16_t*>(counter.GetConstRow(y));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
403 typename TargetTraits::PixelType *p = reinterpret_cast<typename TargetTraits::PixelType*>(target.GetRow(y));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
404
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
405 for (unsigned int x = 0; x < targetWidth; x++)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
406 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
407 if (*qcount == 0)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
408 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
409 TargetTraits::SetZero(*p);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
410 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
411 else
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
412 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
413 TargetTraits::FloatToPixel(*p, *qacc / static_cast<float>(*qcount));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
414 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
415
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
416 p++;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
417 qacc++;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
418 qcount++;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
419 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
420 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
421 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
422
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
423
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
424 Orthanc::ImageAccessor*
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
425 FiniteProjectiveCamera::ApplyRaytracer(const ImageBuffer3D& source,
735
c3bbb130abc4 removing dependencies in ImageBuffer3D
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 693
diff changeset
426 const VolumeImageGeometry& geometry,
192
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
427 Orthanc::PixelFormat targetFormat,
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
428 unsigned int targetWidth,
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
429 unsigned int targetHeight,
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
430 bool mip) const
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
431 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
432 // TODO - We consider the axial projection of the volume, but we
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
433 // should choose the projection that is the "most perpendicular"
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
434 // to the line joining the camera center and the principal point
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
435 const VolumeProjection projection = VolumeProjection_Axial;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
436
1298
8a0a62189f46 replacing std::auto_ptr by std::unique_ptr
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 1270
diff changeset
437 std::unique_ptr<Orthanc::ImageAccessor> target
192
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
438 (new Orthanc::Image(targetFormat, targetWidth, targetHeight, false));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
439
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
440 if (targetFormat == Orthanc::PixelFormat_Grayscale16 &&
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
441 source.GetFormat() == Orthanc::PixelFormat_Grayscale16 && mip)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
442 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
443 ApplyRaytracerInternal<Orthanc::PixelFormat_Grayscale16,
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
444 Orthanc::PixelFormat_Grayscale16, true>
735
c3bbb130abc4 removing dependencies in ImageBuffer3D
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 693
diff changeset
445 (*target, *this, source, geometry, projection);
192
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
446 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
447 else if (targetFormat == Orthanc::PixelFormat_Grayscale16 &&
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
448 source.GetFormat() == Orthanc::PixelFormat_Grayscale16 && !mip)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
449 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
450 ApplyRaytracerInternal<Orthanc::PixelFormat_Grayscale16,
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
451 Orthanc::PixelFormat_Grayscale16, false>
735
c3bbb130abc4 removing dependencies in ImageBuffer3D
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 693
diff changeset
452 (*target, *this, source, geometry, projection);
192
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
453 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
454 else
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
455 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
456 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
457 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
458
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
459 return target.release();
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 189
diff changeset
460 }
161
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
461 }