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cxSyntheticVolume.cpp
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1 /*=========================================================================
2 This file is part of CustusX, an Image Guided Therapy Application.
3 
4 Copyright (c) 2008-2014, SINTEF Department of Medical Technology
5 All rights reserved.
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32 
33 #include "cxSyntheticVolume.h"
34 #include "vtkImageData.h"
35 #include "cxImage.h"
36 #include <cstdlib>
37 #include <time.h>
38 #include "cxTypeConversions.h"
39 #include <QTime>
40 #include "cxLogger.h"
42 #include "cxVolumeHelpers.h"
43 
44 
45 double noiseValue(double noiseSigma,
46  double noiseMean)
47 {
48  double random_value_1 = (rand()+1.0)/(RAND_MAX+1.0);
49  double random_value_2 = (rand()+1.0)/(RAND_MAX+1.0);
50 
51  double random_normal = sqrt(-2*log(random_value_1)) * cos(2*M_PI*random_value_2);
52 
53  return random_normal*noiseSigma + noiseMean;
54 }
55 
56 namespace cx {
57 
58 
60 cxSyntheticVolume::sampleUsData(const std::vector<Transform3D>& planes_rMt,
61  const ProbeDefinition& probe,
62  const Transform3D& output_dMr,
63  const double noiseSigma,
64  const unsigned char noiseMean) const
65 {
66  cx::ProbeSector sector;
67  sector.setData(probe);
68 
69  std::vector<Transform3D> planes_rMf(planes_rMt.size());
70  for (unsigned i=0; i<planes_rMt.size(); ++i)
71  planes_rMf[i] = planes_rMt[i] * sector.get_tMu() * sector.get_uMv();
72 
73  Eigen::Array2f pixelSpacing = probe.getSpacing().block(0,0,2,1).cast<float>();
74  Eigen::Array2i sliceDimension(probe.getSize().width(), probe.getSize().height());
75 
76  return this->sampleUsData(planes_rMf,
77  pixelSpacing,
78  sliceDimension,
79  output_dMr,
80  noiseSigma, noiseMean);
81 }
82 
85  const ProbeDefinition& probe,
86  const double noiseSigma,
87  const unsigned char noiseMean) const
88 {
89  cx::ProbeSector sector;
90  sector.setData(probe);
91 
92  Transform3D rMf = plane_rMt * sector.get_tMu() * sector.get_uMv();
93  Eigen::Array2f pixelSpacing = probe.getSpacing().block(0,0,2,1).cast<float>();
94  Eigen::Array2i sliceDimension(probe.getSize().width(), probe.getSize().height());
95 
96  return this->sampleUsData(rMf,
97  pixelSpacing,
98  sliceDimension,
99  noiseSigma, noiseMean);
100 }
101 
103 cxSyntheticVolume::sampleUsData(const std::vector<Transform3D>& planes_rMf,
104  const Eigen::Array2f& pixelSpacing,
105  const Eigen::Array2i& sliceDimension,
106  const Transform3D& output_dMr,
107  const double noiseSigma, const unsigned char noiseMean) const
108 {
109  std::vector<TimedPosition> positions;
110  std::vector<vtkImageDataPtr> images;
111  // For each plane
112  for(std::vector<Transform3D>::const_iterator i = planes_rMf.begin();
113  planes_rMf.end() != i;
114  ++i)
115  {
116  const Transform3D rMf = *i;
117 
118  vtkImageDataPtr us_frame;
119  us_frame = this->sampleUsData(rMf, pixelSpacing, sliceDimension, noiseSigma, noiseMean);
120 
121  // Build the TimedPosition for this frame
122  TimedPosition t;
123  t.mTime = i - planes_rMf.begin();
124  t.mPos = output_dMr*rMf;
125 
126  positions.push_back(t);
127  images.push_back(us_frame);
128  }
129 
130  vtkImageDataPtr mask = this->createEmptyMask(sliceDimension);
131 // std::cout << "elapsed: " << time.elapsed() << std::endl;
132 
134  ret.reset(new ProcessedUSInputData(images, positions, mask, "VIRTUAL_DATA", "VIRTUAL_DATA_"));
135  return ret;
136 }
137 
140  const Eigen::Array2f& pixelSpacing,
141  const Eigen::Array2i& sliceDimension,
142  const double noiseSigma, const unsigned char noiseMean) const
143 {
144 
145 
146  const Vector3D p0 = rMf.coord(Vector3D(0,0,0));
147  const Vector3D e_x = rMf.vector(Vector3D(pixelSpacing[0],0,0));
148  const Vector3D e_y = rMf.vector(Vector3D(0,pixelSpacing[1],0));
149 
150  vtkImageDataPtr us_frame = vtkImageDataPtr::New();
151  us_frame->SetExtent(0, sliceDimension[0]-1, 0, sliceDimension[1]-1, 0, 0);
152  us_frame->SetSpacing(pixelSpacing[0], pixelSpacing[1], 0.0);
153  us_frame->AllocateScalars(VTK_UNSIGNED_CHAR, 1);
154 
155  unsigned char* us_data = (unsigned char*)us_frame->GetScalarPointer();
156  // For each pixel on that plane
157  for(unsigned int px = 0; px < sliceDimension[0]; px++)
158  {
159  // optimization: use transformed pixel vectors
160  const Vector3D px0_vol = p0 + e_x*px;
161 
162  for(unsigned int py = 0; py < sliceDimension[1]; py++)
163  {
164  const Vector3D volume_coords = px0_vol + e_y*py;
165 
166  // Evaluate volume at that position
167  const unsigned char val = this->evaluate(volume_coords);
168 
169  const double noise_val = noiseValue(noiseSigma, noiseMean);
170  const int noised_val = noise_val + val;
171  unsigned char final_val = this->constrainToUnsignedChar(noised_val);
172  // Store that value in the US slice
173  us_data[px + py*sliceDimension[0]] = final_val;
174 
175  }
176  }
177 
178  setDeepModified(us_frame);
179  return us_frame;
180 }
181 
182 vtkImageDataPtr cxSyntheticVolume::createEmptyMask(const Eigen::Array2i& sliceDimension) const
183 {
184  vtkImageDataPtr mask = vtkImageDataPtr::New();
185  mask->SetExtent(0, sliceDimension[0]-1, 0, sliceDimension[1]-1, 0, 0);
186  mask->AllocateScalars(VTK_UNSIGNED_CHAR, 1);
187  unsigned char* mask_data = (unsigned char*)mask->GetScalarPointer();
188  memset(mask_data, 1, sizeof(unsigned char)*sliceDimension[0]*sliceDimension[1]);
189  setDeepModified(mask);
190  return mask;
191 }
192 
193 unsigned char cxSyntheticVolume::constrainToUnsignedChar(const int val) const
194 {
195  if(val < 0)
196  {
197  return 0;
198  }
199  else if(val > 255)
200  {
201  return 255;
202  }
203  else
204  {
205  return (unsigned char)val;
206  }
207 }
208 
210 {
211  vtkImageDataPtr input = vol->getBaseVtkImageData();
212 
213  vtkImageDataPtr nominal = vtkImageDataPtr::New();
214  nominal->DeepCopy(input);
215  cx::ImagePtr nominal_img(new cx::Image("nominal", nominal));
216  nominal_img->get_rMd_History()->setRegistration(vol->get_rMd());
217  this->fillVolume(nominal_img);
218 
219  return calculateRMSError(input, nominal);
220 }
221 
223 {
224  vtkImageDataPtr raw = vol->getBaseVtkImageData();
225  cx::Transform3D rMd = vol->get_rMd();
226 
227  Eigen::Array3i dims = Eigen::Array3i(raw->GetDimensions());
228  Eigen::Array3d spacing = Eigen::Array3d(raw->GetSpacing());
229  unsigned char *pixels = (unsigned char*)raw->GetScalarPointer();
230 
231  for(int z = 0; z < dims[2]; ++z)
232  {
233  for(int y = 0; y < dims[1]; ++y)
234  {
235  for(int x = 0; x < dims[0]; ++x)
236  {
237  Vector3D p_d = Vector3D(x, y, z).array()*spacing;
238  int index = x + y*dims[0] + z*dims[1]*dims[0];
239  pixels[index] = this->evaluate(rMd.coord(p_d));
240  }
241  }
242  }
243  setDeepModified(raw);
244 }
245 
247 {
248  CX_ASSERT(Eigen::Array3i(a->GetDimensions()).isApprox(Eigen::Array3i(b->GetDimensions())));
249  CX_ASSERT(Eigen::Array3d(a->GetSpacing()).isApprox(Eigen::Array3d(b->GetSpacing())));
250 
251  float sse = 0.0f;
252  Eigen::Array3i dims = Eigen::Array3i(a->GetDimensions());
253  unsigned char *pa = (unsigned char*)a->GetScalarPointer();
254  unsigned char *pb = (unsigned char*)b->GetScalarPointer();
255 
256  for(int z = 0; z < dims[2]; ++z)
257  {
258  for(int y = 0; y < dims[1]; ++y)
259  {
260  for(int x = 0; x < dims[0]; ++x)
261  {
262  int index = x + y*dims[0] + z*dims[1]*dims[0];
263  float error = pa[index] - pb[index];
264  sse += error*error;
265  }
266  }
267  }
268 
269  return sqrt(sse/dims.prod());
270 }
271 
276 {
278  {
279  mSum = 0;
280  mThreshold = 2;
281  }
282 
283  void operator()(int x, int y, int z, unsigned char* val)
284  {
285  if (*val < mThreshold)
286  return;
287  mSum += *val;
288  }
289 
290  double getVolume()
291  {
292  return mSum;
293  }
294 
295 private:
296  double mSum;
297  unsigned char mThreshold;
298 };
299 
304 {
306  {
307  mSum = 0;
308  mWeight = Vector3D::Zero();
309  mThreshold = 2;
310  }
311 
312  void operator()(int x, int y, int z, unsigned char* val)
313  {
314  if (*val < mThreshold)
315  return;
316  mSum += *val;
317  mWeight += Vector3D(x,y,z) * (*val);
318  }
319 
321  {
322  return mWeight/mSum;
323  }
324 
325 private:
326  double mSum;
327  Vector3D mWeight;
328  unsigned char mThreshold;
329 };
330 
331 template<class FUNCTOR>
332 void applyFunctor(cx::ImagePtr image, FUNCTOR& func)
333 {
334  vtkImageDataPtr raw = image->getBaseVtkImageData();
335  Eigen::Array3i dims = Eigen::Array3i(raw->GetDimensions());
336  unsigned char *pixels = (unsigned char*)raw->GetScalarPointer();
337 
338  for(int z = 0; z < dims[2]; ++z)
339  {
340  for(int y = 0; y < dims[1]; ++y)
341  {
342  for(int x = 0; x < dims[0]; ++x)
343  {
344  int index = x + y*dims[0] + z*dims[1]*dims[0];
345  func(x,y,z, pixels+index);
346  }
347  }
348  }
349 }
350 
352 {
353  vtkImageDataPtr raw = image->getBaseVtkImageData();
354  cx::Transform3D rMd = image->get_rMd();
355  Eigen::Array3d spacing = Eigen::Array3d(raw->GetSpacing());
356 
357  CentroidFunctor func;
358  applyFunctor(image, func);
359  Vector3D ci = func.getCentroid().array() * spacing;
360  return rMd.coord(ci);
361 }
362 
364 {
365  MassFunctor func;
366  applyFunctor(image, func);
367  return func.getVolume();
368 }
369 
370 }
void fillVolume(cx::ImagePtr vol)
#define CX_ASSERT(statement)
Definition: cxLogger.h:131
One position with timestamp.
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
double calculateMass(cx::ImagePtr image)
boost::shared_ptr< class Image > ImagePtr
Definition: cxDicomWidget.h:48
void operator()(int x, int y, int z, unsigned char *val)
virtual unsigned char evaluate(const Vector3D &p) const =0
void applyFunctor(cx::ImagePtr image, FUNCTOR &func)
cx::Vector3D calculateCentroid(cx::ImagePtr image)
Transform3D get_uMv() const
get transform from inverted image space v (origin in ul corner) to image space u. ...
A volumetric data set.
Definition: cxImage.h:66
double calculateRMSError(vtkImageDataPtr a, vtkImageDataPtr b)
Transform3D get_tMu() const
get transform from image space u to probe tool space t.
virtual ProcessedUSInputDataPtr sampleUsData(const std::vector< Transform3D > &planes_rMf, const Eigen::Array2f &pixelSpacing, const Eigen::Array2i &sliceDimension, const Transform3D &output_dMr, const double noiseSigma, const unsigned char noiseMean) const
unsigned char constrainToUnsignedChar(const int val) const
Eigen::Vector3d Vector3D
Vector3D is a representation of a point or vector in 3D.
Definition: cxVector3D.h:63
Definition of characteristics for an Ultrasound Probe Sector.
Vector3D getSpacing() const
double noiseValue(double noiseSigma, double noiseMean)
void setDeepModified(vtkImageDataPtr image)
vtkImageDataPtr createEmptyMask(const Eigen::Array2i &sliceDimension) const
Utility functions for drawing an US Probe sector.
Definition: cxProbeSector.h:59
virtual float computeRMSError(cx::ImagePtr vol)
boost::shared_ptr< class ProcessedUSInputData > ProcessedUSInputDataPtr
vtkSmartPointer< class vtkImageData > vtkImageDataPtr
#define M_PI
void setData(ProbeDefinition data)
void operator()(int x, int y, int z, unsigned char *val)