ImFusion::CT::GeometryUtils Namespace Reference

Utility functions for geometry processing and manipulation. More...

Detailed Description

Utility functions for geometry processing and manipulation.

Classes
struct	FullGeometryRepresentation
	Struct for the collection off all components needed to represent the full geometry of a frame. More...

Functions
void	resetPersistentIndexAndRange (SharedImageSet &sis)
	Reset persistent index and range parameters for SharedImageSet.
std::vector< FullGeometryRepresentation >	perFrameGeometry (const SharedImageSet &sis)
	Collect the perFrameGeometry for all frames in a given SharedImageSet.
FullGeometryRepresentation	frameGeometryFromOpenCVMatrix (const mat34 &matrix, int width, int height, const vec2 &pixelSpacing)
	Converts an OpenCV projection matrix to FullGeometryRepresentation.
FullGeometryRepresentation	frameGeometryFromOpenCVMatrixComponents (const mat3 &K, const mat3 &R, const vec3 &t, const vec2 &detSpacing, const vec2i &detDim)
	Converts the OpenCV projection matrix components to FullGeometryRepresentation.
FullGeometryRepresentation	frameGeometryFromOpenGLMatrix (const mat4 &matrix, const vec2 &detSize)
	Converts an OpenGL projection matrix to FullGeometryRepresentation.
FullGeometryRepresentation	frameGeometryFromOpenGLMatrix (const mat4 &matrix, int width, int height, const vec2 &pixelSpacing)
	Converts an OpenGL projection matrix to FullGeometryRepresentation.
std::vector< FullGeometryRepresentation >	convertConeBeamGeometryToPerFrameGeometry (const ConeBeamGeometry &geom, int numFrames)
	Compute the perFrameGeometry for a given ConeBeamGeometry.
void	applyFullGeometryRepresentation (SharedImageSet &sis, const FullGeometryRepresentation &geom, int frame)
	Apply FullGeometryRepresentation to a single frame of a SharedImageSet.
void	applyFullGeometryRepresentation (SharedImageSet &sis, const std::vector< FullGeometryRepresentation > &geom)
	Apply FullGeometryRepresentation to SharedImageSet.
std::tuple< mat3, mat3, vec3 >	matrixComponentsOpenCVToImage (const FullGeometryRepresentation &geom)
	Return K (to image (mm)), R, t in OpenCV convention represented by this ConeBeamGeometry.
std::tuple< mat3, mat3, vec3 >	matrixComponentsOpenCVToPixel (const FullGeometryRepresentation &geom)
	Return K (to image (px)), R, t in OpenCV convention represented by this ConeBeamGeometry.
mat34	matrixOpenCVToImage (const FullGeometryRepresentation &geom)
	Return P = K (to image (mm)) * [R | t] in OpenCV convention represented by this ConeBeamGeometry.
mat34	matrixOpenCVToPixel (const FullGeometryRepresentation &geom)
	Return P = K (to image (px)) * [R | t] in OpenCV convention represented by this ConeBeamGeometry.
std::tuple< mat4, mat4 >	matrixComponentsGl (const FullGeometryRepresentation &geom)
	Return projection matrices in OpenGL convention, i.e. PM and MV.
mat4	matrixGlToImage (const FullGeometryRepresentation &geom)
	Return full projection matrix in OpenGL convention (.
mat4	matrixGlToImageTopLeft (const FullGeometryRepresentation &geom)
	Returns the projection matrix from matrix() but with the y-axis being flipped as we use a top-left system for our images.
mat4	matrixFromWorldToImage (const FullGeometryRepresentation &geom)
	Returns transformation matrix from world to image.
mat4	matrixFromImageToWorld (const FullGeometryRepresentation &geom)
	Returns transformation matrix from image to world.
vec3	sourcePositionWorld (const FullGeometryRepresentation &geom)
	Return source position in world coordinates.
double	sourceToDetectorDistance (const FullGeometryRepresentation &geom)
	Returns the sourceToDetectorDistance in mm.
std::tuple< mat3, mat3, vec3 >	matrixComponentsOpenCVToImage (const SharedImageSet &sis, int frame)
	Return K (to image (mm)), R, t in OpenCV convention represented by this ConeBeamGeometry.
std::tuple< mat3, mat3, vec3 >	matrixComponentsOpenCVToPixel (const SharedImageSet &sis, int frame)
	Return K (to image (px)), R, t in OpenCV convention represented by this ConeBeamGeometry.
mat34	matrixOpenCVToImage (const SharedImageSet &sis, int frame)
	Return P = K (to image (mm)) * [R | t] in OpenCV convention represented by this ConeBeamGeometry.
mat34	matrixOpenCVToPixel (const SharedImageSet &sis, int frame)
	Return P = K (to image (px)) * [R | t] in OpenCV convention represented by this ConeBeamGeometry.
std::tuple< mat4, mat4 >	matrixComponentsGl (const SharedImageSet &sis, int frame)
	Return projection matrices in OpenGL convention, i.e. PM and MV.
mat4	matrixGlToImage (const SharedImageSet &sis, int frame)
	Return full projection matrix in OpenGL convention (.
mat4	matrixGlToImageTopLeft (const SharedImageSet &sis, int frame)
	Returns the projection matrix from matrix() but with the y-axis being flipped as we use a top-left system for our images.
mat4	matrixFromWorldToImage (const SharedImageSet &sis, int frame)
	Returns transformation matrix from world to image.
mat4	matrixFromImageToWorld (const SharedImageSet &sis, int frame)
	Returns transformation matrix from image to world.
vec3	sourcePositionWorld (const SharedImageSet &sis, int frame)
	Return source position in world coordinates.
double	sourceToDetectorDistance (const SharedImageSet &sis, int frame)

Function Documentation

frameGeometryFromOpenCVMatrix()

FullGeometryRepresentation frameGeometryFromOpenCVMatrix	(	const mat34 &	matrix,
		int	width,
		int	height,
		const vec2 &	pixelSpacing )

Converts an OpenCV projection matrix to FullGeometryRepresentation.

Parameters

matrix	OpenCV projection matrix
detSize	size of the detector in mm

frameGeometryFromOpenCVMatrixComponents()

FullGeometryRepresentation frameGeometryFromOpenCVMatrixComponents	(	const mat3 &	K,
		const mat3 &	R,
		const vec3 &	t,
		const vec2 &	detSpacing,
		const vec2i &	detDim )

Converts the OpenCV projection matrix components to FullGeometryRepresentation.

Note

The input matrices should be in OpenCV convention. I.e. K is in pixel units

Parameters

K	K matrix in OpenCV convention
R	R matrix in OpenCV convention
t	t vector in OpenCV convention
detSpacing	spacing of the detector pixel in mm
detDim	dimension of the detector in pixel

frameGeometryFromOpenGLMatrix() [1/2]

FullGeometryRepresentation frameGeometryFromOpenGLMatrix	(	const mat4 &	matrix,
		const vec2 &	detSize )

Converts an OpenGL projection matrix to FullGeometryRepresentation.

Note

The image descriptor of the returned FullGeometryRepresentation will contain a dummy descriptor. Specifically, it will contain an ImageDescriptorWorld with a single pixel, where the spacing is set to

Parameters

detSize,ensuring	that the extent is also
detSize.
matrix	OpenGL projection matrix
detSize	size of the detector in mm

frameGeometryFromOpenGLMatrix() [2/2]

FullGeometryRepresentation frameGeometryFromOpenGLMatrix	(	const mat4 &	matrix,
		int	width,
		int	height,
		const vec2 &	pixelSpacing )

Converts an OpenGL projection matrix to FullGeometryRepresentation.

Sets the image descriptor of FullGeometryRepresentation with respect to

Parameters

width

param height , and

Parameters

pixelSpacing	correctly
width	in pixels
height	in pixels
pixelSpacing	pixel sizes in mm

convertConeBeamGeometryToPerFrameGeometry()

std::vector< FullGeometryRepresentation > convertConeBeamGeometryToPerFrameGeometry	(	const ConeBeamGeometry &	geom,
		int	numFrames )

Compute the perFrameGeometry for a given ConeBeamGeometry.

Warning

since this function does not know the number of pixels per frame if sis is nullptr, it defaults to a homogeneous pixel spacing of 1

matrixComponentsOpenCVToImage()

std::tuple< mat3, mat3, vec3 > matrixComponentsOpenCVToImage

(

const FullGeometryRepresentation &

geom

)

Return K (to image (mm)), R, t in OpenCV convention represented by this ConeBeamGeometry.

Note

By image coordinate system, we refer to the coordinate systems as defined in Coordinate Systems. I.e. the image system has the origin in the center.

matrixComponentsOpenCVToPixel()

std::tuple< mat3, mat3, vec3 > matrixComponentsOpenCVToPixel

(

const FullGeometryRepresentation &

geom

)

Return K (to image (px)), R, t in OpenCV convention represented by this ConeBeamGeometry.

Note

By pixel coordinate system, we refer to the coordinate systems as defined in Coordinate Systems. I.e. the pixel system has the origin at the top-left corner.

matrixOpenCVToImage()

mat34 matrixOpenCVToImage

(

const FullGeometryRepresentation &

geom

)

Return P = K (to image (mm)) * [R | t] in OpenCV convention represented by this ConeBeamGeometry.

Note

By image coordinate system, we refer to the coordinate systems as defined in Coordinate Systems. I.e. the image system has the origin in the center.

matrixOpenCVToPixel()

mat34 matrixOpenCVToPixel

(

const FullGeometryRepresentation &

geom

)

Return P = K (to image (px)) * [R | t] in OpenCV convention represented by this ConeBeamGeometry.

Note

By pixel coordinate system, we refer to the coordinate systems as defined in Coordinate Systems. I.e. the pixel system has the origin at the top-left corner.

matrixGlToImage() [1/2]

mat4 matrixGlToImage

(

const FullGeometryRepresentation &

geom

)

Return full projection matrix in OpenGL convention (.

See also

matrixComponentsGl())

matrixGlToImageTopLeft() [1/2]

mat4 matrixGlToImageTopLeft

(

const FullGeometryRepresentation &

geom

)

Returns the projection matrix from matrix() but with the y-axis being flipped as we use a top-left system for our images.

Same is true for our texture coordinates in OpenGL. By default our origin in texture coordinates is at the top-left corner

matrixGlToImage() [2/2]

mat4 matrixGlToImage	(	const SharedImageSet &	sis,
		int	frame )

Return full projection matrix in OpenGL convention (.

Note

This function also supports the legacy geometry

matrixGlToImageTopLeft() [2/2]

mat4 matrixGlToImageTopLeft	(	const SharedImageSet &	sis,
		int	frame )

Returns the projection matrix from matrix() but with the y-axis being flipped as we use a top-left system for our images.

Note

This function also supports the legacy geometry