Mercurial > hg > orthanc-stone

annotate OrthancStone/Sources/Toolbox/CoordinateSystem3D.cpp @ 1598:8563ea5d8ae4

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author Sebastien Jodogne <s.jodogne@gmail.com>
date Mon, 26 Oct 2020 20:49:28 +0100
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children 78509230f0d7
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1 /**
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2 * Stone of Orthanc
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3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics
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4 * Department, University Hospital of Liege, Belgium
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5 * Copyright (C) 2017-2020 Osimis S.A., Belgium
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6 *
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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
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9 * as published by the Free Software Foundation, either version 3 of
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10 * the License, or (at your option) any later version.
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11 *
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12 * This program is distributed in the hope that it will be useful, but
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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/>.
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20 **/
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23 #include "CoordinateSystem3D.h"
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25 #include "LinearAlgebra.h"
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26 #include "GeometryToolbox.h"
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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>
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32 namespace OrthancStone
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33 {
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34 void CoordinateSystem3D::CheckAndComputeNormal()
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35 {
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36 // DICOM expects normal vectors to define the axes: "The row and
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37 // column direction cosine vectors shall be normal, i.e., the dot
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38 // product of each direction cosine vector with itself shall be
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39 // unity."
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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))
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43 {
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44 throw Orthanc::OrthancException(Orthanc::ErrorCode_BadFileFormat);
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45 }
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47 // The vectors within "Image Orientation Patient" must be
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48 // orthogonal, according to the DICOM specification: "The row and
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49 // column direction cosine vectors shall be orthogonal, i.e.,
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50 // their dot product shall be zero."
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51 // http://dicom.nema.org/medical/dicom/current/output/chtml/part03/sect_C.7.6.2.html
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52 if (!LinearAlgebra::IsCloseToZero(boost::numeric::ublas::inner_prod(axisX_, axisY_)))
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53 {
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54 throw Orthanc::OrthancException(Orthanc::ErrorCode_BadFileFormat);
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55 }
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56
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57 LinearAlgebra::CrossProduct(normal_, axisX_, axisY_);
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58
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59 d_ = -(normal_[0] * origin_[0] + normal_[1] * origin_[1] + normal_[2] * origin_[2]);
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61 // Just a sanity check, it should be useless by construction
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62 assert(LinearAlgebra::IsNear(boost::numeric::ublas::norm_2(normal_), 1.0));
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63 }
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66 void CoordinateSystem3D::SetupCanonical()
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67 {
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68 LinearAlgebra::AssignVector(origin_, 0, 0, 0);
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69 LinearAlgebra::AssignVector(axisX_, 1, 0, 0);
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70 LinearAlgebra::AssignVector(axisY_, 0, 1, 0);
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71 CheckAndComputeNormal();
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72 }
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74
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75 CoordinateSystem3D::CoordinateSystem3D(const Vector& origin,
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76 const Vector& axisX,
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77 const Vector& axisY) :
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78 origin_(origin),
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79 axisX_(axisX),
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80 axisY_(axisY)
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81 {
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82 CheckAndComputeNormal();
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83 }
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86 void CoordinateSystem3D::Setup(const std::string& imagePositionPatient,
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87 const std::string& imageOrientationPatient)
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88 {
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89 std::string tmpPosition = Orthanc::Toolbox::StripSpaces(imagePositionPatient);
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90 std::string tmpOrientation = Orthanc::Toolbox::StripSpaces(imageOrientationPatient);
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91
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92 Vector orientation;
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93 if (!LinearAlgebra::ParseVector(origin_, tmpPosition) ||
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94 !LinearAlgebra::ParseVector(orientation, tmpOrientation) ||
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95 origin_.size() != 3 ||
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96 orientation.size() != 6)
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97 {
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98 throw Orthanc::OrthancException(Orthanc::ErrorCode_BadFileFormat);
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99 }
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100
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101 axisX_.resize(3);
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102 axisX_[0] = orientation[0];
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103 axisX_[1] = orientation[1];
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104 axisX_[2] = orientation[2];
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105
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106 axisY_.resize(3);
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107 axisY_[0] = orientation[3];
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108 axisY_[1] = orientation[4];
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109 axisY_[2] = orientation[5];
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111 CheckAndComputeNormal();
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112 }
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114
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115 CoordinateSystem3D::CoordinateSystem3D(const IDicomDataset& dicom)
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116 {
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117 std::string a, b;
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118
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119 if (dicom.GetStringValue(a, DicomPath(Orthanc::DICOM_TAG_IMAGE_POSITION_PATIENT)) &&
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120 dicom.GetStringValue(b, DicomPath(Orthanc::DICOM_TAG_IMAGE_ORIENTATION_PATIENT)))
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121 {
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122 Setup(a, b);
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123 }
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124 else
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125 {
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126 SetupCanonical();
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127 }
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128 }
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130
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131 CoordinateSystem3D::CoordinateSystem3D(const Orthanc::DicomMap& dicom)
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132 {
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133 std::string a, b;
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134
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135 if (dicom.LookupStringValue(a, Orthanc::DICOM_TAG_IMAGE_POSITION_PATIENT, false) &&
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136 dicom.LookupStringValue(b, Orthanc::DICOM_TAG_IMAGE_ORIENTATION_PATIENT, false))
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137 {
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138 Setup(a, b);
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139 }
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140 else
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141 {
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142 SetupCanonical();
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143 }
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144 }
0
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145
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146
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147 void CoordinateSystem3D::SetOrigin(const Vector& origin)
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148 {
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149 if (origin.size() != 3)
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150 {
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151 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange);
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152 }
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153 else
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154 {
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155 origin_ = origin;
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156 }
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157 }
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158
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159
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160 Vector CoordinateSystem3D::MapSliceToWorldCoordinates(double x,
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161 double y) const
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162 {
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163 return origin_ + x * axisX_ + y * axisY_;
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164 }
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165
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166
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167 double CoordinateSystem3D::ProjectAlongNormal(const Vector& point) const
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168 {
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169 return boost::numeric::ublas::inner_prod(point, normal_);
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170 }
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171
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172 void CoordinateSystem3D::ProjectPoint2(double& offsetX, double& offsetY, const Vector& point) const
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173 {
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174 // Project the point onto the slice
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175 double projectionX,projectionY,projectionZ;
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176 GeometryToolbox::ProjectPointOntoPlane2(projectionX, projectionY, projectionZ, point, normal_, origin_);
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177
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178 // As the axes are orthonormal vectors thanks to
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179 // CheckAndComputeNormal(), the following dot products give the
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180 // offset of the origin of the slice wrt. the origin of the
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181 // reference plane https://en.wikipedia.org/wiki/Vector_projection
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182 offsetX = axisX_[0] * (projectionX - origin_[0]) + axisX_[1] * (projectionY - origin_[1]) + axisX_[2] * (projectionZ - origin_[2]);
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183 offsetY = axisY_[0] * (projectionX - origin_[0]) + axisY_[1] * (projectionY - origin_[1]) + axisY_[2] * (projectionZ - origin_[2]);
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184 }
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185
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186 void CoordinateSystem3D::ProjectPoint(double& offsetX,
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187 double& offsetY,
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188 const Vector& point) const
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189 {
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190 // Project the point onto the slice
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191 Vector projection;
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192 GeometryToolbox::ProjectPointOntoPlane(projection, point, normal_, origin_);
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193
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194 // As the axes are orthonormal vectors thanks to
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195 // CheckAndComputeNormal(), the following dot products give the
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196 // offset of the origin of the slice wrt. the origin of the
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197 // reference plane https://en.wikipedia.org/wiki/Vector_projection
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198 offsetX = boost::numeric::ublas::inner_prod(axisX_, projection - origin_);
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199 offsetY = boost::numeric::ublas::inner_prod(axisY_, projection - origin_);
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200 }
151
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201
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202 bool CoordinateSystem3D::IntersectSegment(Vector& p,
151
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203 const Vector& edgeFrom,
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204 const Vector& edgeTo) const
c5044bbfc303 CoordinateSystem3D::IntersectSegment()
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205 {
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206 return GeometryToolbox::IntersectPlaneAndSegment(p, normal_, d_, edgeFrom, edgeTo);
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207 }
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208
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209
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210 bool CoordinateSystem3D::IntersectLine(Vector& p,
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211 const Vector& origin,
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212 const Vector& direction) const
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213 {
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214 return GeometryToolbox::IntersectPlaneAndLine(p, normal_, d_, origin, direction);
151
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215 }
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216
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217
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218 bool CoordinateSystem3D::ComputeDistance(double& distance,
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219 const CoordinateSystem3D& a,
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220 const CoordinateSystem3D& b)
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221 {
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222 bool opposite = false; // Ignored
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223
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224 if (OrthancStone::GeometryToolbox::IsParallelOrOpposite(
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225 opposite, a.GetNormal(), b.GetNormal()))
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226 {
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227 distance = std::abs(a.ProjectAlongNormal(a.GetOrigin()) -
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228 a.ProjectAlongNormal(b.GetOrigin()));
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229 return true;
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230 }
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231 else
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232 {
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233 return false;
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234 }
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235 }
949
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236
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237 std::ostream& operator<< (std::ostream& s, const CoordinateSystem3D& that)
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238 {
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239 s << "origin: " << that.origin_ << " normal: " << that.normal_
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240 << " axisX: " << that.axisX_ << " axisY: " << that.axisY_
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241 << " D: " << that.d_;
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242 return s;
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243 }
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244
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245
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246 CoordinateSystem3D CoordinateSystem3D::NormalizeCuttingPlane(const CoordinateSystem3D& plane)
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247 {
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248 double ox, oy;
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249 plane.ProjectPoint(ox, oy, LinearAlgebra::CreateVector(0, 0, 0));
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250
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251 CoordinateSystem3D normalized(plane);
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252 normalized.SetOrigin(plane.MapSliceToWorldCoordinates(ox, oy));
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253 return normalized;
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254 }
0
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255 }