Mercurial > hg > orthanc-stone
diff Framework/Toolbox/ShearWarpProjectiveTransform.cpp @ 191:46cb2eedc2e0 wasm
ShearWarpProjectiveTransform
author | Sebastien Jodogne <s.jodogne@gmail.com> |
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date | Fri, 16 Mar 2018 15:01:52 +0100 |
parents | |
children | 4abddd083374 |
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Framework/Toolbox/ShearWarpProjectiveTransform.cpp Fri Mar 16 15:01:52 2018 +0100 @@ -0,0 +1,329 @@ +/** + * Stone of Orthanc + * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics + * Department, University Hospital of Liege, Belgium + * Copyright (C) 2017-2018 Osimis S.A., Belgium + * + * This program is free software: you can redistribute it and/or + * modify it under the terms of the GNU Affero General Public License + * as published by the Free Software Foundation, either version 3 of + * the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + **/ + + +#include "ShearWarpProjectiveTransform.h" + +#include "ImageGeometry.h" +#include "Extent2D.h" +#include "FiniteProjectiveCamera.h" +#include "GeometryToolbox.h" + +#include <Core/OrthancException.h> +#include <Core/Logging.h> + +#include <boost/numeric/ublas/matrix_proxy.hpp> +#include <cassert> + + +namespace OrthancStone +{ + static bool IsValidShear(const Matrix& M_shear) + { + return (LinearAlgebra::IsCloseToZero(M_shear(0, 1)) && + LinearAlgebra::IsCloseToZero(M_shear(1, 0)) && + LinearAlgebra::IsCloseToZero(M_shear(2, 0)) && + LinearAlgebra::IsCloseToZero(M_shear(2, 1)) && + LinearAlgebra::IsNear(1.0, M_shear(2, 2)) && + LinearAlgebra::IsCloseToZero(M_shear(2, 3)) && + LinearAlgebra::IsCloseToZero(M_shear(3, 0)) && + LinearAlgebra::IsCloseToZero(M_shear(3, 1)) && + LinearAlgebra::IsNear(1.0, M_shear(3, 3))); + } + + + static void ComputeShearParameters(double& scaling, + double& offsetX, + double& offsetY, + const Matrix& shear, + double z) + { + // Check out: ../../Resources/Computations/ComputeShearParameters.py + + if (!LinearAlgebra::IsShearMatrix(shear)) + { + LOG(ERROR) << "Not a valid shear matrix"; + throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError); + } + + scaling = 1.0 / (shear(3,2) * z + 1.0); + offsetX = shear(0,2) * z * scaling; + offsetY = shear(1,2) * z * scaling; + } + + + ShearWarpProjectiveTransform:: + ShearWarpProjectiveTransform(const Matrix& M_view, + //const Matrix& P, // Permutation applied to the volume + unsigned int volumeWidth, + unsigned int volumeHeight, + unsigned int volumeDepth, + double pixelSpacingX, + double pixelSpacingY, + unsigned int imageWidth, + unsigned int imageHeight) + { + eye_o.resize(4); + + { + // Find back the camera center given the "M_view" matrix + const double m11 = M_view(0, 0); + const double m12 = M_view(0, 1); + const double m13 = M_view(0, 2); + const double m14 = M_view(0, 3); + const double m21 = M_view(1, 0); + const double m22 = M_view(1, 1); + const double m23 = M_view(1, 2); + const double m24 = M_view(1, 3); + const double m41 = M_view(3, 0); + const double m42 = M_view(3, 1); + const double m43 = M_view(3, 2); + const double m44 = M_view(3, 3); + + // Equations (A.8) to (A.11) on page 203. Also check out + // "Finding the camera center" in "Multiple View Geometry in + // Computer Vision - 2nd edition", page 163. + const double vx[9] = { m12, m13, m14, m22, m23, m24, m42, m43, m44 }; + const double vy[9] = { m11, m13, m14, m21, m23, m24, m41, m43, m44 }; + const double vz[9] = { m11, m12, m14, m21, m22, m24, m41, m42, m44 }; + const double vw[9] = { m11, m12, m13, m21, m22, m23, m41, m42, m43 }; + + Matrix m; + + LinearAlgebra::FillMatrix(m, 3, 3, vx); + eye_o[0] = -LinearAlgebra::ComputeDeterminant(m); + + LinearAlgebra::FillMatrix(m, 3, 3, vy); + eye_o[1] = LinearAlgebra::ComputeDeterminant(m); + + LinearAlgebra::FillMatrix(m, 3, 3, vz); + eye_o[2] = -LinearAlgebra::ComputeDeterminant(m); + + LinearAlgebra::FillMatrix(m, 3, 3, vw); + eye_o[3] = LinearAlgebra::ComputeDeterminant(m); + + if (LinearAlgebra::IsCloseToZero(eye_o[3])) + { + LOG(ERROR) << "The shear-warp projective transform is not applicable to affine cameras"; + throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError); + } + } + +#if 0 + // Assume "T_shift = I" (the eye does not lie on plane k = 0) + const Matrix T_shift = LinearAlgebra::IdentityMatrix(4); + + // Equation (A.13) on page 204, given that the inverse of a + // permutation matrix is its transpose (TODO CHECK). If no T_shift + // or permutation P is applied, M'_view == M_view + const Matrix MM_view = LinearAlgebra::Product( + M_view, + LinearAlgebra::Transpose(P), + LinearAlgebra::InvertScalingTranslationMatrix(T_shift)); +#else + // This is a shortcut, as we take "T_shift = I" and "P = I" + const Matrix MM_view = M_view; +#endif + + // Equation (A.14) on page 207 + Matrix MM_shear = LinearAlgebra::IdentityMatrix(4); + MM_shear(0, 2) = -eye_o[0] / eye_o[2]; + MM_shear(1, 2) = -eye_o[1] / eye_o[2]; + MM_shear(3, 2) = -eye_o[3] / eye_o[2]; + + + // Compute the extent of the intermediate image + Extent2D extent; + double maxScaling = 1; + + { + // Compute the shearing factors of the two extreme planes of the + // volume (z=0 and z=volumeDepth) + double scaling, offsetX, offsetY; + ComputeShearParameters(scaling, offsetX, offsetY, MM_shear, 0); + + if (scaling > 0) + { + extent.AddPoint(offsetX, offsetY); + extent.AddPoint(offsetX + static_cast<double>(volumeWidth) * scaling, + offsetY + static_cast<double>(volumeHeight) * scaling); + + if (scaling > maxScaling) + { + maxScaling = scaling; + } + } + + ComputeShearParameters(scaling, offsetX, offsetY, MM_shear, volumeDepth); + + if (scaling > 0) + { + extent.AddPoint(offsetX, offsetY); + extent.AddPoint(offsetX + static_cast<double>(volumeWidth) * scaling, + offsetY + static_cast<double>(volumeHeight) * scaling); + + if (scaling > maxScaling) + { + maxScaling = scaling; + } + } + } + + if (LinearAlgebra::IsCloseToZero(extent.GetWidth()) || + LinearAlgebra::IsCloseToZero(extent.GetHeight())) + { + throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError); + } + + intermediateWidth_ = std::ceil(extent.GetWidth() / maxScaling); + intermediateHeight_ = std::ceil(extent.GetHeight() / maxScaling); + + // This is the product "T * S" in Equation (A.16) on page 209 + Matrix TS = LinearAlgebra::Product( + GeometryToolbox::CreateTranslationMatrix(static_cast<double>(intermediateWidth_) / 2.0, + static_cast<double>(intermediateHeight_) / 2.0, 0), + GeometryToolbox::CreateScalingMatrix(1.0 / maxScaling, 1.0 / maxScaling, 1), + GeometryToolbox::CreateTranslationMatrix(-extent.GetCenterX(), -extent.GetCenterY(), 0)); + + // This is Equation (A.16) on page 209. WARNING: There is an + // error in Lacroute's thesis: "inv(MM_shear)" is used instead + // of "MM_shear". + M_shear = LinearAlgebra::Product(TS, MM_shear); + + if (!IsValidShear(M_shear)) + { + throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError); + } + + // This is Equation (A.17) on page 209 + Matrix tmp; + LinearAlgebra::InvertMatrix(tmp, M_shear); + M_warp = LinearAlgebra::Product(MM_view, tmp); + + // Intrinsic parameters of the camera + k_ = LinearAlgebra::ZeroMatrix(3, 4); + k_(0, 0) = 1.0 / pixelSpacingX; + k_(0, 3) = static_cast<double>(imageWidth) / 2.0; + k_(1, 1) = 1.0 / pixelSpacingY; + k_(1, 3) = static_cast<double>(imageHeight) / 2.0; + k_(2, 3) = 1.0; + } + + + FiniteProjectiveCamera *ShearWarpProjectiveTransform::CreateCamera() const + { + Matrix p = LinearAlgebra::Product(k_, M_warp, M_shear); + return new FiniteProjectiveCamera(p); + } + + + void ShearWarpProjectiveTransform::ComputeShearOnSlice(double& a11, + double& b1, + double& a22, + double& b2, + double& shearedZ, + const double sourceZ) + { + // Check out: ../../Resources/Computations/ComputeShearOnSlice.py + assert(IsValidShear(M_shear)); + + const double s11 = M_shear(0, 0); + const double s13 = M_shear(0, 2); + const double s14 = M_shear(0, 3); + const double s22 = M_shear(1, 1); + const double s23 = M_shear(1, 2); + const double s24 = M_shear(1, 3); + const double s43 = M_shear(3, 2); + + double scaling = 1.0 / (s43 * sourceZ + 1.0); + shearedZ = sourceZ * scaling; + + a11 = s11 * scaling; + a22 = s22 * scaling; + + b1 = (s13 * sourceZ + s14) * scaling; + b2 = (s23 * sourceZ + s24) * scaling; + } + + + Matrix ShearWarpProjectiveTransform::CalibrateView(const Vector& camera, + const Vector& principalPoint, + double angle) + { + if (camera.size() != 3 || + principalPoint.size() != 3) + { + throw Orthanc::OrthancException(Orthanc::ErrorCode_ParameterOutOfRange); + } + + const double sid = boost::numeric::ublas::norm_2(camera - principalPoint); + + Matrix a; + GeometryToolbox::AlignVectorsWithRotation(a, camera - principalPoint, + LinearAlgebra::CreateVector(0, 0, -1)); + + Matrix r = LinearAlgebra::Product(GeometryToolbox::CreateRotationMatrixAlongZ(angle), a); + + a = LinearAlgebra::ZeroMatrix(4, 4); + boost::numeric::ublas::subrange(a, 0, 3, 0, 3) = r; + + const Vector v = LinearAlgebra::Product(r, -camera); + a(0, 3) = v[0]; + a(1, 3) = v[1]; + a(2, 3) = v[2]; + a(3, 3) = 1; + + Matrix perspective = LinearAlgebra::ZeroMatrix(4, 4); + // https://stackoverflow.com/questions/5267866/calculation-of-a-perspective-transformation-matrix + perspective(0, 0) = sid; + perspective(1, 1) = sid; + perspective(2, 2) = sid; + perspective(3, 2) = 1; + + Matrix M_view = LinearAlgebra::Product(perspective, a); + assert(M_view.size1() == 4 && + M_view.size2() == 4); + + { + // Sanity checks + Vector p1 = LinearAlgebra::CreateVector(camera[0], camera[1], camera[2], 1.0); + Vector p2 = LinearAlgebra::CreateVector(principalPoint[0], principalPoint[1], principalPoint[2], 1.0); + + Vector v1 = LinearAlgebra::Product(M_view, p1); + Vector v2 = LinearAlgebra::Product(M_view, p2); + + if (!LinearAlgebra::IsCloseToZero(v1[3]) || // Must be mapped to singularity (w=0) + LinearAlgebra::IsCloseToZero(v2[3])) + { + throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError); + } + + // The principal point must be mapped to (0,0,z,1) + v2 /= v2[3]; + if (!LinearAlgebra::IsCloseToZero(v2[0]) || + !LinearAlgebra::IsCloseToZero(v2[1])) + { + throw Orthanc::OrthancException(Orthanc::ErrorCode_InternalError); + } + } + + return M_view; + } +}