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AndreaRigoni
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src/Math/VoxRaytracer.cpp
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251
src/Math/VoxRaytracer.cpp
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/*//////////////////////////////////////////////////////////////////////////////
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// CMT Cosmic Muon Tomography project //////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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Copyright (c) 2014, Universita' degli Studi di Padova, INFN sez. di Padova
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All rights reserved
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Authors: Andrea Rigoni Garola < andrea.rigoni@pd.infn.it >
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------------------------------------------------------------------
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 3.0 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library.
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//////////////////////////////////////////////////////////////////////////////*/
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#include "VoxRaytracer.h"
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#include "Utils.h"
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inline float fast_sign(float f) { return 1 - 2 * (f < 0); }
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namespace uLib {
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////////////////////////////////////////////////////////////////////////////////
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///// RAY DATA /////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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void VoxRaytracer::RayData::AddElement(Id_t id, float L)
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{
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Element el = {id, L};
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m_Data.push_back(el);
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m_TotalLength += L;
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}
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void VoxRaytracer::RayData::AppendRay(const VoxRaytracer::RayData &in)
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{
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if (unlikely(!in.m_Data.size())) {
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std::cout << "Warinig: PoCA on exit border!\n";
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return;
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}
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else if (unlikely(!m_Data.size())) {
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m_Data = in.m_Data;
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std::cout << "Warinig: PoCA on entrance border!\n";
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return;
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}
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else {
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// Opzione 1) un voxel in piu' //
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m_Data.reserve(m_Data.size() + in.m_Data.size());
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m_Data.insert(m_Data.end(), in.m_Data.begin(), in.m_Data.end());
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// Opzione 2) merge dei voxel nel poca.
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// RayData::Element &e1 = m_Data.back();
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// const RayData::Element &e2 = in.m_Data.front();
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// if(e1.vox_id == e2.vox_id)
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// {
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// m_Data.reserve(m_Data.size() + in.m_Data.size() - 1);
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// e1.L += e2.L; //fix//
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// m_Data.insert(m_Data.end(), in.m_Data.begin()+1, in.m_Data.end());
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// }
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// else {
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// m_Data.reserve(m_Data.size() + in.m_Data.size());
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// m_Data.insert(m_Data.end(), in.m_Data.begin(), in.m_Data.end());
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// }
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m_TotalLength += in.m_TotalLength;
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}
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}
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void VoxRaytracer::RayData::PrintSelf(std::ostream &o)
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{
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o << "Ray: total lenght " << m_TotalLength << "\n";
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Vector<Element>::Iterator it;
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for(it = m_Data.begin(); it < m_Data.end(); ++it)
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o << "[ " << (*it).vox_id << ", " << (*it).L << "] \n";
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}
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////////////////////////////////////////////////////////////////////////////////
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//// RAY TRACER ////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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bool VoxRaytracer::GetEntryPoint(const HLine3f &line, HPoint3f &pt)
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{
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Vector4f s = m_Image->GetLocalPoint(line.direction);
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pt = m_Image->GetLocalPoint(line.origin);
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// Considers Structured grid dimensions //
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Vector4f dims = m_Image->GetDims().homogeneous().cast<float>();
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pt = pt.cwiseQuotient(dims);
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s = s.cwiseQuotient(dims);
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float l = s.head(3).norm();
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Vector3f L(l/s(0), l/s(1), l/s(2));
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Vector3f offset;
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for(int i=0;i<3;++i)
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offset(i) = (s(i)>0) - (pt(i)-floor(pt(i))) ;
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offset = offset.cwiseProduct(L).cwiseAbs();
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int id; float d;
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for(int loop=0; loop<8; loop++)
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{
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int check_border = 0;
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for ( int i=0; i<3 ;++i) {
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check_border += pt(i) > 1;
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check_border += pt(i) < 0;
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}
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if(check_border == 0) {
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for(int i=0;i<3;++i)
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pt(i) *= (float)dims(i);
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pt = m_Image->GetWorldPoint(pt);
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return true;
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}
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d = offset.minCoeff(&id);
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for(int i=0; i<3; ++i)
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pt(i) += d / L(i);
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pt(id) = rintf(pt(id));
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offset.array() -= d;
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offset(id) = fabs(L(id));
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}
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for(int i=0;i<3;++i)
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pt(i) *= (float)dims(i);
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pt = m_Image->GetWorldPoint(pt);
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return false;
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}
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bool VoxRaytracer::GetExitPoint(const HLine3f &line, HPoint3f &pt)
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{
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HLine3f out = line;
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out.direction *= -1;
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return GetEntryPoint(out,pt);
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}
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VoxRaytracer::RayData VoxRaytracer::TraceBetweenPoints(const HPoint3f &in,
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const HPoint3f &out)
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const
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{
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RayData ray;
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Vector4f pt1 = m_Image->GetLocalPoint(in);
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Vector4f pt2 = m_Image->GetLocalPoint(out);
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Vector4f s = pt2 - pt1;
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float l = s.head(3).norm();
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Vector3f L(l/s(0), l/s(1), l/s(2));
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// Vector3f scale; // FIXXX
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// scale << (m_Image->GetWorldMatrix() * Vector4f(1,0,0,0)).norm(),
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// (m_Image->GetWorldMatrix() * Vector4f(0,1,0,0)).norm(),
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// (m_Image->GetWorldMatrix() * Vector4f(0,0,1,0)).norm();
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Vector3f offset;
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for(int i=0;i<3;++i) offset(i) = (s(i)>=0) - (pt1(i)-floor(pt1(i))) ;
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offset = offset.cwiseProduct(L).cwiseAbs();
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L = L.cwiseAbs();
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//---- Check if the ray only crosses one voxel
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Vector3i vid = m_Image->Find(in);
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if(vid == m_Image->Find(out)){
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ray.AddElement(m_Image->Map(vid),s.norm());
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return ray;
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}
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//---- Otherwise, loop until ray is finished
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int id; float d;
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while(l>0){
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d = offset.minCoeff(&id);
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if(m_Image->IsInsideGrid(vid)){
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ray.AddElement(m_Image->Map(vid), d * m_scale(id) );
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}
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// nan check //
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// if(unlikely(!isFinite(d * scale(id)))) {
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// std:: cout << "NAN in raytracer\n";
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// exit(1);
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// }
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vid(id) += (int)fast_sign(s(id));
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l -= d;
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offset.array() -= d;
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offset(id) = fmin(L(id),l);
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}
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return ray;
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}
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// 20150528 SV for absorbed muons
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VoxRaytracer::RayData VoxRaytracer::TraceLine(const HLine3f &line) const
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{
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RayData ray;
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Vector4f pt = m_Image->GetLocalPoint(line.origin);
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Vector4f s = m_Image->GetLocalPoint(line.direction);
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float l = s.head(3).norm();
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// intersection between track and grid when spacing is +1
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Vector3f L(l/s(0), l/s(1), l/s(2));
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// RayTracer works with a grid of interspace +1
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// Vector3f scale; // FIXXX
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// scale << (m_Image->GetWorldMatrix() * Vector4f(1,0,0,0)).norm(),
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// (m_Image->GetWorldMatrix() * Vector4f(0,1,0,0)).norm(),
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// (m_Image->GetWorldMatrix() * Vector4f(0,0,1,0)).norm();
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// offset is the fraction of the segment between grid lines when origin is insiede voxel
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// cwiseAbs for having positive distances
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Vector3f offset;
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for(int i=0;i<3;++i)
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offset(i) = (s(i)>=0) - (pt(i)-floor(pt(i)));
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offset = offset.cwiseProduct(L).cwiseAbs();
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L = L.cwiseAbs();
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int id; float d;
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Vector3i vid = m_Image->Find(line.origin);
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while(m_Image->IsInsideGrid(vid))
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{
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// minimun coefficient of offset: id is the coordinate, d is the value
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// dependig on which grid line horizontal or vertical it is first intercept
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d = offset.minCoeff(&id);
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// add Lij to ray
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ray.AddElement(m_Image->Map(vid), d * m_scale(id) );
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// move to the next voxel
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vid(id) += (int)fast_sign(s(id));
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offset.array() -= d;
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offset(id) = L(id);
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}
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return ray;
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}
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}
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