orthanc-stone: Framework/Toolbox/FiniteProjectiveCamera.cpp annotate

annotate Framework/Toolbox/FiniteProjectiveCamera.cpp @ 254:abc1c6231947 am-2

cleanup

author	am@osimis.io
date	Tue, 03 Jul 2018 11:49:02 +0200
parents	5412adf19980
children	b70e9be013e4

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
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	5 * Copyright (C) 2017-2018 Osimis S.A., Belgium
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
212 5412adf19980 resort to OrthancFramework Sebastien Jodogne <s.jodogne@gmail.com> parents: 201 diff changeset	27 #include <Core/Logging.h>
5412adf19980 resort to OrthancFramework Sebastien Jodogne <s.jodogne@gmail.com> parents: 201 diff changeset	28 #include <Core/OrthancException.h>
5412adf19980 resort to OrthancFramework Sebastien Jodogne <s.jodogne@gmail.com> parents: 201 diff changeset	29 #include <Core/Images/Image.h>
5412adf19980 resort to OrthancFramework Sebastien Jodogne <s.jodogne@gmail.com> parents: 201 diff changeset	30 #include <Core/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,
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	302 VolumeProjection projection)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	303 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	304 if (source.GetFormat() != SourceFormat \|\|
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	305 target.GetFormat() != TargetFormat \|\|
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	306 !std::numeric_limits<float>::is_iec559 \|\|
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	307 sizeof(float) != 4)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	308 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	309 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	310 }
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 LOG(WARNING) << "Input volume size: " << source.GetWidth() << "x"
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	313 << source.GetHeight() << "x" << source.GetDepth();
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	314 LOG(WARNING) << "Input pixel format: " << Orthanc::EnumerationToString(source.GetFormat());
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	315 LOG(WARNING) << "Output image size: " << target.GetWidth() << "x" << target.GetHeight();
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	316 LOG(WARNING) << "Output pixel format: " << Orthanc::EnumerationToString(target.GetFormat());
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	317
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	318 std::auto_ptr<OrthancStone::ParallelSlices> slices(source.GetGeometry(projection));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	319 const OrthancStone::Vector pixelSpacing = source.GetVoxelDimensions(projection);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	320 const unsigned int targetWidth = target.GetWidth();
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	321 const unsigned int targetHeight = target.GetHeight();
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	322
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	323 Orthanc::Image accumulator(Orthanc::PixelFormat_Float32, targetWidth, targetHeight, false);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	324 Orthanc::Image counter(Orthanc::PixelFormat_Grayscale16, targetWidth, targetHeight, false);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	325 Orthanc::ImageProcessing::Set(accumulator, 0);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	326 Orthanc::ImageProcessing::Set(counter, 0);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	327
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	328 typedef SubpixelReader<SourceFormat, ImageInterpolation_Nearest> SourceReader;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	329
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	330 for (size_t z = 0; z < slices->GetSliceCount(); z++)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	331 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	332 LOG(INFO) << "Applying raytracer on slice: " << z << "/" << slices->GetSliceCount();
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	333
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	334 const OrthancStone::CoordinateSystem3D& slice = slices->GetSlice(z);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	335 OrthancStone::ImageBuffer3D::SliceReader sliceReader(source, projection, z);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	336
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	337 SourceReader pixelReader(sliceReader.GetAccessor());
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	338
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	339 for (unsigned int y = 0; y < targetHeight; y++)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	340 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	341 float qacc = reinterpret_cast<float>(accumulator.GetRow(y));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	342 uint16_t qcount = reinterpret_cast<uint16_t>(counter.GetRow(y));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	343
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	344 for (unsigned int x = 0; x < targetWidth; x++)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	345 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	346 // Backproject the ray originating from the center of the target pixel
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	347 OrthancStone::Vector direction = camera.GetRayDirection(static_cast<double>(x + 0.5),
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	348 static_cast<double>(y + 0.5));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	349
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	350 // Compute the 3D intersection of the ray with the slice plane
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	351 OrthancStone::Vector p;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	352 if (slice.IntersectLine(p, camera.GetCenter(), direction))
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	353 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	354 // Compute the 2D coordinates of the intersections, in slice coordinates
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	355 double ix, iy;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	356 slice.ProjectPoint(ix, iy, p);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	357
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	358 ix /= pixelSpacing[0];
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	359 iy /= pixelSpacing[1];
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	360
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	361 // Read and accumulate the value of the pixel
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	362 float pixel;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	363 if (pixelReader.GetFloatValue(pixel, ix, iy))
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	364 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	365 if (MIP)
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 // MIP rendering
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	368 if (*qcount == 0)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	369 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	370 (*qacc) = pixel;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	371 (*qcount) = 1;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	372 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	373 else if (pixel > *qacc)
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 (*qacc) = pixel;
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 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	378 else
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 // Mean intensity
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	381 (*qacc) += pixel;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	382 (*qcount) ++;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	383 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	384 }
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 qacc++;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	388 qcount++;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	389 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	390 }
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 typedef Orthanc::PixelTraits<TargetFormat> TargetTraits;
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 // "Flatten" the accumulator image to create the target image
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	397 for (unsigned int y = 0; y < targetHeight; y++)
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	398 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	399 const float qacc = reinterpret_cast<const float>(accumulator.GetConstRow(y));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	400 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	401 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	402
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	403 for (unsigned int x = 0; x < targetWidth; x++)
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 if (*qcount == 0)
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 TargetTraits::SetZero(*p);
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 else
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 TargetTraits::FloatToPixel(p, qacc / static_cast<float>(*qcount));
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
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	414 p++;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	415 qacc++;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	416 qcount++;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	417 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	418 }
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 Orthanc::ImageAccessor*
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	423 FiniteProjectiveCamera::ApplyRaytracer(const ImageBuffer3D& source,
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	424 Orthanc::PixelFormat targetFormat,
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	425 unsigned int targetWidth,
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	426 unsigned int targetHeight,
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	427 bool mip) const
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	428 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	429 // TODO - We consider the axial projection of the volume, but we
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	430 // should choose the projection that is the "most perpendicular"
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	431 // to the line joining the camera center and the principal point
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	432 const VolumeProjection projection = VolumeProjection_Axial;
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	433
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	434 std::auto_ptr<Orthanc::ImageAccessor> target
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	435 (new Orthanc::Image(targetFormat, targetWidth, targetHeight, false));
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	436
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	437 if (targetFormat == Orthanc::PixelFormat_Grayscale16 &&
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	438 source.GetFormat() == Orthanc::PixelFormat_Grayscale16 && mip)
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 ApplyRaytracerInternal<Orthanc::PixelFormat_Grayscale16,
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	441 Orthanc::PixelFormat_Grayscale16, true>
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	442 (target, this, source, projection);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	443 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	444 else if (targetFormat == Orthanc::PixelFormat_Grayscale16 &&
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	445 source.GetFormat() == Orthanc::PixelFormat_Grayscale16 && !mip)
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 ApplyRaytracerInternal<Orthanc::PixelFormat_Grayscale16,
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	448 Orthanc::PixelFormat_Grayscale16, false>
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	449 (target, this, source, projection);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	450 }
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	451 else
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	452 {
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	453 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented);
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	454 }
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 return target.release();
371da7fe2c0e FiniteProjectiveCamera::ApplyRaytracer Sebastien Jodogne <s.jodogne@gmail.com> parents: 189 diff changeset	457 }
161 197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	458 }

Mercurial > hg > orthanc-stone

annotate Framework/Toolbox/FiniteProjectiveCamera.cpp @ 254:abc1c6231947 am-2