@Override
public void configure() throws Exception {
Configuration config = Configuration.getGlobalConfiguration();
setConfiguration(config);
// double [] minmax = null;
checkDelta();
setNumberOfProjections(config.getGeometry().getPrimaryAngles().length);
double maxRange = (Math.PI + (2 * delta));
if (getPrimaryAngles() != null) {
// minmax = DoubleArrayUtil.minAndMaxOfArray(primaryAngles);
double factor = 15 - (deltaX / Math.PI * 180);
if (factor < 1) factor = 1;
double range =
(computeScanRange() + (factor * config.getGeometry().getAverageAngularIncrement()))
* Math.PI
/ 180.0;
offset = ((maxRange - range) / 2);
offset = factor * config.getGeometry().getAverageAngularIncrement() / 180.0 * Math.PI / 2;
deltaX = range - Math.PI;
if (debug) System.out.println("delta: " + delta * 180 / Math.PI);
if (debug) System.out.println("Angular Offset: " + offset + " " + maxRange + " " + range);
if (debug) System.out.println("deltaX: " + deltaX);
}
if (this.numberOfProjections == 0) {
throw new Exception("Number of projections not known");
}
setConfigured(true);
}
public static void main(String[] args) {
CONRAD.setup();
Configuration config = Configuration.getGlobalConfiguration();
CircularTrajectory traj = new CircularTrajectory(config.getGeometry());
double[] startAngles = new double[] {0, 20, 40};
for (int j = 0; j < startAngles.length; j++) {
traj.setTrajectory(
2,
600,
90,
0,
0,
CameraAxisDirection.ROTATIONAXIS_PLUS,
CameraAxisDirection.DETECTORMOTION_PLUS,
new SimpleVector(0, 0, 1),
new PointND(0, 0, 0),
startAngles[j]);
for (int i = 0; i < traj.getNumProjectionMatrices(); i++) {
System.out.println("Matrix: " + traj.getProjectionMatrix(i).toString());
}
System.out.println(" ");
}
}
@Override
public Grid2D applyToolToImage(Grid2D imageProcessor) {
FloatProcessor imp = new FloatProcessor(imageProcessor.getWidth(), imageProcessor.getHeight());
imp.setPixels(imageProcessor.getBuffer());
if (!initBead) initializeBead();
ImageProcessor imp1 = imp.duplicate(); // original
double[][] beadMean3D = config.getBeadMeanPosition3D(); // [beadNo][x,y,z]
double[] uv = new double[1];
SimpleMatrix pMatrix = config.getGeometry().getProjectionMatrix(imageIndex).computeP();
// [projection #][bead #][u, v, state[0: initial, 1: registered, 2: updated by hough searching]]
double[][][] beadPosition2D = config.getBeadPosition2D();
int noBeadRegistered = 0;
double[][] xy1 = new double[WeightBearingBeadPositionBuilder.beadNo][2]; // original
double[][] xy2 =
new double[WeightBearingBeadPositionBuilder.beadNo]
[2]; // warped (mapped to the mean), control points, reference
double[][] xy1_hat = new double[WeightBearingBeadPositionBuilder.beadNo][2]; // original
double[][] xy2_hat = new double[WeightBearingBeadPositionBuilder.beadNo][2]; // original
// double distanceReferenceToCurrentBead = 0;
for (int i = WeightBearingBeadPositionBuilder.currentBeadNo; i >= 0; i--) {
if (beadMean3D[i][0] != 0
|| beadMean3D[i][1] != 0
|| beadMean3D[i][2] != 0) { // assume bead 3d is registered.
uv = compute2DCoordinates(beadMean3D[i], pMatrix);
// find bead location if registered by txt: state 1
if (beadPosition2D[imageIndex][i][2] == 1) {
noBeadRegistered++;
if (isDisplay) {
imp1.setValue(2);
imp1.drawLine(
(int) Math.round(beadPosition2D[imageIndex][i][0] - 10),
(int) Math.round(beadPosition2D[imageIndex][i][1] - 10),
(int) Math.round(beadPosition2D[imageIndex][i][0] + 10),
(int) Math.round(beadPosition2D[imageIndex][i][1] + 10));
imp1.drawLine(
(int) Math.round(beadPosition2D[imageIndex][i][0] - 10),
(int) Math.round(beadPosition2D[imageIndex][i][1] + 10),
(int) Math.round(beadPosition2D[imageIndex][i][0] + 10),
(int) Math.round(beadPosition2D[imageIndex][i][1] - 10));
imp1.drawString(
"Bead " + i + " (state:" + (int) beadPosition2D[imageIndex][i][2] + ")",
(int) beadPosition2D[imageIndex][i][0],
(int) beadPosition2D[imageIndex][i][1] - 10);
}
xy1[noBeadRegistered - 1][0] = beadPosition2D[imageIndex][i][0];
xy1[noBeadRegistered - 1][1] = beadPosition2D[imageIndex][i][1];
xy2[noBeadRegistered - 1][0] = uv[0];
xy2[noBeadRegistered - 1][1] = uv[1];
} else if (imageIndex != 0
&& imageIndex != config.getGeometry().getNumProjectionMatrices() - 1) {
if (beadPosition2D[imageIndex - 1][i][2] == 1
&& beadPosition2D[imageIndex + 1][i][2] == 1) {
noBeadRegistered++;
double xMean =
(beadPosition2D[imageIndex - 1][i][0] + beadPosition2D[imageIndex - 1][i][0]) / 2;
double yMean =
(beadPosition2D[imageIndex + 1][i][1] + beadPosition2D[imageIndex + 1][i][1]) / 2;
if (isDisplay) {
imp1.setValue(2);
imp1.drawLine(
(int) Math.round(xMean - 10),
(int) Math.round(yMean - 10),
(int) Math.round(xMean + 10),
(int) Math.round(yMean + 10));
imp1.drawLine(
(int) Math.round(xMean - 10),
(int) Math.round(yMean + 10),
(int) Math.round(xMean + 10),
(int) Math.round(yMean - 10));
imp1.drawString("Bead " + i + " (state:" + "M)", (int) xMean, (int) yMean - 10);
}
xy1[noBeadRegistered - 1][0] = xMean;
xy1[noBeadRegistered - 1][1] = yMean;
xy2[noBeadRegistered - 1][0] = uv[0];
xy2[noBeadRegistered - 1][1] = uv[1];
}
}
// mean projected bead
// imp1.drawLine((int) Math.round(uv[0]-10), (int) Math.round(uv[1]), (int)
// Math.round(uv[0]+10), (int) Math.round(uv[1]));
// imp1.drawLine((int) Math.round(uv[0]), (int) Math.round(uv[1]-10), (int)
// Math.round(uv[0]), (int) Math.round(uv[1]+10));
}
}
if (isDisplay) {
for (int x = 0; x < config.getGeometry().getDetectorWidth(); x += 50)
imp1.drawLine(x, 0, x, config.getGeometry().getDetectorHeight());
for (int y = 0; y < config.getGeometry().getDetectorHeight(); y += 50)
imp1.drawLine(0, y, config.getGeometry().getDetectorWidth(), y);
}
if (isCornerIncluded) {
xy1[noBeadRegistered + 0][0] = 0;
xy1[noBeadRegistered + 0][1] = 0;
xy2[noBeadRegistered + 0][0] = 0;
xy2[noBeadRegistered + 0][1] = 0;
xy1[noBeadRegistered + 1][0] = 0;
xy1[noBeadRegistered + 1][1] = config.getGeometry().getDetectorHeight();
xy2[noBeadRegistered + 1][0] = 0;
xy2[noBeadRegistered + 1][1] = config.getGeometry().getDetectorHeight();
xy1[noBeadRegistered + 2][0] = config.getGeometry().getDetectorWidth();
xy1[noBeadRegistered + 2][1] = 0;
xy2[noBeadRegistered + 2][0] = config.getGeometry().getDetectorWidth();
xy2[noBeadRegistered + 2][1] = 0;
xy1[noBeadRegistered + 3][0] = config.getGeometry().getDetectorWidth();
xy1[noBeadRegistered + 3][1] = config.getGeometry().getDetectorHeight();
xy2[noBeadRegistered + 3][0] = config.getGeometry().getDetectorWidth();
xy2[noBeadRegistered + 3][1] = config.getGeometry().getDetectorHeight();
noBeadRegistered = noBeadRegistered + 4;
}
boolean fScaling = true;
double minX = Double.MAX_VALUE;
double maxX = 0;
double minY = Double.MAX_VALUE;
double maxY = 0;
double c = 0;
if (fScaling) { // ----- scaling to reduce condition # of A matrix
for (int i = 0; i < noBeadRegistered; i++) {
minX = Math.min(minX, xy1[i][0]);
maxX = Math.max(maxX, xy1[i][0]);
minY = Math.min(minY, xy1[i][1]);
maxY = Math.max(maxY, xy1[i][1]);
}
c = Math.max(maxX - minX, maxY - minY);
for (int i = 0; i < noBeadRegistered; i++) {
xy1_hat[i][0] = (xy1[i][0] - minX) / c;
xy1_hat[i][1] = (xy1[i][1] - minY) / c;
xy2_hat[i][0] = (xy2[i][0] - minX) / c;
xy2_hat[i][1] = (xy2[i][1] - minY) / c;
}
} else {
xy1_hat = xy1;
xy2_hat = xy2;
}
ImageProcessor imp2 = imp1.duplicate(); // warped
/*
* A*x = b
* Matrix A = (n + 3) * (n + 3);
* n (noBeadRegistered + 4): # of control points + 4 corner points (assume corner points are static)
*/
int n = noBeadRegistered + 3;
SimpleMatrix A = new SimpleMatrix(n, n);
SimpleVector x_x = new SimpleVector(n);
SimpleVector x_y = new SimpleVector(n);
SimpleVector b_x = new SimpleVector(n);
SimpleVector b_y = new SimpleVector(n);
double rij = 0;
double valA = 0;
double valb_x = 0;
double valb_y = 0;
// Matrix L formation
// alpha: mean of distances between control points' xy-projections) is a constant only present
// on the diagonal of K
// lambda: TPS smoothing regularization coefficient
double alpha = 0.0;
double lambda = 1.6; // 1.6
for (int i = 0; i < noBeadRegistered; i++) { // i= # of row
for (int j = i; j < noBeadRegistered; j++) { // j= # of column
alpha +=
Math.sqrt(
Math.pow(xy2_hat[i][0] - xy2_hat[j][0], 2)
+ Math.pow(xy2_hat[i][1] - xy2_hat[j][1], 2));
}
}
alpha = alpha / Math.pow(noBeadRegistered, 2);
for (int i = 0; i < n; i++) { // i= # of row
for (int j = i; j < n; j++) { // j= # of column
if (i < 3 && j < 3) valA = 0;
else if (i >= 3 && j >= 3 && i == j) {
valA = Math.pow(alpha, 2) * lambda;
// valA = lambda;
if (imageIndex < 10)
System.out.println("Regularization = " + valA + ", lambda= " + lambda);
} else if (i == 0 && j >= 0) valA = 1;
else if (i == 1 && j >= 3) valA = xy1_hat[j - 3][0];
else if (i == 2 && j >= 3) valA = xy1_hat[j - 3][1];
else {
rij =
Math.pow(xy1_hat[j - 3][0] - xy1_hat[i - 3][0], 2)
+ Math.pow(xy1_hat[j - 3][1] - xy1_hat[i - 3][1], 2);
if (rij == 0) valA = 0;
else valA = rij * Math.log(rij);
}
A.setElementValue(i, j, valA);
A.setElementValue(j, i, valA);
}
if (i < 3) {
valb_x = 0;
valb_y = 0;
} else {
// valb_x = xy2_hat[i-3][0]-xy1_hat[i-3][0];
// valb_y = xy2_hat[i-3][1]-xy1_hat[i-3][1];
valb_x = xy2[i - 3][0] - xy1[i - 3][0];
valb_y = xy2[i - 3][1] - xy1[i - 3][1];
// if (imageIndex > 150 && imageIndex < 170)
// System.out.println("Idx" + imageIndex + ",Elevation" + (i-3) + ": " + valb_x + "---"
// + valb_y);
}
b_x.setElementValue(i, valb_x);
b_y.setElementValue(i, valb_y);
}
// System.out.println("A condition number=" + A.conditionNumber(MatrixNormType.MAT_NORM_L1));
// System.out.println("A condition number=" + A.conditionNumber(MatrixNormType.MAT_NORM_LINF));
x_x = Solvers.solveLinearSysytemOfEquations(A, b_x);
x_y = Solvers.solveLinearSysytemOfEquations(A, b_y);
if (fScaling) {
// ----- pixel space coefficients a, b scaling back
double tmpA0 =
x_x.getElement(0) - x_x.getElement(1) * (minX / c) - x_x.getElement(2) * (minY / c);
for (int j = 0; j < noBeadRegistered; j++) {
tmpA0 -=
Math.log(c)
* 2
* x_x.getElement(j + 3)
* (Math.pow(xy1_hat[j][0], 2) + Math.pow(xy1_hat[j][1], 2));
}
x_x.setElementValue(0, tmpA0);
tmpA0 = x_y.getElement(0) - x_y.getElement(1) * (minX / c) - x_y.getElement(2) * (minY / c);
for (int j = 0; j < noBeadRegistered; j++) {
tmpA0 -=
Math.log(c)
* 2
* x_y.getElement(j + 3)
* (Math.pow(xy1_hat[j][0], 2) + Math.pow(xy1_hat[j][1], 2));
}
x_y.setElementValue(0, tmpA0);
x_x.setElementValue(1, x_x.getElement(1) / c);
x_y.setElementValue(1, x_y.getElement(1) / c);
x_x.setElementValue(2, x_x.getElement(2) / c);
x_y.setElementValue(2, x_y.getElement(2) / c);
for (int i = 3; i < n; i++) {
x_x.setElementValue(i, x_x.getElement(i) / Math.pow(c, 2));
x_y.setElementValue(i, x_y.getElement(i) / Math.pow(c, 2));
}
// ----- pixel space coefficients a, b scaling back end
}
double devU = 0;
double devV = 0;
// Do warping
// if (imageIndex == 0) {
for (int y = 0; y < config.getGeometry().getDetectorHeight(); y++) {
// for (int y=252; y<253; y++) {
for (int x = 0; x < config.getGeometry().getDetectorWidth(); x++) {
// for (int x=606; x<607; x++) {
devU = x_x.getElement(0) + x_x.getElement(1) * x + x_x.getElement(2) * y;
devV = x_y.getElement(0) + x_y.getElement(1) * x + x_y.getElement(2) * y;
for (int i = 0; i < noBeadRegistered; i++) {
rij = Math.pow(xy1[i][0] - x, 2) + Math.pow(xy1[i][1] - y, 2);
if (rij > 0) {
devU += x_x.getElement(i + 3) * rij * Math.log(rij);
devV += x_y.getElement(i + 3) * rij * Math.log(rij);
}
}
// devU = 0;
// devV = 0;
imp2.setf(x, y, (float) imp1.getInterpolatedValue(x - devU, y - devV));
// System.out.println("x, y=" + x + ", " + y + "\t" + devU + ", " + devV);
// maxDevU = Math.max(maxDevU, devU);
// maxDevV = Math.max(maxDevV, devV);
}
}
// Error estimate after transformation
// for (int i=0; i<= WeightBearingBeadPositionBuilder.currentBeadNo; i++){
//
// if (beadMean3D[i][0] != 0 || beadMean3D[i][1] != 0 || beadMean3D[i][2] != 0){ // assume
// bead 3d is registered.
//
// // find bead location if registered by txt: state 1
// if (beadPosition2D[imageIndex][i][2] == 1){
//
// // Projected Reference
// uv = compute2DCoordinates(beadMean3D[i], pMatrix);
// double x = uv[0];
// double y = uv[1];
// // bead detected position in 2d
// // Transform to 2D coordinates, time variant position
// //beadPosition2D[imageIndex][i][0];
// //beadPosition2D[imageIndex][i][1];
//
// devU = x_x.getElement(0) + x_x.getElement(1)*x + x_x.getElement(2)*y;
// devV = x_y.getElement(0) + x_y.getElement(1)*x + x_y.getElement(2)*y;
// for (int j=0; j<noBeadRegistered; j++){
// rij = Math.pow(xy1[j][0]-x, 2) + Math.pow(xy1[j][1]-y, 2);
// if (rij > 0) {
// devU += x_x.getElement(j+3)*rij*Math.log(rij);
// devV += x_y.getElement(j+3)*rij*Math.log(rij);
// }
// }
//
// distanceReferenceToCurrentBead +=
// Math.sqrt(Math.pow(uv[0]-(beadPosition2D[imageIndex][i][0]+devU),
// 2)+Math.pow(uv[1]-(beadPosition2D[imageIndex][i][1]+devV), 2));
//
// }
// }
// }
// System.out.println("Euclidean distance\t" + imageIndex + "\t" +
// distanceReferenceToCurrentBead/noBeadRegistered);
// }
if (isDisplay) {
for (int i = WeightBearingBeadPositionBuilder.currentBeadNo; i >= 0; i--) {
if (beadMean3D[i][0] != 0
|| beadMean3D[i][1] != 0
|| beadMean3D[i][2] != 0) { // assume bead 3d is registered.
uv = compute2DCoordinates(beadMean3D[i], pMatrix);
imp2.setValue(2);
// mean projected bead
imp2.drawLine(
(int) Math.round(uv[0] - 10),
(int) Math.round(uv[1]),
(int) Math.round(uv[0] + 10),
(int) Math.round(uv[1]));
imp2.drawLine(
(int) Math.round(uv[0]),
(int) Math.round(uv[1] - 10),
(int) Math.round(uv[0]),
(int) Math.round(uv[1] + 10));
}
}
}
Grid2D result = new Grid2D((float[]) imp2.getPixels(), imp2.getWidth(), imp2.getHeight());
return result;
}