@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;
  }
Exemplo n.º 2
0
  public void setTrajectory(
      int numProjectionMatrices,
      double sourceToAxisDistance,
      double averageAngularIncrement,
      double detectorOffsetX,
      double detectorOffsetY,
      CameraAxisDirection uDirection,
      CameraAxisDirection vDirection,
      SimpleVector rotationAxis,
      PointND rotationCenter,
      double angleFirstProjection) {
    this.projectionMatrices = new Projection[numProjectionMatrices];
    this.primaryAngles = new double[numProjectionMatrices];
    this.numProjectionMatrices = numProjectionMatrices;
    this.sourceToAxisDistance = sourceToAxisDistance;
    this.averageAngularIncrement = averageAngularIncrement;
    this.detectorOffsetU = detectorOffsetX;
    this.detectorOffsetV = detectorOffsetY;

    double cosPhi = Math.cos(General.toRadians(angleFirstProjection));
    double sinPhi = Math.sin(General.toRadians(angleFirstProjection));
    SimpleMatrix rotMat = new SimpleMatrix(3, 3);
    rotMat.setElementValue(0, 0, cosPhi);
    rotMat.setElementValue(0, 1, sinPhi);
    rotMat.setElementValue(1, 0, -sinPhi);
    rotMat.setElementValue(1, 1, cosPhi);
    rotMat.setElementValue(2, 2, 1);
    SimpleVector centerToCameraIdealAtInitialAngle =
        SimpleOperators.multiply(rotMat, new SimpleVector(sourceToAxisDistance, 0, 0));
    Plane3D trajPlane =
        new Plane3D(
            rotationAxis,
            SimpleOperators.multiplyInnerProd(rotationAxis, rotationCenter.getAbstractVector()));
    double distToPlane = trajPlane.computeDistance(new PointND(centerToCameraIdealAtInitialAngle));
    SimpleVector centerToCameraDir =
        SimpleOperators.subtract(
            SimpleOperators.add(
                rotationAxis.multipliedBy(-1 * distToPlane), centerToCameraIdealAtInitialAngle),
            rotationCenter.getAbstractVector());
    centerToCameraDir.divideBy(centerToCameraDir.normL2());
    SimpleVector centerToCameraInitialInPlane =
        centerToCameraDir.multipliedBy(sourceToAxisDistance);

    for (int i = 0; i < numProjectionMatrices; i++) {
      primaryAngles[i] = i * averageAngularIncrement + angleFirstProjection;
      // System.out.println(primaryAngles[i] + " " + averageAngularIncrement + " " +
      // this.reconDimensions[0] + " " + this.reconDimensions[1]);
      projectionMatrices[i] = new Projection();
      double rotationAngle = General.toRadians(primaryAngles[i]);
      projectionMatrices[i].setRtFromCircularTrajectory(
          rotationCenter.getAbstractVector(),
          rotationAxis,
          sourceToAxisDistance,
          centerToCameraInitialInPlane,
          uDirection,
          vDirection,
          rotationAngle);
      SimpleVector spacingUV = new SimpleVector(pixelDimensionX, pixelDimensionY);
      SimpleVector sizeUV = new SimpleVector(detectorWidth, detectorHeight);
      SimpleVector offset = new SimpleVector(detectorOffsetX, detectorOffsetY);
      projectionMatrices[i].setKFromDistancesSpacingsSizeOffset(
          sourceToDetectorDistance, spacingUV, sizeUV, offset, 1.0, 0);
    }
    this.projectionStackSize = numProjectionMatrices;
    // System.out.println("Defined geometry with SDD " +sourceToDetectorDistance);
  }