VolumeGridHelper.h

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/*
 *  Copyright (C) 2010 - 2015 Leonid Kostrykin
 *
 *  Chair of Medical Engineering (mediTEC)
 *  RWTH Aachen University
 *  Pauwelsstr. 20
 *  52074 Aachen
 *  Germany
 *
 */
 
#ifndef VOLUMEGRIDHELPER_H_6014714286
#define VOLUMEGRIDHELPER_H_6014714286
 
#include <Carna/helpers/VolumeGridHelperDetails.h>
#include <Carna/Carna.h>
#include <Carna/base/Node.h>
#include <Carna/base/math.h>
#include <Carna/base/VolumeGrid.h>
#include <Carna/base/VolumeSegment.h>
#include <Carna/base/Geometry.h>
#include <Carna/base/BoundingBox.h>
#include <memory>
#include <cmath>
 
namespace Carna
{
 
namespace helpers
{
 
 
 
// ----------------------------------------------------------------------------------
// VolumeGridHelperBase
// ----------------------------------------------------------------------------------
 
class CARNA_LIB VolumeGridHelperBase
{
 
public:
 
    const static std::size_t DEFAULT_MAX_SEGMENT_BYTESIZE = 2 * 300 * 300 * 300;
 
    VolumeGridHelperBase( const base::math::Vector3ui& nativeResolution );
 
    const base::math::Vector3ui nativeResolution;
 
    virtual ~VolumeGridHelperBase();
 
    virtual void releaseGeometryFeatures() = 0;
 
    struct CARNA_LIB Spacing
    {
        explicit Spacing( const base::math::Vector3f& millimeters );
 
        base::math::Vector3f millimeters;
    };
    
    struct CARNA_LIB Dimensions
    {
        explicit Dimensions( const base::math::Vector3f& millimeters );
 
        base::math::Vector3f millimeters;
    };
 
    virtual base::Node* createNode( unsigned int geometryType, const Spacing& spacing ) const = 0;
    
    virtual base::Node* createNode( unsigned int geometryType, const Dimensions& dimensions ) const = 0;
    
    virtual void loadIntensities( const std::function< float( const base::math::Vector3ui& ) >& intensityData ) = 0;
 
    template< typename LoadIntensitiesFunction >
    void loadIntensities( const LoadIntensitiesFunction& intensityData );
 
    void loadHUData( const std::function< base::HUV( const base::math::Vector3ui& ) >& huData );
 
    template< typename LoadHUDataFunction >
    void loadHUData( const LoadHUDataFunction& huData );
 
}; // VolumeGridHelperBase
 
 
template< typename LoadIntensitiesFunction >
void VolumeGridHelperBase::loadIntensities( const LoadIntensitiesFunction& intensityData )
{
    loadIntensities( static_cast< const std::function< float( const base::math::Vector3ui& ) >& >
        (
            [&intensityData]( const base::math::Vector3ui& loc ) -> float
            {
                return intensityData( loc );
            }
        )
    );
}
 
 
template< typename LoadHUDataFunction >
void VolumeGridHelperBase::loadHUData( const LoadHUDataFunction& huData )
{
    loadHUData( static_cast< const std::function< base::HUV( const base::math::Vector3ui& ) >& >
        (
            [&huData]( const base::math::Vector3ui& loc )
            {
                return huData( loc );
            }
        )
    );
}
 
 
 
// ----------------------------------------------------------------------------------
// VolumeGridHelper
// ----------------------------------------------------------------------------------
 
template< typename SegmentIntensityVolumeType, typename SegmentNormalsVolumeType >
class VolumeGridHelper
    : public VolumeGridHelperBase
    , public details::VolumeGridHelper::IntensityComponent< SegmentIntensityVolumeType, SegmentNormalsVolumeType >
    , public details::VolumeGridHelper::  NormalsComponent< SegmentIntensityVolumeType, SegmentNormalsVolumeType >
{
 
    NON_COPYABLE
 
    typedef details::VolumeGridHelper::IntensityComponent< SegmentIntensityVolumeType, SegmentNormalsVolumeType > IntensityComponent;
    typedef details::VolumeGridHelper::  NormalsComponent< SegmentIntensityVolumeType, SegmentNormalsVolumeType >   NormalsComponent;
 
    std::unique_ptr< base::VolumeGrid< SegmentIntensityVolumeType, SegmentNormalsVolumeType > > myGrid;
 
public:
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    VolumeGridHelper( const base::math::Vector3ui& nativeResolution, std::size_t maxSegmentBytesize = DEFAULT_MAX_SEGMENT_BYTESIZE );
 
    const std::size_t maxSegmentBytesize;
 
    const base::math::Vector3ui maxSegmentSize;
 
    const details::VolumeGridHelper::Partionining partitioningX;
    
    const details::VolumeGridHelper::Partionining partitioningY;
    
    const details::VolumeGridHelper::Partionining partitioningZ;
 
    const base::math::Vector3ui resolution;
 
    virtual void loadIntensities( const std::function< float( const base::math::Vector3ui& ) >& intensityData ) override;
    
    virtual void releaseGeometryFeatures() override;
 
    base::VolumeGrid< SegmentIntensityVolumeType, SegmentNormalsVolumeType >& grid() const;
 
    virtual base::Node* createNode( unsigned int geometryType, const Spacing& spacing ) const override;
    
    virtual base::Node* createNode( unsigned int geometryType, const Dimensions& dimensions ) const override;
    
protected:
 
    virtual base::math::Vector3ui gridResolution() const override;
 
private:
 
    base::Node* createNode
        ( unsigned int geometryType
        , const Spacing& spacing
        , const Dimensions& dimensions ) const;
 
    static base::math::Vector3ui computeMaxSegmentSize( const base::math::Vector3ui& nativeResolution, std::size_t maxSegmentBytesize );
 
}; // VolumeGridHelper
 
 
template< typename SegmentIntensityVolumeType, typename SegmentNormalsVolumeType >
base::math::Vector3ui VolumeGridHelper< SegmentIntensityVolumeType, SegmentNormalsVolumeType >::computeMaxSegmentSize
    ( const base::math::Vector3ui& nativeResolution, std::size_t maxSegmentBytesize )
{
    const float maxSideLengthF = std::pow
        ( maxSegmentBytesize / static_cast< float >( sizeof( typename SegmentIntensityVolumeType::Voxel ) ), 1.f / 3 );
    const unsigned int maxSideLength = base::math::makeEven( base::math::round_ui( maxSideLengthF ), -1 );
 
    /* We subtract the redundant texels from effective segment size.
     * Note that this causes the effective maximum segment size to be odd.
     */
    return base::math::Vector3ui( maxSideLength - 1, maxSideLength - 1, maxSideLength - 1 );
}
 
 
template< typename SegmentIntensityVolumeType, typename SegmentNormalsVolumeType >
VolumeGridHelper< SegmentIntensityVolumeType, SegmentNormalsVolumeType >::VolumeGridHelper
        ( const base::math::Vector3ui& nativeResolution
        , std::size_t maxSegmentBytesize )
    : VolumeGridHelperBase( nativeResolution )
    , maxSegmentBytesize( maxSegmentBytesize )
    , maxSegmentSize( computeMaxSegmentSize( nativeResolution, maxSegmentBytesize ) )
    , partitioningX( nativeResolution.x(), maxSegmentSize.x() )
    , partitioningY( nativeResolution.y(), maxSegmentSize.y() )
    , partitioningZ( nativeResolution.z(), maxSegmentSize.z() )
    , resolution( partitioningX.totalSize(), partitioningY.totalSize(), partitioningZ.totalSize() )
{
    const base::math::Vector3ui segmentCounts
        ( partitioningX.partitionsCount()
        , partitioningY.partitionsCount()
        , partitioningZ.partitionsCount() );
    myGrid.reset( new base::VolumeGrid< SegmentIntensityVolumeType, SegmentNormalsVolumeType >( maxSegmentSize, segmentCounts ) );
    NormalsComponent::setGrid( *myGrid );
 
    CARNA_FOR_VECTOR3UI( segmentCoord, myGrid->segmentCounts )
    {
        /* Here we add the redundant texels to the buffer size considerations.
         */
        const base::math::Vector3ui segmentSize
            ( segmentCoord.x() + 1 == myGrid->segmentCounts.x() ? partitioningX.tailSize : partitioningX.regularPartitionSize + 1
            , segmentCoord.y() + 1 == myGrid->segmentCounts.y() ? partitioningY.tailSize : partitioningY.regularPartitionSize + 1
            , segmentCoord.z() + 1 == myGrid->segmentCounts.z() ? partitioningZ.tailSize : partitioningZ.regularPartitionSize + 1 );
 
        IntensityComponent::initializeSegment( myGrid->segmentAt( segmentCoord ), segmentSize );
        NormalsComponent  ::initializeSegment( myGrid->segmentAt( segmentCoord ), segmentSize );
    }
}
 
 
template< typename SegmentIntensityVolumeType, typename SegmentNormalsVolumeType >
void VolumeGridHelper< SegmentIntensityVolumeType, SegmentNormalsVolumeType >::releaseGeometryFeatures()
{
    IntensityComponent::releaseGeometryFeatures();
    NormalsComponent  ::releaseGeometryFeatures();
}
 
 
template< typename SegmentIntensityVolumeType, typename SegmentNormalsVolumeType >
void VolumeGridHelper< SegmentIntensityVolumeType, SegmentNormalsVolumeType >::loadIntensities
      ( const std::function< float( const base::math::Vector3ui& ) >& data )
{
    releaseGeometryFeatures();
    CARNA_FOR_VECTOR3UI( coord, resolution )
    {
        const bool outOfNativeBounds
            =  coord.x() >= nativeResolution.x()
            || coord.y() >= nativeResolution.y()
            || coord.z() >= nativeResolution.z();
        const float intensity = outOfNativeBounds ? 0 : data( coord );
        myGrid->template setVoxel< typename base::VolumeGrid< SegmentIntensityVolumeType, SegmentNormalsVolumeType >::IntensitySelector >( coord, intensity );
    }
    NormalsComponent::computeNormals();
}
 
 
template< typename SegmentIntensityVolumeType, typename SegmentNormalsVolumeType >
base::VolumeGrid< SegmentIntensityVolumeType, SegmentNormalsVolumeType >&
    VolumeGridHelper< SegmentIntensityVolumeType, SegmentNormalsVolumeType >::grid() const
{
    return *myGrid;
}
 
 
template< typename SegmentIntensityVolumeType, typename SegmentNormalsVolumeType >
base::Node* VolumeGridHelper< SegmentIntensityVolumeType, SegmentNormalsVolumeType >::createNode
    ( unsigned int geometryType, const Spacing& spacing, const Dimensions& dimensions ) const
{
    /* Compute dimensions of a regular grid segment, taking the redundant texels into
     * account. Regular segments have `regularPartitionSize + 1` texels per dimension
     * which is due to the redundant pixels.
     */
    const base::math::Vector3f regularSegmentDimensions = dimensions.millimeters.cwiseMin( base::math::Vector3f
        ( spacing.millimeters.x() * partitioningX.regularPartitionSize
        , spacing.millimeters.y() * partitioningY.regularPartitionSize
        , spacing.millimeters.z() * partitioningZ.regularPartitionSize ) );
    
    /* Create pivot node that centers its children.
     *
     * Suppose the following example grid layout, where p is the absolute center and
     * q is the center of the first segment:
     *
     *     o-------o-------o---o
     *     |   q   |       |   |
     *     o-------o-------o---o
     *     |       | p     |   |
     *     o-------o-------o---o
     *     |       |       |   |
     *     o-------o-------o---o
     *
     * Each segment is rendered around its local center. Thus, the translation T
     * required to center the volume geometry in the origin, corresponds to:
     *
     *     T = -p + q
     */
    base::Node* const pivot = new base::Node();
    pivot->localTransform = base::math::translation4f( ( regularSegmentDimensions - dimensions.millimeters ) / 2 );
    pivot->setMovable( false );
 
    /* Create geometry nodes for all grid segments.
     */
    CARNA_FOR_VECTOR3UI( segmentCoord, myGrid->segmentCounts )
    {
        const base::VolumeSegment< SegmentIntensityVolumeType, SegmentNormalsVolumeType >& segment = myGrid->segmentAt( segmentCoord );
 
        /* Compute dimensions of particular grid segment.
         */
        const bool isTailX = segmentCoord.x() + 1 == myGrid->segmentCounts.x();
        const bool isTailY = segmentCoord.y() + 1 == myGrid->segmentCounts.y();
        const bool isTailZ = segmentCoord.z() + 1 == myGrid->segmentCounts.z();
        const base::math::Vector3ui& volumeSize = segment.intensities().size; // includes redundant pixels (only along non-tail dimensions)
        const base::math::Vector3f segmentDimensions
            ( isTailX ? ( volumeSize.x() - 1 ) * spacing.millimeters.x() : regularSegmentDimensions.x()
            , isTailY ? ( volumeSize.y() - 1 ) * spacing.millimeters.y() : regularSegmentDimensions.y()
            , isTailZ ? ( volumeSize.z() - 1 ) * spacing.millimeters.z() : regularSegmentDimensions.z() );
 
        /* Create geometry node for particular grid segment.
         */
        base::Geometry* const geom = new base::Geometry( geometryType );
        pivot->attachChild( geom );
        IntensityComponent::attachTexture( *geom, segment );
        NormalsComponent  ::attachTexture( *geom, segment );
        geom->setMovable( false );
        geom->setBoundingVolume( new base::BoundingBox( 1, 1, 1 ) );
        geom->localTransform
            = base::math::translation4f
                ( segmentCoord.x() * regularSegmentDimensions.x() - ( isTailX ? ( regularSegmentDimensions.x() - segmentDimensions.x() ) / 2 : 0 )
                , segmentCoord.y() * regularSegmentDimensions.y() - ( isTailY ? ( regularSegmentDimensions.y() - segmentDimensions.y() ) / 2 : 0 )
                , segmentCoord.z() * regularSegmentDimensions.z() - ( isTailZ ? ( regularSegmentDimensions.z() - segmentDimensions.z() ) / 2 : 0 ) )
            * base::math::scaling4f( segmentDimensions );
    }
 
    /* We're done.
     */
    base::Log::instance().record( base::Log::debug
        , "VolumeGridHelper computed "
        + base::text::lexical_cast< std::string >( 8 * sizeof( typename SegmentIntensityVolumeType::Voxel ) )
        + "bit grid data using "
        + base::text::lexical_cast< std::string >( myGrid->segmentCounts.x() ) + "×"
        + base::text::lexical_cast< std::string >( myGrid->segmentCounts.y() ) + "×"
        + base::text::lexical_cast< std::string >( myGrid->segmentCounts.z() ) + " segments" );
    return pivot;
}
 
 
template< typename SegmentIntensityVolumeType, typename SegmentNormalsVolumeType >
base::Node* VolumeGridHelper< SegmentIntensityVolumeType, SegmentNormalsVolumeType >::createNode
    ( unsigned int geometryType, const Spacing& spacing ) const
{
    const base::math::Vector3f dimensions
        = ( nativeResolution.cast< int >() - base::math::Vector3i( 1, 1, 1 ) ).cast< float >().cwiseProduct( spacing.millimeters );
    return createNode( geometryType, spacing, Dimensions( dimensions ) );
}
 
 
template< typename SegmentIntensityVolumeType, typename SegmentNormalsVolumeType >
base::Node* VolumeGridHelper< SegmentIntensityVolumeType, SegmentNormalsVolumeType >::createNode
    ( unsigned int geometryType, const Dimensions& dimensions ) const
{
    const base::math::Vector3f& mmDimensions = dimensions.millimeters;
    const base::math::Vector3f spacing
        = mmDimensions.cast< float >().cwiseQuotient( ( nativeResolution.cast< int >() - base::math::Vector3i( 1, 1, 1 ) ).cast< float >() );
    return createNode( geometryType, Spacing( spacing ), dimensions );
}
 
 
template< typename SegmentIntensityVolumeType, typename SegmentNormalsVolumeType >
base::math::Vector3ui VolumeGridHelper< SegmentIntensityVolumeType, SegmentNormalsVolumeType >::gridResolution() const
{
    return resolution;
}
 
 
 
}  // namespace Carna :: helpers
 
}  // namespace Carna
 
#endif // VOLUMEGRIDHELPER_H_6014714286