Mercurial > hg > orthanc-stone
annotate OrthancStone/Sources/Toolbox/FiniteProjectiveCamera.cpp @ 2176:c5f94c10cd61
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author | Sebastien Jodogne <s.jodogne@gmail.com> |
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date | Tue, 22 Oct 2024 21:59:25 +0200 |
parents | 16c01cc201e7 |
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rev | line source |
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161 | 1 /** |
2 * Stone of Orthanc | |
3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics | |
4 * Department, University Hospital of Liege, Belgium | |
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5 * Copyright (C) 2017-2023 Osimis S.A., Belgium |
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6 * Copyright (C) 2021-2024 Sebastien Jodogne, ICTEAM UCLouvain, Belgium |
161 | 7 * |
8 * This program is free software: you can redistribute it and/or | |
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9 * modify it under the terms of the GNU Lesser General Public License |
161 | 10 * as published by the Free Software Foundation, either version 3 of |
11 * the License, or (at your option) any later version. | |
12 * | |
13 * This program is distributed in the hope that it will be useful, but | |
14 * WITHOUT ANY WARRANTY; without even the implied warranty of | |
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15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 * Lesser General Public License for more details. |
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17 * |
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18 * You should have received a copy of the GNU Lesser General Public |
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19 * License along with this program. If not, see |
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20 * <http://www.gnu.org/licenses/>. |
161 | 21 **/ |
22 | |
23 | |
24 #include "FiniteProjectiveCamera.h" | |
25 | |
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26 #include "GeometryToolbox.h" |
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27 #include "SubpixelReader.h" |
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28 |
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29 #include <Logging.h> |
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30 #include <OrthancException.h> |
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31 #include <Images/Image.h> |
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32 #include <Images/ImageProcessing.h> |
161 | 33 |
34 namespace OrthancStone | |
35 { | |
36 void FiniteProjectiveCamera::ComputeMInverse() | |
37 { | |
38 using namespace boost::numeric::ublas; | |
39 | |
40 // inv(M) = inv(K * R) = inv(R) * inv(K) = R' * inv(K). This | |
41 // matrix is always invertible, by definition of finite | |
42 // projective cameras (page 157). | |
43 Matrix kinv; | |
44 LinearAlgebra::InvertUpperTriangularMatrix(kinv, k_); | |
45 minv_ = prod(trans(r_), kinv); | |
46 } | |
47 | |
48 | |
49 void FiniteProjectiveCamera::Setup(const Matrix& k, | |
50 const Matrix& r, | |
51 const Vector& c) | |
52 { | |
53 if (k.size1() != 3 || | |
54 k.size2() != 3 || | |
55 !LinearAlgebra::IsCloseToZero(k(1, 0)) || | |
56 !LinearAlgebra::IsCloseToZero(k(2, 0)) || | |
57 !LinearAlgebra::IsCloseToZero(k(2, 1))) | |
58 { | |
59 LOG(ERROR) << "Invalid intrinsic parameters"; | |
60 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
61 } | |
62 | |
63 if (r.size1() != 3 || | |
64 r.size2() != 3) | |
65 { | |
66 LOG(ERROR) << "Invalid size for a 3D rotation matrix"; | |
67 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
68 } | |
69 | |
70 if (!LinearAlgebra::IsRotationMatrix(r, 100.0 * std::numeric_limits<float>::epsilon())) | |
71 { | |
72 LOG(ERROR) << "Invalid rotation matrix"; | |
73 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
74 } | |
75 | |
76 if (c.size() != 3) | |
77 { | |
78 LOG(ERROR) << "Invalid camera center"; | |
79 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
80 } | |
81 | |
82 k_ = k; | |
83 r_ = r; | |
84 c_ = c; | |
85 | |
86 ComputeMInverse(); | |
87 | |
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88 Matrix tmp = LinearAlgebra::IdentityMatrix(3); |
161 | 89 tmp.resize(3, 4); |
90 tmp(0, 3) = -c[0]; | |
91 tmp(1, 3) = -c[1]; | |
92 tmp(2, 3) = -c[2]; | |
93 | |
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94 p_ = LinearAlgebra::Product(k, r, tmp); |
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95 |
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96 assert(p_.size1() == 3 && |
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97 p_.size2() == 4); |
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98 |
161 | 99 } |
100 | |
101 | |
102 void FiniteProjectiveCamera::Setup(const Matrix& p) | |
103 { | |
104 if (p.size1() != 3 || | |
105 p.size2() != 4) | |
106 { | |
107 LOG(ERROR) << "Invalid camera matrix"; | |
108 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
109 } | |
110 | |
111 p_ = p; | |
112 | |
113 // M is the left 3x3 submatrix of "P" | |
114 Matrix m = p; | |
115 m.resize(3, 3); | |
116 | |
117 // p4 is the last column of "P" | |
118 Vector p4(3); | |
119 p4[0] = p(0, 3); | |
120 p4[1] = p(1, 3); | |
121 p4[2] = p(2, 3); | |
122 | |
123 // The RQ decomposition is explained on page 157 | |
124 LinearAlgebra::RQDecomposition3x3(k_, r_, m); | |
125 ComputeMInverse(); | |
126 | |
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127 c_ = LinearAlgebra::Product(-minv_, p4); |
161 | 128 } |
129 | |
130 | |
131 FiniteProjectiveCamera::FiniteProjectiveCamera(const double k[9], | |
132 const double r[9], | |
133 const double c[3]) | |
134 { | |
135 Matrix kk, rr; | |
136 Vector cc; | |
137 | |
138 LinearAlgebra::FillMatrix(kk, 3, 3, k); | |
139 LinearAlgebra::FillMatrix(rr, 3, 3, r); | |
140 LinearAlgebra::FillVector(cc, 3, c); | |
141 | |
142 Setup(kk, rr, cc); | |
143 } | |
144 | |
145 | |
146 FiniteProjectiveCamera::FiniteProjectiveCamera(const double p[12]) | |
147 { | |
148 Matrix pp; | |
149 LinearAlgebra::FillMatrix(pp, 3, 4, p); | |
150 Setup(pp); | |
151 } | |
152 | |
153 | |
154 Vector FiniteProjectiveCamera::GetRayDirection(double x, | |
155 double y) const | |
156 { | |
157 // This derives from Equation (6.14) on page 162, taking "mu = | |
158 // 1" and noticing that "-inv(M)*p4" corresponds to the camera | |
159 // center in finite projective cameras | |
160 | |
161 // The (x,y) coordinates on the imaged plane, as an homogeneous vector | |
162 Vector xx(3); | |
163 xx[0] = x; | |
164 xx[1] = y; | |
165 xx[2] = 1.0; | |
166 | |
167 return boost::numeric::ublas::prod(minv_, xx); | |
168 } | |
169 | |
170 | |
171 | |
172 static Vector SetupApply(const Vector& v, | |
173 bool infinityAllowed) | |
174 { | |
175 if (v.size() == 3) | |
176 { | |
177 // Vector "v" in non-homogeneous coordinates, add the homogeneous component | |
178 Vector vv; | |
179 LinearAlgebra::AssignVector(vv, v[0], v[1], v[2], 1.0); | |
180 return vv; | |
181 } | |
182 else if (v.size() == 4) | |
183 { | |
184 // Vector "v" is already in homogeneous coordinates | |
185 | |
186 if (!infinityAllowed && | |
187 LinearAlgebra::IsCloseToZero(v[3])) | |
188 { | |
189 LOG(ERROR) << "Cannot apply a finite projective camera to a " | |
190 << "point at infinity with this method"; | |
191 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
192 } | |
193 | |
194 return v; | |
195 } | |
196 else | |
197 { | |
198 LOG(ERROR) << "The input vector must represent a point in 3D"; | |
199 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); | |
200 } | |
201 } | |
202 | |
203 | |
204 void FiniteProjectiveCamera::ApplyFinite(double& x, | |
205 double& y, | |
206 const Vector& v) const | |
207 { | |
208 Vector p = boost::numeric::ublas::prod(p_, SetupApply(v, false)); | |
209 | |
210 if (LinearAlgebra::IsCloseToZero(p[2])) | |
211 { | |
212 // Point at infinity: Should not happen with a finite input point | |
213 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError); | |
214 } | |
215 else | |
216 { | |
217 x = p[0] / p[2]; | |
218 y = p[1] / p[2]; | |
219 } | |
220 } | |
221 | |
222 | |
223 Vector FiniteProjectiveCamera::ApplyGeneral(const Vector& v) const | |
224 { | |
225 return boost::numeric::ublas::prod(p_, SetupApply(v, true)); | |
226 } | |
188
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227 |
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228 |
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229 static Vector AddHomogeneousCoordinate(const Vector& p) |
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230 { |
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231 assert(p.size() == 3); |
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232 return LinearAlgebra::CreateVector(p[0], p[1], p[2], 1); |
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233 } |
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234 |
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235 |
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236 FiniteProjectiveCamera::FiniteProjectiveCamera(const Vector& camera, |
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237 const Vector& principalPoint, |
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238 double angle, |
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239 unsigned int imageWidth, |
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240 unsigned int imageHeight, |
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241 double pixelSpacingX, |
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242 double pixelSpacingY) |
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243 { |
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244 if (camera.size() != 3 || |
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245 principalPoint.size() != 3 || |
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246 LinearAlgebra::IsCloseToZero(pixelSpacingX) || |
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247 LinearAlgebra::IsCloseToZero(pixelSpacingY)) |
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248 { |
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249 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); |
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250 } |
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251 |
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252 const double focal = boost::numeric::ublas::norm_2(camera - principalPoint); |
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253 |
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254 if (LinearAlgebra::IsCloseToZero(focal)) |
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255 { |
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256 LOG(ERROR) << "Camera lies on the image plane"; |
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257 throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); |
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258 } |
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259 |
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260 Matrix a; |
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261 GeometryToolbox::AlignVectorsWithRotation(a, camera - principalPoint, |
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262 LinearAlgebra::CreateVector(0, 0, -1)); |
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263 |
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264 Matrix r = LinearAlgebra::Product(GeometryToolbox::CreateRotationMatrixAlongZ(angle), a); |
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265 |
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266 Matrix k = LinearAlgebra::ZeroMatrix(3, 3); |
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267 k(0,0) = focal / pixelSpacingX; |
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268 k(1,1) = focal / pixelSpacingY; |
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269 k(0,2) = static_cast<double>(imageWidth) / 2.0; |
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270 k(1,2) = static_cast<double>(imageHeight) / 2.0; |
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271 k(2,2) = 1; |
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272 |
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273 Setup(k, r, camera); |
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274 |
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275 { |
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276 // Sanity checks |
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277 Vector v1 = LinearAlgebra::Product(p_, AddHomogeneousCoordinate(camera)); |
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278 Vector v2 = LinearAlgebra::Product(p_, AddHomogeneousCoordinate(principalPoint)); |
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279 |
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280 if (!LinearAlgebra::IsCloseToZero(v1[2]) || // Camera is mapped to singularity |
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281 LinearAlgebra::IsCloseToZero(v2[2])) |
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282 { |
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283 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError); |
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284 } |
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285 |
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286 // The principal point must be mapped to the center of the image |
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287 v2 /= v2[2]; |
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288 |
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289 if (!LinearAlgebra::IsNear(v2[0], static_cast<double>(imageWidth) / 2.0) || |
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290 !LinearAlgebra::IsNear(v2[1], static_cast<double>(imageHeight) / 2.0)) |
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291 { |
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292 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError); |
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293 } |
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294 } |
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295 } |
192
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296 |
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297 |
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298 template <Orthanc::PixelFormat TargetFormat, |
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299 Orthanc::PixelFormat SourceFormat, |
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300 bool MIP> |
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301 static void ApplyRaytracerInternal(Orthanc::ImageAccessor& target, |
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302 const FiniteProjectiveCamera& camera, |
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303 const ImageBuffer3D& source, |
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304 const VolumeImageGeometry& geometry, |
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305 VolumeProjection projection) |
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306 { |
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307 if (source.GetFormat() != SourceFormat || |
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308 target.GetFormat() != TargetFormat || |
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309 !std::numeric_limits<float>::is_iec559 || |
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310 sizeof(float) != 4) |
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311 { |
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312 throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError); |
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313 } |
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314 |
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315 LOG(WARNING) << "Input volume size: " << source.GetWidth() << "x" |
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316 << source.GetHeight() << "x" << source.GetDepth(); |
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317 LOG(WARNING) << "Input pixel format: " << Orthanc::EnumerationToString(source.GetFormat()); |
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318 LOG(WARNING) << "Output image size: " << target.GetWidth() << "x" << target.GetHeight(); |
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319 LOG(WARNING) << "Output pixel format: " << Orthanc::EnumerationToString(target.GetFormat()); |
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320 |
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321 const unsigned int slicesCount = geometry.GetProjectionDepth(projection); |
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322 const Vector pixelSpacing = geometry.GetVoxelDimensions(projection); |
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323 const unsigned int targetWidth = target.GetWidth(); |
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324 const unsigned int targetHeight = target.GetHeight(); |
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325 |
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326 Orthanc::Image accumulator(Orthanc::PixelFormat_Float32, targetWidth, targetHeight, false); |
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327 Orthanc::Image counter(Orthanc::PixelFormat_Grayscale16, targetWidth, targetHeight, false); |
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328 Orthanc::ImageProcessing::Set(accumulator, 0); |
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329 Orthanc::ImageProcessing::Set(counter, 0); |
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330 |
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331 typedef SubpixelReader<SourceFormat, ImageInterpolation_Nearest> SourceReader; |
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332 |
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333 for (unsigned int z = 0; z < slicesCount; z++) |
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334 { |
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335 LOG(INFO) << "Applying raytracer on slice: " << z << "/" << slicesCount; |
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336 |
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337 CoordinateSystem3D slice = geometry.GetProjectionSlice(projection, z); |
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338 ImageBuffer3D::SliceReader sliceReader(source, projection, static_cast<unsigned int>(z)); |
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339 |
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340 SourceReader pixelReader(sliceReader.GetAccessor()); |
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341 |
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342 for (unsigned int y = 0; y < targetHeight; y++) |
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343 { |
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344 float *qacc = reinterpret_cast<float*>(accumulator.GetRow(y)); |
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345 uint16_t *qcount = reinterpret_cast<uint16_t*>(counter.GetRow(y)); |
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346 |
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347 for (unsigned int x = 0; x < targetWidth; x++) |
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348 { |
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349 // Backproject the ray originating from the center of the target pixel |
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350 Vector direction = camera.GetRayDirection(static_cast<double>(x + 0.5), |
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351 static_cast<double>(y + 0.5)); |
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352 |
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353 // Compute the 3D intersection of the ray with the slice plane |
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354 Vector p; |
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355 if (slice.IntersectLine(p, camera.GetCenter(), direction)) |
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356 { |
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357 // Compute the 2D coordinates of the intersections, in slice coordinates |
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358 double ix, iy; |
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359 slice.ProjectPoint(ix, iy, p); |
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360 |
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361 ix /= pixelSpacing[0]; |
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362 iy /= pixelSpacing[1]; |
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363 |
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364 // Read and accumulate the value of the pixel |
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365 float pixel; |
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366 if (pixelReader.GetFloatValue( |
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367 pixel, static_cast<float>(ix), static_cast<float>(iy))) |
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368 { |
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369 if (MIP) |
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370 { |
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371 // MIP rendering |
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372 if (*qcount == 0) |
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373 { |
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374 (*qacc) = pixel; |
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375 (*qcount) = 1; |
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376 } |
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377 else if (pixel > *qacc) |
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378 { |
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379 (*qacc) = pixel; |
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380 } |
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381 } |
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382 else |
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383 { |
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384 // Mean intensity |
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385 (*qacc) += pixel; |
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386 (*qcount) ++; |
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387 } |
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388 } |
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389 } |
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390 |
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391 qacc++; |
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392 qcount++; |
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393 } |
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394 } |
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395 } |
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396 |
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397 |
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398 typedef Orthanc::PixelTraits<TargetFormat> TargetTraits; |
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399 |
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400 // "Flatten" the accumulator image to create the target image |
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401 for (unsigned int y = 0; y < targetHeight; y++) |
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402 { |
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403 const float *qacc = reinterpret_cast<const float*>(accumulator.GetConstRow(y)); |
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404 const uint16_t *qcount = reinterpret_cast<const uint16_t*>(counter.GetConstRow(y)); |
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405 typename TargetTraits::PixelType *p = reinterpret_cast<typename TargetTraits::PixelType*>(target.GetRow(y)); |
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406 |
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407 for (unsigned int x = 0; x < targetWidth; x++) |
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408 { |
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409 if (*qcount == 0) |
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410 { |
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411 TargetTraits::SetZero(*p); |
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412 } |
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413 else |
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414 { |
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415 TargetTraits::FloatToPixel(*p, *qacc / static_cast<float>(*qcount)); |
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416 } |
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417 |
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418 p++; |
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419 qacc++; |
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420 qcount++; |
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421 } |
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422 } |
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423 } |
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424 |
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425 |
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426 Orthanc::ImageAccessor* |
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427 FiniteProjectiveCamera::ApplyRaytracer(const ImageBuffer3D& source, |
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428 const VolumeImageGeometry& geometry, |
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429 Orthanc::PixelFormat targetFormat, |
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430 unsigned int targetWidth, |
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431 unsigned int targetHeight, |
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432 bool mip) const |
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433 { |
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434 // TODO - We consider the axial projection of the volume, but we |
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435 // should choose the projection that is the "most perpendicular" |
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436 // to the line joining the camera center and the principal point |
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437 const VolumeProjection projection = VolumeProjection_Axial; |
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438 |
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439 std::unique_ptr<Orthanc::ImageAccessor> target |
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440 (new Orthanc::Image(targetFormat, targetWidth, targetHeight, false)); |
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441 |
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442 if (targetFormat == Orthanc::PixelFormat_Grayscale16 && |
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443 source.GetFormat() == Orthanc::PixelFormat_Grayscale16 && mip) |
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444 { |
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445 ApplyRaytracerInternal<Orthanc::PixelFormat_Grayscale16, |
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446 Orthanc::PixelFormat_Grayscale16, true> |
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447 (*target, *this, source, geometry, projection); |
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448 } |
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449 else if (targetFormat == Orthanc::PixelFormat_Grayscale16 && |
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450 source.GetFormat() == Orthanc::PixelFormat_Grayscale16 && !mip) |
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451 { |
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452 ApplyRaytracerInternal<Orthanc::PixelFormat_Grayscale16, |
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453 Orthanc::PixelFormat_Grayscale16, false> |
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454 (*target, *this, source, geometry, projection); |
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455 } |
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456 else |
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457 { |
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458 throw Orthanc::OrthancException(Orthanc::ErrorCode_NotImplemented); |
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459 } |
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460 |
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461 return target.release(); |
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462 } |
161 | 463 } |