1 /*****************************************************************************
5 ** Purpose: Classes for CT scanner
6 ** Programmer: Kevin Rosenberg
9 ** This is part of the CTSim program
10 ** Copyright (c) 1983-2001 Kevin Rosenberg
12 ** $Id: scanner.cpp,v 1.29 2001/02/04 21:28:19 kevin Exp $
14 ** This program is free software; you can redistribute it and/or modify
15 ** it under the terms of the GNU General Public License (version 2) as
16 ** published by the Free Software Foundation.
18 ** This program is distributed in the hope that it will be useful,
19 ** but WITHOUT ANY WARRANTY; without even the implied warranty of
20 ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
21 ** GNU General Public License for more details.
23 ** You should have received a copy of the GNU General Public License
24 ** along with this program; if not, write to the Free Software
25 ** Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
26 ******************************************************************************/
31 const int Scanner::GEOMETRY_INVALID = -1;
32 const int Scanner::GEOMETRY_PARALLEL = 0;
33 const int Scanner::GEOMETRY_EQUIANGULAR = 1;
34 const int Scanner::GEOMETRY_EQUILINEAR = 2;
36 const char* Scanner::s_aszGeometryName[] =
43 const char* Scanner::s_aszGeometryTitle[] =
50 const int Scanner::s_iGeometryCount = sizeof(s_aszGeometryName) / sizeof(const char*);
54 // DetectorArray Construct a DetectorArray
56 DetectorArray::DetectorArray (const int nDet)
59 m_detValues = new DetectorValue [m_nDet];
64 // ~DetectorArray Free memory allocated to a detector array
66 DetectorArray::~DetectorArray (void)
68 delete [] m_detValues;
74 * Scanner::Scanner Construct a user specified detector structure
77 * Scanner (phm, nDet, nView, nSample)
78 * Phantom& phm PHANTOM that we are making detector for
79 * int geomety Geometry of detector
80 * int nDet Number of detector along detector array
81 * int nView Number of rotated views
82 * int nSample Number of rays per detector
85 Scanner::Scanner (const Phantom& phm, const char* const geometryName, int nDet, int nView, int nSample, const double rot_anglen, const double dFocalLengthRatio, const double dFieldOfViewRatio)
87 m_phmLen = phm.maxAxisLength(); // maximal length along an axis
90 m_idGeometry = convertGeometryNameToID (geometryName);
91 if (m_idGeometry == GEOMETRY_INVALID) {
93 m_failMessage = "Invalid geometry name ";
94 m_failMessage += geometryName;
98 if (nView < 1 || nDet < 1) {
100 m_failMessage = "nView & nDet must be greater than 0";
109 m_dFocalLengthRatio = dFocalLengthRatio;
110 m_dFieldOfViewRatio = dFieldOfViewRatio;
111 m_dFocalLength = (m_phmLen * SQRT2 / 2) * dFocalLengthRatio;
112 m_dFieldOfView = m_phmLen * SQRT2 * dFieldOfViewRatio;
114 m_dXCenter = phm.xmin() + (phm.xmax() - phm.xmin()) / 2;
115 m_dYCenter = phm.ymin() + (phm.ymax() - phm.ymin()) / 2;
116 m_rotLen = rot_anglen;
117 m_rotInc = m_rotLen / m_nView;
118 if (m_idGeometry == GEOMETRY_PARALLEL) {
119 m_detLen = m_dFieldOfView;
120 m_detInc = m_detLen / m_nDet;
121 if (m_nDet % 2 == 0) // Adjust for Even number of detectors
122 m_detInc = m_detLen / (m_nDet - 1); // center detector = (nDet/2)-1
124 double dHalfDetLen = m_detLen / 2;
125 m_initPos.xs1 = m_dXCenter - dHalfDetLen;
126 m_initPos.ys1 = m_dYCenter + m_dFocalLength;
127 m_initPos.xs2 = m_dXCenter + dHalfDetLen;
128 m_initPos.ys2 = m_dYCenter + m_dFocalLength;
129 m_initPos.xd1 = m_dXCenter - dHalfDetLen;
130 m_initPos.yd1 = m_dYCenter - m_dFocalLength;
131 m_initPos.xd2 = m_dXCenter + dHalfDetLen;
132 m_initPos.yd2 = m_dYCenter - m_dFocalLength;
133 m_initPos.angle = 0.0;
134 } else if (m_idGeometry == GEOMETRY_EQUILINEAR) {
136 double dAngle1 = atan ((m_dFieldOfView / 2) / m_dFocalLength);
137 double dHalfSquare = m_dFieldOfView / SQRT2 / 2;
138 double dFocalPastPhm = m_dFocalLength - dHalfSquare;
139 if (dFocalPastPhm <= 0.) {
141 m_failMessage = "Focal Point inside of phantom";
144 double dAngle2 = atan( dHalfSquare / dFocalPastPhm );
145 double dAngle = maxValue<double> (dAngle1, dAngle2);
146 //double dAngle = (m_dFieldOfView / 2) / cos (asin (m_dFieldOfView / 2 / m_dFocalLength));
148 if (m_dFieldOfView/2 >= m_dFocalLength) {
150 m_failMessage = "Invalid geometry: Focal length must be larger than field of view";
153 double dAngle = asin ((m_dFieldOfView/2) / m_dFocalLength);
156 double dHalfDetLen = 2 * m_dFocalLength * tan (dAngle);
158 m_detLen = dHalfDetLen * 2;
159 m_detInc = m_detLen / m_nDet;
160 if (m_nDet % 2 == 0) // Adjust for Even number of detectors
161 m_detInc = m_detLen / (m_nDet - 1); // center detector = (nDet/2)-1
163 m_initPos.angle = 0.0;
164 m_initPos.xs1 = m_dXCenter;
165 m_initPos.ys1 = m_dYCenter + m_dFocalLength;
166 m_initPos.xs2 = m_dXCenter;
167 m_initPos.ys2 = m_dYCenter + m_dFocalLength;
168 m_initPos.xd1 = m_dXCenter - dHalfDetLen;
169 m_initPos.yd1 = m_dYCenter - m_dFocalLength;
170 m_initPos.xd2 = m_dXCenter + dHalfDetLen;
171 m_initPos.yd2 = m_dYCenter - m_dFocalLength;
172 m_initPos.angle = 0.0;
173 } else if (m_idGeometry == GEOMETRY_EQUIANGULAR) {
174 if (m_dFieldOfView/2 > m_dFocalLength) {
176 m_failMessage = "Invalid geometry: Focal length must be larger than field of view";
179 double dAngle = asin ((m_dFieldOfView/2) / m_dFocalLength);
181 m_detLen = 2 * dAngle;
182 m_detInc = m_detLen / m_nDet;
183 if (m_nDet % 2 == 0) // Adjust for Even number of detectors
184 m_detInc = m_detLen / (m_nDet - 1); // center detector = (nDet/2)-1
185 m_dAngularDetIncrement = m_detInc * 2; // Angular Position 2x gamma angle
186 m_dAngularDetLen = m_detLen * 2;
187 m_initPos.dAngularDet = -m_dAngularDetLen / 2;
190 m_initPos.xs1 = m_dXCenter;
191 m_initPos.ys1 = m_dYCenter + m_dFocalLength;;
192 m_initPos.xs2 = m_dXCenter;
193 m_initPos.ys2 = m_dYCenter + m_dFocalLength;
196 // Calculate incrementatal rotation matrix
198 xlat_mtx2 (m_rotmtxIncrement, -m_dXCenter, -m_dYCenter);
199 rot_mtx2 (temp, m_rotInc);
200 mult_mtx2 (m_rotmtxIncrement, temp, m_rotmtxIncrement);
201 xlat_mtx2 (temp, m_dXCenter, m_dYCenter);
202 mult_mtx2 (m_rotmtxIncrement, temp, m_rotmtxIncrement);
206 Scanner::~Scanner (void)
212 Scanner::convertGeometryIDToName (const int geomID)
214 const char *name = "";
216 if (geomID >= 0 && geomID < s_iGeometryCount)
217 return (s_aszGeometryName[geomID]);
223 Scanner::convertGeometryIDToTitle (const int geomID)
225 const char *title = "";
227 if (geomID >= 0 && geomID < s_iGeometryCount)
228 return (s_aszGeometryName[geomID]);
234 Scanner::convertGeometryNameToID (const char* const geomName)
236 int id = GEOMETRY_INVALID;
238 for (int i = 0; i < s_iGeometryCount; i++)
239 if (strcasecmp (geomName, s_aszGeometryName[i]) == 0) {
249 * collectProjections Calculate projections for a Phantom
252 * collectProjections (proj, phm, start_view, nView, bStoreViewPos, trace)
253 * Projectrions& proj Projection storage
254 * Phantom& phm Phantom for which we collect projections
255 * bool bStoreViewPos TRUE then storage proj at normal view position
256 * int trace Trace level
261 Scanner::collectProjections (Projections& proj, const Phantom& phm, const int trace, SGP* pSGP)
263 collectProjections (proj, phm, 0, proj.nView(), true, trace, pSGP);
267 Scanner::collectProjections (Projections& proj, const Phantom& phm, const int iStartView, const int iNumViews, bool bStoreAtViewPosition, const int trace, SGP* pSGP)
270 double start_angle = iStartView * proj.rotInc();
272 // Calculate initial rotation matrix
273 GRFMTX_2D rotmtx_initial, temp;
274 xlat_mtx2 (rotmtx_initial, -m_dXCenter, -m_dYCenter);
275 rot_mtx2 (temp, start_angle);
276 mult_mtx2 (rotmtx_initial, temp, rotmtx_initial);
277 xlat_mtx2 (temp, m_dXCenter, m_dYCenter);
278 mult_mtx2 (rotmtx_initial, temp, rotmtx_initial);
280 double xd1=0, yd1=0, xd2=0, yd2=0;
281 if (m_idGeometry != GEOMETRY_EQUIANGULAR) {
286 xform_mtx2 (rotmtx_initial, xd1, yd1); // rotate detector endpoints
287 xform_mtx2 (rotmtx_initial, xd2, yd2); // to initial view_angle
290 double xs1 = m_initPos.xs1;
291 double ys1 = m_initPos.ys1;
292 double xs2 = m_initPos.xs2;
293 double ys2 = m_initPos.ys2;
294 xform_mtx2 (rotmtx_initial, xs1, ys1); // rotate source endpoints to
295 xform_mtx2 (rotmtx_initial, xs2, ys2); // initial view angle
299 for (iView = 0, viewAngle = start_angle; iView < iNumViews; iView++, viewAngle += proj.rotInc()) {
300 int iStoragePosition = iView;
301 if (bStoreAtViewPosition)
302 iStoragePosition += iStartView;
304 DetectorArray& detArray = proj.getDetectorArray( iStoragePosition );
307 if (pSGP && m_trace >= Trace::TRACE_PHANTOM) {
309 double dWindowSize = dmax (m_detLen, m_dFocalLength * 2) * SQRT2;
310 double dHalfWindowSize = dWindowSize / 2;
311 m_dXMinWin = m_dXCenter - dHalfWindowSize;
312 m_dXMaxWin = m_dXCenter + dHalfWindowSize;
313 m_dYMinWin = m_dYCenter - dHalfWindowSize;
314 m_dYMaxWin = m_dYCenter + dHalfWindowSize;
315 double dHalfPhmLen = m_phmLen / 2;
317 m_pSGP->setWindow (m_dXMinWin, m_dYMinWin, m_dXMaxWin, m_dYMaxWin);
318 m_pSGP->setRasterOp (RO_COPY);
319 m_pSGP->setColor (C_RED);
320 m_pSGP->moveAbs (0., 0.);
321 m_pSGP->drawRect (m_dXCenter - dHalfPhmLen, m_dYCenter - dHalfPhmLen, m_dXCenter + dHalfPhmLen, m_dYCenter + dHalfPhmLen);
322 m_pSGP->moveAbs (0., 0.);
323 m_pSGP->drawCircle (m_dFocalLength);
324 m_pSGP->setColor (C_BLUE);
325 m_pSGP->setTextPointSize (9);
327 m_dTextHeight = m_pSGP->getCharHeight ();
329 traceShowParam ("Phantom:", "%s", PROJECTION_TRACE_ROW_PHANT_ID, C_BLACK, phm.name().c_str());
330 traceShowParam ("Geometry:", "%s", PROJECTION_TRACE_ROW_GEOMETRY, C_BLUE, convertGeometryIDToName(m_idGeometry));
331 traceShowParam ("Focal Length Ratio:", "%.2f", PROJECTION_TRACE_ROW_FOCAL_LENGTH, C_BLUE, m_dFocalLengthRatio);
332 traceShowParam ("Field Of View Ratio:", "%.2f", PROJECTION_TRACE_ROW_FIELD_OF_VIEW, C_BLUE, m_dFieldOfViewRatio);
333 traceShowParam ("Num Detectors:", "%d", PROJECTION_TRACE_ROW_NDET, C_BLUE, proj.nDet());
334 traceShowParam ("Num Views:", "%d", PROJECTION_TRACE_ROW_NVIEW, C_BLUE, proj.nView());
335 traceShowParam ("Samples / Ray:", "%d", PROJECTION_TRACE_ROW_SAMPLES, C_BLUE, m_nSample);
337 m_pSGP->setMarker (SGP::MARK_BDIAMOND, C_LTGREEN);
342 if (m_pSGP && m_trace >= Trace::TRACE_PHANTOM) {
343 m_pSGP->setColor (C_BLACK);
344 m_pSGP->setPenWidth (2);
345 if (m_idGeometry == GEOMETRY_PARALLEL) {
346 m_pSGP->moveAbs (xs1, ys1);
347 m_pSGP->lineAbs (xs2, ys2);
348 m_pSGP->moveAbs (xd1, yd1);
349 m_pSGP->lineAbs (xd2, yd2);
350 } else if (m_idGeometry == GEOMETRY_EQUILINEAR) {
351 m_pSGP->setPenWidth (4);
352 m_pSGP->moveAbs (xs1, ys1);
353 m_pSGP->lineAbs (xs2, ys2);
354 m_pSGP->setPenWidth (2);
355 m_pSGP->moveAbs (xd1, yd1);
356 m_pSGP->lineAbs (xd2, yd2);
357 } else if (m_idGeometry == GEOMETRY_EQUIANGULAR) {
358 m_pSGP->setPenWidth (4);
359 m_pSGP->moveAbs (xs1, ys1);
360 m_pSGP->lineAbs (xs2, ys2);
361 m_pSGP->setPenWidth (2);
362 m_pSGP->moveAbs (0., 0.);
363 m_pSGP->drawArc (m_dFocalLength, viewAngle + 3 * HALFPI - (m_dAngularDetLen/2), viewAngle + 3 * HALFPI + (m_dAngularDetLen/2));
365 m_pSGP->setPenWidth (1);
367 if (m_trace > Trace::TRACE_CONSOLE)
368 traceShowParam ("Current View:", "%d (%.0f%%)", PROJECTION_TRACE_ROW_CURR_VIEW, C_RED, iView + iStartView, (iView + iStartView) / static_cast<double>(m_nView) * 100.);
370 if (m_trace == Trace::TRACE_CONSOLE)
371 std::cout << "Current View: " << iView+iStartView << std::endl;
373 projectSingleView (phm, detArray, xd1, yd1, xd2, yd2, xs1, ys1, xs2, ys2, viewAngle + 3 * HALFPI);
374 detArray.setViewAngle (viewAngle);
377 if (m_pSGP && m_trace >= Trace::TRACE_PHANTOM) {
378 // rs_plot (detArray, xd1, yd1, dXCenter, dYCenter, theta);
381 xform_mtx2 (m_rotmtxIncrement, xs1, ys1);
382 xform_mtx2 (m_rotmtxIncrement, xs2, ys2);
383 if (m_idGeometry != GEOMETRY_EQUIANGULAR) {
384 xform_mtx2 (m_rotmtxIncrement, xd1, yd1); // rotate detector endpoints
385 xform_mtx2 (m_rotmtxIncrement, xd2, yd2);
387 } /* for each iView */
392 * rayview Calculate raysums for a view at any angle
395 * rayview (phm, detArray, xd1, nSample, yd1, xd2, yd2, xs1, ys1, xs2, ys2)
396 * Phantom& phm Phantom to scan
397 * DETARRAY *detArray Storage of values for detector array
398 * Scanner& det Scanner parameters
399 * double xd1, yd1, xd2, yd2 Beginning & ending detector positions
400 * double xs1, ys1, xs2, ys2 Beginning & ending source positions
403 * For each detector, have there are a variable number of rays traced.
404 * The source of each ray is the center of the source x-ray cell. The
405 * detector positions are equally spaced within the cell
407 * The increments between rays are calculated so that the cells start
408 * at the beginning of a detector cell and they end on the endpoint
409 * of the cell. Thus, the last cell starts at (xd2-ddx),(yd2-ddy).
410 * The exception to this is if there is only one ray per detector.
411 * In that case, the detector position is the center of the detector cell.
415 Scanner::projectSingleView (const Phantom& phm, DetectorArray& detArray, const double xd1, const double yd1, const double xd2, const double yd2, const double xs1, const double ys1, const double xs2, const double ys2, const double dDetAngle)
418 double sdx = (xs2 - xs1) / detArray.nDet(); // change in coords
419 double sdy = (ys2 - ys1) / detArray.nDet(); // between source
420 double xs_maj = xs1 + (sdx / 2); // put ray source in center of cell
421 double ys_maj = ys1 + (sdy / 2);
423 double ddx=0, ddy=0, ddx2=0, ddy2=0, ddx2_ofs=0, ddy2_ofs=0, xd_maj=0, yd_maj=0;
424 double dAngleInc=0, dAngleSampleInc=0, dAngleSampleOffset=0, dAngleMajor=0;
425 if (m_idGeometry == GEOMETRY_EQUIANGULAR) {
426 dAngleInc = m_dAngularDetIncrement;
427 dAngleSampleInc = dAngleInc / m_nSample;
428 dAngleSampleOffset = dAngleSampleInc / 2;
429 dAngleMajor = dDetAngle - (m_dAngularDetLen/2) + dAngleSampleOffset;
431 ddx = (xd2 - xd1) / detArray.nDet(); // change in coords
432 ddy = (yd2 - yd1) / detArray.nDet(); // between detectors
433 ddx2 = ddx / m_nSample; // Incr. between rays with detector cell
434 ddy2 = ddy / m_nSample; // Doesn't include detector endpoints
435 ddx2_ofs = ddx2 / 2; // offset of 1st ray from start of detector cell
438 xd_maj = xd1 + ddx2_ofs; // Incr. between detector cells
439 yd_maj = yd1 + ddy2_ofs;
442 DetectorValue* detval = detArray.detValues();
444 if (phm.getComposition() == P_UNIT_PULSE) { // put unit pulse in center of view
445 for (int d = 0; d < detArray.nDet(); d++)
446 if (detArray.nDet() / 2 == d && (d % 2) == 1)
451 for (int d = 0; d < detArray.nDet(); d++) {
454 double xd=0, yd=0, dAngle=0;
455 if (m_idGeometry == GEOMETRY_EQUIANGULAR) {
456 dAngle = dAngleMajor;
462 for (unsigned int i = 0; i < m_nSample; i++) {
463 if (m_idGeometry == GEOMETRY_EQUIANGULAR) {
464 xd = m_dFocalLength * cos (dAngle);
465 yd = m_dFocalLength * sin (dAngle);
469 if (m_pSGP && m_trace >= Trace::TRACE_PROJECTIONS) {
470 m_pSGP->setColor (C_YELLOW);
471 m_pSGP->setRasterOp (RO_AND);
472 m_pSGP->moveAbs (xs, ys);
473 m_pSGP->lineAbs (xd, yd);
477 sum += projectSingleLine (phm, xd, yd, xs, ys);
480 // if (m_trace >= Trace::TRACE_CLIPPING) {
481 // traceShowParam ("Attenuation:", "%s", PROJECTION_TRACE_ROW_ATTEN, C_LTMAGENTA, " ");
482 // traceShowParam ("Attenuation:", "%.3f", PROJECTION_TRACE_ROW_ATTEN, C_LTMAGENTA, sum);
485 if (m_idGeometry == GEOMETRY_EQUIANGULAR)
486 dAngle += dAngleSampleInc;
491 } // for each sample in detector
493 detval[d] = sum / m_nSample;
496 if (m_idGeometry == GEOMETRY_EQUIANGULAR)
497 dAngleMajor += dAngleInc;
502 } /* for each detector */
503 } /* if not unit pulse */
508 Scanner::traceShowParam (const char *szLabel, const char *fmt, int row, int color, ...)
511 va_start(arg, color);
513 traceShowParamRasterOp (RO_COPY, szLabel, fmt, row, color, arg);
515 traceShowParamRasterOp (0, szLabel, fmt, row, color, arg);
521 Scanner::traceShowParamXOR (const char *szLabel, const char *fmt, int row, int color, ...)
524 va_start(arg, color);
526 traceShowParamRasterOp (RO_XOR, szLabel, fmt, row, color, arg);
528 traceShowParamRasterOp (0, szLabel, fmt, row, color, arg);
534 Scanner::traceShowParamRasterOp (int iRasterOp, const char *szLabel, const char *fmt, int row, int color, va_list args)
538 vsnprintf (szValue, sizeof(szValue), fmt, args);
542 m_pSGP->setRasterOp (iRasterOp);
543 m_pSGP->setTextColor (color, -1);
544 double dValueOffset = (m_dXMaxWin - m_dXMinWin) / 4;
546 double dYPos = m_dYMaxWin - (row * m_dTextHeight);
547 double dXPos = m_dXMinWin;
548 m_pSGP->moveAbs (dXPos, dYPos);
549 m_pSGP->drawText (szLabel);
550 m_pSGP->moveAbs (dXPos + dValueOffset, dYPos);
551 m_pSGP->drawText (szValue);
554 double dYPos = m_dYMaxWin - (row * m_dTextHeight);
555 double dXPos = m_dXMinWin + (m_dXMaxWin - m_dXMinWin) * 0.5;
556 m_pSGP->moveAbs (dXPos, dYPos);
557 m_pSGP->drawText (szLabel);
558 m_pSGP->moveAbs (dXPos + dValueOffset, dYPos);
559 m_pSGP->drawText (szValue);
564 cio_put_str (szLabel);
565 cio_put_str (szValue);
573 * projectSingleLine INTERNAL: Calculates raysum along a line for a Phantom
576 * rsum = phm_ray_attenuation (phm, x1, y1, x2, y2)
577 * double rsum Ray sum of Phantom along given line
578 * Phantom& phm; Phantom from which to calculate raysum
579 * double *x1, *y1, *x2, y2 Endpoints of ray path (in Phantom coords)
583 Scanner::projectSingleLine (const Phantom& phm, const double x1, const double y1, const double x2, const double y2)
585 // check ray against each pelem in Phantom
587 for (PElemConstIterator i = phm.listPElem().begin(); i != phm.listPElem().end(); i++)
588 rsum += projectLineAgainstPElem (**i, x1, y1, x2, y2);
595 * pelem_ray_attenuation Calculate raysum of an pelem along one line
598 * rsum = pelem_ray_attenuation (pelem, x1, y1, x2, y2)
599 * double rsum Computed raysum
600 * PhantomElement& pelem Pelem to scan
601 * double x1, y1, x2, y2 Endpoints of raysum line
605 Scanner::projectLineAgainstPElem (const PhantomElement& pelem, double x1, double y1, double x2, double y2)
607 if (! pelem.clipLineWorldCoords (x1, y1, x2, y2)) {
608 if (m_trace == Trace::TRACE_CLIPPING)
609 cio_tone (1000., 0.05);
614 if (m_pSGP && m_trace == Trace::TRACE_CLIPPING) {
615 m_pSGP->setRasterOp (RO_XOR);
616 m_pSGP->moveAbs (x1, y1);
617 m_pSGP->lineAbs (x2, y2);
618 cio_tone (8000., 0.05);
619 m_pSGP->moveAbs (x1, y1);
620 m_pSGP->lineAbs (x2, y2);
621 m_pSGP->setRasterOp (RO_SET);
625 double len = lineLength (x1, y1, x2, y2);
626 return (len * pelem.atten());