void PropagatedDeformableModel::computeNewBand(SpinalCord* mesh, CVector3 initialPoint, CVector3 nextPoint, int resolution)
{
CMatrix4x4 transformationFromOrigin;
double angle;
CMatrix3x3 trZ;
CVector3 point, normale;
CVector3 directionCourante = nextPoint-initialPoint, lastNormal = (nextPoint-initialPoint).Normalize(), directionCourantePerpendiculaire;
if (lastNormal[2] == 0.0) directionCourantePerpendiculaire = CVector3(0.0,0.0,1.0);
else directionCourantePerpendiculaire = CVector3(1.0,2.0,-(lastNormal[0]+2*lastNormal[1])/lastNormal[2]).Normalize();
CVector3 stretchingFactorWorld = image3D_->TransformContinuousIndexToPhysicalPoint(CVector3((1-1.0/stretchingFactor_), 0.0, 0.0))-image3D_->getOrigine();
int offsetTriangles = mesh->getNbrOfPoints()-resolutionRadiale_;
for (int len=1; len<=resolution; len++)
{
CVector3 pointIntermediaire = initialPoint + len*directionCourante/(double)resolutionAxiale_;
Referential refCourant = Referential(lastNormal^directionCourantePerpendiculaire, directionCourantePerpendiculaire, lastNormal, pointIntermediaire);
transformationFromOrigin = refCourant.getTransformationInverse();
for (int k=0; k<resolutionRadiale_; k++)
{
angle = 2*M_PI*k/(double)resolutionRadiale_;
trZ[0] = cos(angle), trZ[1] = sin(angle), trZ[3] = -sin(angle), trZ[4] = cos(angle);
point = transformationFromOrigin*(trZ*CVector3(rayon_,0.0,0.0));
CVector3 vecPoint = initialPoint - point;
point[0] += stretchingFactorWorld[0]*vecPoint[0];
point[1] += stretchingFactorWorld[1]*vecPoint[1];
point[2] += stretchingFactorWorld[2]*vecPoint[2];
mesh->addPoint(new Vertex(point,(point-pointIntermediaire).Normalize()));
}
// Ajout des triangles - attention � la structure en cercle
for (int k=0; k<resolutionRadiale_-1; k++)
{
mesh->addTriangle(offsetTriangles+(len-1)*resolutionRadiale_+k,offsetTriangles+(len-1)*resolutionRadiale_+k+1,offsetTriangles+len*resolutionRadiale_+k);
mesh->addTriangle(offsetTriangles+(len-1)*resolutionRadiale_+k+1,offsetTriangles+len*resolutionRadiale_+k+1,offsetTriangles+len*resolutionRadiale_+k);
}
// Ajout des deux derniers triangles pour fermer le tube
mesh->addTriangle(offsetTriangles+(len-1)*resolutionRadiale_+resolutionRadiale_-1,offsetTriangles+(len-1)*resolutionRadiale_,offsetTriangles+len*resolutionRadiale_+resolutionRadiale_-1);
mesh->addTriangle(offsetTriangles+(len-1)*resolutionRadiale_,offsetTriangles+len*resolutionRadiale_,offsetTriangles+len*resolutionRadiale_+resolutionRadiale_-1);
}
}
float PropagatedDeformableModel::computeContrast(Referential& refInitial)
{
// Calcul du profil de la moelle et du LCR perpendiculairement au tube
CVector3 pointS, indexS;
vector<float> contrast(resolutionRadiale_);
float angle;
CMatrix3x3 trZ;
CMatrix4x4 transformationFromOrigin = refInitial.getTransformationInverse();
float factor = image3D_->getTypeImageFactor();
for (int k=0; k<resolutionRadiale_; k++)
{
vector<float> profilIntensite;
angle = 2*M_PI*k/(double)resolutionRadiale_;
trZ[0] = cos(angle), trZ[1] = sin(angle), trZ[3] = -sin(angle), trZ[4] = cos(angle);
for (int l=0; l<2.5*rayon_; l++) {
pointS = transformationFromOrigin*(trZ*CVector3(l,0.0,0.0));
if (image3D_->TransformPhysicalPointToIndex(pointS,indexS))
profilIntensite.push_back(factor*image3D_->GetPixelOriginal(indexS));
}
float min = 0.0, max = 0.0, maxVal = 0.0, valCourante;
unsigned int m = 0;
for (unsigned int i=1; i<profilIntensite.size(); i++) {
valCourante = profilIntensite[i]-profilIntensite[i-1];
if (maxVal <= valCourante) {
maxVal = valCourante;
m = i;
}
}
if (profilIntensite.size() > 0)
{
min = profilIntensite[m];
for (unsigned int j=0; j<m; j++) {
valCourante = profilIntensite[j];
if (min > valCourante) min = valCourante;
}
max = profilIntensite[m];
for (unsigned int j=m+1; j<profilIntensite.size(); j++) {
valCourante = profilIntensite[j];
if (max < valCourante) max = valCourante;
}
}
contrast[k] = abs(max-min);
}
float result = 0.0;
for (unsigned int i=0; i<contrast.size(); i++)
result += contrast[i];
result /= contrast.size();
return result;
}
// read data in packet starting at byte offset and return number of bytes parsed
int AvatarData::parseDataFromBuffer(const QByteArray& buffer) {
// lazily allocate memory for HeadData in case we're not an Avatar instance
if (!_headData) {
_headData = new HeadData(this);
}
// lazily allocate memory for HandData in case we're not an Avatar instance
if (!_handData) {
_handData = new HandData(this);
}
const unsigned char* startPosition = reinterpret_cast<const unsigned char*>(buffer.data());
const unsigned char* sourceBuffer = startPosition;
quint64 now = usecTimestampNow();
// The absolute minimum size of the update data is as follows:
// 50 bytes of "plain old data" {
// position = 12 bytes
// bodyYaw = 2 (compressed float)
// bodyPitch = 2 (compressed float)
// bodyRoll = 2 (compressed float)
// targetScale = 2 (compressed float)
// headPitch = 2 (compressed float)
// headYaw = 2 (compressed float)
// headRoll = 2 (compressed float)
// leanForward = 2 (compressed float)
// leanSideways = 2 (compressed float)
// torsoTwist = 2 (compressed float)
// lookAt = 12
// audioLoudness = 4
// }
// + 1 byte for pupilSize
// + 1 byte for numJoints (0)
// = 51 bytes
int minPossibleSize = 51;
int maxAvailableSize = buffer.size();
if (minPossibleSize > maxAvailableSize) {
if (shouldLogError(now)) {
qCDebug(avatars) << "Malformed AvatarData packet at the start; "
<< " displayName = '" << _displayName << "'"
<< " minPossibleSize = " << minPossibleSize
<< " maxAvailableSize = " << maxAvailableSize;
}
// this packet is malformed so we report all bytes as consumed
return maxAvailableSize;
}
{ // Body world position, rotation, and scale
// position
glm::vec3 position;
memcpy(&position, sourceBuffer, sizeof(position));
sourceBuffer += sizeof(position);
if (glm::isnan(position.x) || glm::isnan(position.y) || glm::isnan(position.z)) {
if (shouldLogError(now)) {
qCDebug(avatars) << "Discard nan AvatarData::position; displayName = '" << _displayName << "'";
}
return maxAvailableSize;
}
setPosition(position);
// rotation (NOTE: This needs to become a quaternion to save two bytes)
float yaw, pitch, roll;
sourceBuffer += unpackFloatAngleFromTwoByte((uint16_t*) sourceBuffer, &yaw);
sourceBuffer += unpackFloatAngleFromTwoByte((uint16_t*) sourceBuffer, &pitch);
sourceBuffer += unpackFloatAngleFromTwoByte((uint16_t*) sourceBuffer, &roll);
if (glm::isnan(yaw) || glm::isnan(pitch) || glm::isnan(roll)) {
if (shouldLogError(now)) {
qCDebug(avatars) << "Discard nan AvatarData::yaw,pitch,roll; displayName = '" << _displayName << "'";
}
return maxAvailableSize;
}
if (_bodyYaw != yaw || _bodyPitch != pitch || _bodyRoll != roll) {
_hasNewJointRotations = true;
_bodyYaw = yaw;
_bodyPitch = pitch;
_bodyRoll = roll;
}
// scale
float scale;
sourceBuffer += unpackFloatRatioFromTwoByte(sourceBuffer, scale);
if (glm::isnan(scale)) {
if (shouldLogError(now)) {
qCDebug(avatars) << "Discard nan AvatarData::scale; displayName = '" << _displayName << "'";
}
return maxAvailableSize;
}
_targetScale = scale;
} // 20 bytes
{ // Head rotation
//(NOTE: This needs to become a quaternion to save two bytes)
float headYaw, headPitch, headRoll;
sourceBuffer += unpackFloatAngleFromTwoByte((uint16_t*) sourceBuffer, &headPitch);
sourceBuffer += unpackFloatAngleFromTwoByte((uint16_t*) sourceBuffer, &headYaw);
sourceBuffer += unpackFloatAngleFromTwoByte((uint16_t*) sourceBuffer, &headRoll);
if (glm::isnan(headYaw) || glm::isnan(headPitch) || glm::isnan(headRoll)) {
if (shouldLogError(now)) {
qCDebug(avatars) << "Discard nan AvatarData::headYaw,headPitch,headRoll; displayName = '" << _displayName << "'";
}
return maxAvailableSize;
}
_headData->setBasePitch(headPitch);
_headData->setBaseYaw(headYaw);
_headData->setBaseRoll(headRoll);
} // 6 bytes
{ // Head lean (relative to pelvis)
float leanForward, leanSideways, torsoTwist;
sourceBuffer += unpackFloatAngleFromTwoByte((uint16_t*)sourceBuffer, &leanForward);
sourceBuffer += unpackFloatAngleFromTwoByte((uint16_t*)sourceBuffer, &leanSideways);
sourceBuffer += unpackFloatAngleFromTwoByte((uint16_t*)sourceBuffer, &torsoTwist);
if (glm::isnan(leanForward) || glm::isnan(leanSideways)) {
if (shouldLogError(now)) {
qCDebug(avatars) << "Discard nan AvatarData::leanForward,leanSideways,torsoTwise; displayName = '" << _displayName << "'";
}
return maxAvailableSize;
}
_headData->_leanForward = leanForward;
_headData->_leanSideways = leanSideways;
_headData->_torsoTwist = torsoTwist;
} // 6 bytes
{ // Lookat Position
glm::vec3 lookAt;
memcpy(&lookAt, sourceBuffer, sizeof(lookAt));
sourceBuffer += sizeof(lookAt);
if (glm::isnan(lookAt.x) || glm::isnan(lookAt.y) || glm::isnan(lookAt.z)) {
if (shouldLogError(now)) {
qCDebug(avatars) << "Discard nan AvatarData::lookAt; displayName = '" << _displayName << "'";
}
return maxAvailableSize;
}
_headData->_lookAtPosition = lookAt;
} // 12 bytes
{ // AudioLoudness
// Instantaneous audio loudness (used to drive facial animation)
float audioLoudness;
memcpy(&audioLoudness, sourceBuffer, sizeof(float));
sourceBuffer += sizeof(float);
if (glm::isnan(audioLoudness)) {
if (shouldLogError(now)) {
qCDebug(avatars) << "Discard nan AvatarData::audioLoudness; displayName = '" << _displayName << "'";
}
return maxAvailableSize;
}
_headData->_audioLoudness = audioLoudness;
} // 4 bytes
{ // bitFlags and face data
unsigned char bitItems = *sourceBuffer++;
// key state, stored as a semi-nibble in the bitItems
_keyState = (KeyState)getSemiNibbleAt(bitItems,KEY_STATE_START_BIT);
// hand state, stored as a semi-nibble plus a bit in the bitItems
// we store the hand state as well as other items in a shared bitset. The hand state is an octal, but is split
// into two sections to maintain backward compatibility. The bits are ordered as such (0-7 left to right).
// +---+-----+-----+--+
// |x,x|H0,H1|x,x,x|H2|
// +---+-----+-----+--+
// Hand state - H0,H1,H2 is found in the 3rd, 4th, and 8th bits
_handState = getSemiNibbleAt(bitItems, HAND_STATE_START_BIT)
+ (oneAtBit(bitItems, HAND_STATE_FINGER_POINTING_BIT) ? IS_FINGER_POINTING_FLAG : 0);
_headData->_isFaceTrackerConnected = oneAtBit(bitItems, IS_FACESHIFT_CONNECTED);
bool hasReferential = oneAtBit(bitItems, HAS_REFERENTIAL);
// Referential
if (hasReferential) {
Referential* ref = new Referential(sourceBuffer, this);
if (_referential == NULL ||
ref->version() != _referential->version()) {
changeReferential(ref);
} else {
delete ref;
}
_referential->update();
} else if (_referential != NULL) {
changeReferential(NULL);
}
if (_headData->_isFaceTrackerConnected) {
float leftEyeBlink, rightEyeBlink, averageLoudness, browAudioLift;
minPossibleSize += sizeof(leftEyeBlink) + sizeof(rightEyeBlink) + sizeof(averageLoudness) + sizeof(browAudioLift);
minPossibleSize++; // one byte for blendDataSize
if (minPossibleSize > maxAvailableSize) {
if (shouldLogError(now)) {
qCDebug(avatars) << "Malformed AvatarData packet after BitItems;"
<< " displayName = '" << _displayName << "'"
<< " minPossibleSize = " << minPossibleSize
<< " maxAvailableSize = " << maxAvailableSize;
}
return maxAvailableSize;
}
// unpack face data
memcpy(&leftEyeBlink, sourceBuffer, sizeof(float));
sourceBuffer += sizeof(float);
memcpy(&rightEyeBlink, sourceBuffer, sizeof(float));
sourceBuffer += sizeof(float);
memcpy(&averageLoudness, sourceBuffer, sizeof(float));
sourceBuffer += sizeof(float);
memcpy(&browAudioLift, sourceBuffer, sizeof(float));
sourceBuffer += sizeof(float);
if (glm::isnan(leftEyeBlink) || glm::isnan(rightEyeBlink)
|| glm::isnan(averageLoudness) || glm::isnan(browAudioLift)) {
if (shouldLogError(now)) {
qCDebug(avatars) << "Discard nan AvatarData::faceData; displayName = '" << _displayName << "'";
}
return maxAvailableSize;
}
_headData->_leftEyeBlink = leftEyeBlink;
_headData->_rightEyeBlink = rightEyeBlink;
_headData->_averageLoudness = averageLoudness;
_headData->_browAudioLift = browAudioLift;
int numCoefficients = (int)(*sourceBuffer++);
int blendDataSize = numCoefficients * sizeof(float);
minPossibleSize += blendDataSize;
if (minPossibleSize > maxAvailableSize) {
if (shouldLogError(now)) {
qCDebug(avatars) << "Malformed AvatarData packet after Blendshapes;"
<< " displayName = '" << _displayName << "'"
<< " minPossibleSize = " << minPossibleSize
<< " maxAvailableSize = " << maxAvailableSize;
}
return maxAvailableSize;
}
_headData->_blendshapeCoefficients.resize(numCoefficients);
memcpy(_headData->_blendshapeCoefficients.data(), sourceBuffer, blendDataSize);
sourceBuffer += numCoefficients * sizeof(float);
//bitItemsDataSize = 4 * sizeof(float) + 1 + blendDataSize;
}
} // 1 + bitItemsDataSize bytes
{ // pupil dilation
sourceBuffer += unpackFloatFromByte(sourceBuffer, _headData->_pupilDilation, 1.0f);
} // 1 byte
// joint data
int numJoints = *sourceBuffer++;
int bytesOfValidity = (int)ceil((float)numJoints / (float)BITS_IN_BYTE);
minPossibleSize += bytesOfValidity;
if (minPossibleSize > maxAvailableSize) {
if (shouldLogError(now)) {
qCDebug(avatars) << "Malformed AvatarData packet after JointValidityBits;"
<< " displayName = '" << _displayName << "'"
<< " minPossibleSize = " << minPossibleSize
<< " maxAvailableSize = " << maxAvailableSize;
}
return maxAvailableSize;
}
int numValidJoints = 0;
_jointData.resize(numJoints);
{ // validity bits
unsigned char validity = 0;
int validityBit = 0;
for (int i = 0; i < numJoints; i++) {
if (validityBit == 0) {
validity = *sourceBuffer++;
}
bool valid = (bool)(validity & (1 << validityBit));
if (valid) {
++numValidJoints;
}
_jointData[i].valid = valid;
validityBit = (validityBit + 1) % BITS_IN_BYTE;
}
}
// 1 + bytesOfValidity bytes
// each joint rotation component is stored in two bytes (sizeof(uint16_t))
int COMPONENTS_PER_QUATERNION = 4;
minPossibleSize += numValidJoints * COMPONENTS_PER_QUATERNION * sizeof(uint16_t);
if (minPossibleSize > maxAvailableSize) {
if (shouldLogError(now)) {
qCDebug(avatars) << "Malformed AvatarData packet after JointData;"
<< " displayName = '" << _displayName << "'"
<< " minPossibleSize = " << minPossibleSize
<< " maxAvailableSize = " << maxAvailableSize;
}
return maxAvailableSize;
}
{ // joint data
for (int i = 0; i < numJoints; i++) {
JointData& data = _jointData[i];
if (data.valid) {
_hasNewJointRotations = true;
sourceBuffer += unpackOrientationQuatFromBytes(sourceBuffer, data.rotation);
}
}
} // numJoints * 8 bytes
int numBytesRead = sourceBuffer - startPosition;
_averageBytesReceived.updateAverage(numBytesRead);
return numBytesRead;
}
// read data in packet starting at byte offset and return number of bytes parsed
int AvatarData::parseDataAtOffset(const QByteArray& packet, int offset) {
// reset the last heard timer since we have new data for this AvatarData
_lastUpdateTimer.restart();
// lazily allocate memory for HeadData in case we're not an Avatar instance
if (!_headData) {
_headData = new HeadData(this);
}
// lazily allocate memory for HandData in case we're not an Avatar instance
if (!_handData) {
_handData = new HandData(this);
}
const unsigned char* startPosition = reinterpret_cast<const unsigned char*>(packet.data()) + offset;
const unsigned char* sourceBuffer = startPosition;
quint64 now = usecTimestampNow();
// The absolute minimum size of the update data is as follows:
// 50 bytes of "plain old data" {
// position = 12 bytes
// bodyYaw = 2 (compressed float)
// bodyPitch = 2 (compressed float)
// bodyRoll = 2 (compressed float)
// targetScale = 2 (compressed float)
// headYaw = 2 (compressed float)
// headPitch = 2 (compressed float)
// headRoll = 2 (compressed float)
// leanSideways = 4
// leanForward = 4
// lookAt = 12
// audioLoudness = 4
// }
// + 1 byte for messageSize (0)
// + 1 byte for pupilSize
// + 1 byte for numJoints (0)
// = 53 bytes
int minPossibleSize = 53;
int maxAvailableSize = packet.size() - offset;
if (minPossibleSize > maxAvailableSize) {
if (shouldLogError(now)) {
qDebug() << "Malformed AvatarData packet at the start; "
<< " displayName = '" << _displayName << "'"
<< " minPossibleSize = " << minPossibleSize
<< " maxAvailableSize = " << maxAvailableSize;
}
// this packet is malformed so we report all bytes as consumed
return maxAvailableSize;
}
{ // Body world position, rotation, and scale
// position
glm::vec3 position;
memcpy(&position, sourceBuffer, sizeof(position));
sourceBuffer += sizeof(position);
if (glm::isnan(position.x) || glm::isnan(position.y) || glm::isnan(position.z)) {
if (shouldLogError(now)) {
qDebug() << "Discard nan AvatarData::position; displayName = '" << _displayName << "'";
}
return maxAvailableSize;
}
setPosition(position);
// rotation (NOTE: This needs to become a quaternion to save two bytes)
float yaw, pitch, roll;
sourceBuffer += unpackFloatAngleFromTwoByte((uint16_t*) sourceBuffer, &yaw);
sourceBuffer += unpackFloatAngleFromTwoByte((uint16_t*) sourceBuffer, &pitch);
sourceBuffer += unpackFloatAngleFromTwoByte((uint16_t*) sourceBuffer, &roll);
if (glm::isnan(yaw) || glm::isnan(pitch) || glm::isnan(roll)) {
if (shouldLogError(now)) {
qDebug() << "Discard nan AvatarData::yaw,pitch,roll; displayName = '" << _displayName << "'";
}
return maxAvailableSize;
}
_bodyYaw = yaw;
_bodyPitch = pitch;
_bodyRoll = roll;
// scale
float scale;
sourceBuffer += unpackFloatRatioFromTwoByte(sourceBuffer, scale);
if (glm::isnan(scale)) {
if (shouldLogError(now)) {
qDebug() << "Discard nan AvatarData::scale; displayName = '" << _displayName << "'";
}
return maxAvailableSize;
}
_targetScale = scale;
} // 20 bytes
{ // Head rotation
//(NOTE: This needs to become a quaternion to save two bytes)
float headYaw, headPitch, headRoll;
sourceBuffer += unpackFloatAngleFromTwoByte((uint16_t*) sourceBuffer, &headYaw);
sourceBuffer += unpackFloatAngleFromTwoByte((uint16_t*) sourceBuffer, &headPitch);
sourceBuffer += unpackFloatAngleFromTwoByte((uint16_t*) sourceBuffer, &headRoll);
if (glm::isnan(headYaw) || glm::isnan(headPitch) || glm::isnan(headRoll)) {
if (shouldLogError(now)) {
qDebug() << "Discard nan AvatarData::headYaw,headPitch,headRoll; displayName = '" << _displayName << "'";
}
return maxAvailableSize;
}
_headData->setBaseYaw(headYaw);
_headData->setBasePitch(headPitch);
_headData->setBaseRoll(headRoll);
} // 6 bytes
// Head lean (relative to pelvis)
{
float leanSideways, leanForward;
memcpy(&leanSideways, sourceBuffer, sizeof(float));
sourceBuffer += sizeof(float);
memcpy(&leanForward, sourceBuffer, sizeof(float));
sourceBuffer += sizeof(float);
if (glm::isnan(leanSideways) || glm::isnan(leanForward)) {
if (shouldLogError(now)) {
qDebug() << "Discard nan AvatarData::leanSideways,leanForward; displayName = '" << _displayName << "'";
}
return maxAvailableSize;
}
_headData->_leanSideways = leanSideways;
_headData->_leanForward = leanForward;
} // 8 bytes
{ // Lookat Position
glm::vec3 lookAt;
memcpy(&lookAt, sourceBuffer, sizeof(lookAt));
sourceBuffer += sizeof(lookAt);
if (glm::isnan(lookAt.x) || glm::isnan(lookAt.y) || glm::isnan(lookAt.z)) {
if (shouldLogError(now)) {
qDebug() << "Discard nan AvatarData::lookAt; displayName = '" << _displayName << "'";
}
return maxAvailableSize;
}
_headData->_lookAtPosition = lookAt;
} // 12 bytes
{ // AudioLoudness
// Instantaneous audio loudness (used to drive facial animation)
float audioLoudness;
memcpy(&audioLoudness, sourceBuffer, sizeof(float));
sourceBuffer += sizeof(float);
if (glm::isnan(audioLoudness)) {
if (shouldLogError(now)) {
qDebug() << "Discard nan AvatarData::audioLoudness; displayName = '" << _displayName << "'";
}
return maxAvailableSize;
}
_headData->_audioLoudness = audioLoudness;
} // 4 bytes
// chat
int chatMessageSize = *sourceBuffer++;
minPossibleSize += chatMessageSize;
if (minPossibleSize > maxAvailableSize) {
if (shouldLogError(now)) {
qDebug() << "Malformed AvatarData packet before ChatMessage;"
<< " displayName = '" << _displayName << "'"
<< " minPossibleSize = " << minPossibleSize
<< " maxAvailableSize = " << maxAvailableSize;
}
return maxAvailableSize;
}
{ // chat payload
_chatMessage = string((char*)sourceBuffer, chatMessageSize);
sourceBuffer += chatMessageSize * sizeof(char);
} // 1 + chatMessageSize bytes
{ // bitFlags and face data
unsigned char bitItems = *sourceBuffer++;
// key state, stored as a semi-nibble in the bitItems
_keyState = (KeyState)getSemiNibbleAt(bitItems,KEY_STATE_START_BIT);
// hand state, stored as a semi-nibble in the bitItems
_handState = getSemiNibbleAt(bitItems,HAND_STATE_START_BIT);
_headData->_isFaceshiftConnected = oneAtBit(bitItems, IS_FACESHIFT_CONNECTED);
_isChatCirclingEnabled = oneAtBit(bitItems, IS_CHAT_CIRCLING_ENABLED);
bool hasReferential = oneAtBit(bitItems, HAS_REFERENTIAL);
// Referential
if (hasReferential) {
Referential* ref = new Referential(sourceBuffer, this);
if (_referential == NULL ||
ref->version() != _referential->version()) {
changeReferential(ref);
} else {
delete ref;
}
_referential->update();
} else if (_referential != NULL) {
changeReferential(NULL);
}
if (_headData->_isFaceshiftConnected) {
float leftEyeBlink, rightEyeBlink, averageLoudness, browAudioLift;
minPossibleSize += sizeof(leftEyeBlink) + sizeof(rightEyeBlink) + sizeof(averageLoudness) + sizeof(browAudioLift);
minPossibleSize++; // one byte for blendDataSize
if (minPossibleSize > maxAvailableSize) {
if (shouldLogError(now)) {
qDebug() << "Malformed AvatarData packet after BitItems;"
<< " displayName = '" << _displayName << "'"
<< " minPossibleSize = " << minPossibleSize
<< " maxAvailableSize = " << maxAvailableSize;
}
return maxAvailableSize;
}
// unpack face data
memcpy(&leftEyeBlink, sourceBuffer, sizeof(float));
sourceBuffer += sizeof(float);
memcpy(&rightEyeBlink, sourceBuffer, sizeof(float));
sourceBuffer += sizeof(float);
memcpy(&averageLoudness, sourceBuffer, sizeof(float));
sourceBuffer += sizeof(float);
memcpy(&browAudioLift, sourceBuffer, sizeof(float));
sourceBuffer += sizeof(float);
if (glm::isnan(leftEyeBlink) || glm::isnan(rightEyeBlink)
|| glm::isnan(averageLoudness) || glm::isnan(browAudioLift)) {
if (shouldLogError(now)) {
qDebug() << "Discard nan AvatarData::faceData; displayName = '" << _displayName << "'";
}
return maxAvailableSize;
}
_headData->_leftEyeBlink = leftEyeBlink;
_headData->_rightEyeBlink = rightEyeBlink;
_headData->_averageLoudness = averageLoudness;
_headData->_browAudioLift = browAudioLift;
int numCoefficients = (int)(*sourceBuffer++);
int blendDataSize = numCoefficients * sizeof(float);
minPossibleSize += blendDataSize;
if (minPossibleSize > maxAvailableSize) {
if (shouldLogError(now)) {
qDebug() << "Malformed AvatarData packet after Blendshapes;"
<< " displayName = '" << _displayName << "'"
<< " minPossibleSize = " << minPossibleSize
<< " maxAvailableSize = " << maxAvailableSize;
}
return maxAvailableSize;
}
_headData->_blendshapeCoefficients.resize(numCoefficients);
memcpy(_headData->_blendshapeCoefficients.data(), sourceBuffer, blendDataSize);
sourceBuffer += numCoefficients * sizeof(float);
//bitItemsDataSize = 4 * sizeof(float) + 1 + blendDataSize;
}
} // 1 + bitItemsDataSize bytes
{ // pupil dilation
sourceBuffer += unpackFloatFromByte(sourceBuffer, _headData->_pupilDilation, 1.0f);
} // 1 byte
// joint data
int numJoints = *sourceBuffer++;
int bytesOfValidity = (int)ceil((float)numJoints / (float)BITS_IN_BYTE);
minPossibleSize += bytesOfValidity;
if (minPossibleSize > maxAvailableSize) {
if (shouldLogError(now)) {
qDebug() << "Malformed AvatarData packet after JointValidityBits;"
<< " displayName = '" << _displayName << "'"
<< " minPossibleSize = " << minPossibleSize
<< " maxAvailableSize = " << maxAvailableSize;
}
return maxAvailableSize;
}
int numValidJoints = 0;
_jointData.resize(numJoints);
{ // validity bits
unsigned char validity = 0;
int validityBit = 0;
for (int i = 0; i < numJoints; i++) {
if (validityBit == 0) {
validity = *sourceBuffer++;
}
bool valid = (bool)(validity & (1 << validityBit));
if (valid) {
++numValidJoints;
}
_jointData[i].valid = valid;
validityBit = (validityBit + 1) % BITS_IN_BYTE;
}
}
// 1 + bytesOfValidity bytes
// each joint rotation component is stored in two bytes (sizeof(uint16_t))
int COMPONENTS_PER_QUATERNION = 4;
minPossibleSize += numValidJoints * COMPONENTS_PER_QUATERNION * sizeof(uint16_t);
if (minPossibleSize > maxAvailableSize) {
if (shouldLogError(now)) {
qDebug() << "Malformed AvatarData packet after JointData;"
<< " displayName = '" << _displayName << "'"
<< " minPossibleSize = " << minPossibleSize
<< " maxAvailableSize = " << maxAvailableSize;
}
return maxAvailableSize;
}
{ // joint data
for (int i = 0; i < numJoints; i++) {
JointData& data = _jointData[i];
if (data.valid) {
_hasNewJointRotations = true;
sourceBuffer += unpackOrientationQuatFromBytes(sourceBuffer, data.rotation);
}
}
} // numJoints * 8 bytes
return sourceBuffer - startPosition;
}
SpinalCord* PropagatedDeformableModel::propagationMesh(int numberOfMesh)
{
double const_contrast = 200.0;
if (image3D_->getTypeImageFactor() == 1.0) const_contrast = 445.0; // if T2
/******************************************************************************************
* Initialization of the spinal cord mesh
* Depending of the choice of propagation, the contrast vector is reversed to take the correct values
*****************************************************************************************/
SpinalCord* initialMesh = new SpinalCord();
if (numberOfMesh == 1) initialMesh = initialTube1;
else if (numberOfMesh == 2) {
reverse(contrast.begin(),contrast.end());
initialMesh = initialTube2;
}
vector< vector<CVector3> > lastDisks;
/******************************************************************************************
* Deformation of the initial mesh.
* This deformation must be accurate to have a correct initialization. If not, errors can be propagated.
* The number of iteration and the stop condition of the deformation is 0.05 mm by default
*****************************************************************************************/
if (verbose_) cout << endl << endl << "Initial deformation : " << initialMesh->getNbrOfPoints() << " points and " << initialMesh->getNbrOfTriangles() << " triangles" << endl;
DeformableModelBasicAdaptator *deformableAdaptator = new DeformableModelBasicAdaptator(image3D_,initialMesh,numberOfDeformIteration_,const_contrast,false);
deformableAdaptator->setVerbose(verbose_);
deformableAdaptator->setNumberOfIteration(8); //8
deformableAdaptator->setStopCondition(0.05);
if (tradeoff_d_bool) deformableAdaptator->setTradeOff(tradeoff_d_);
//deformableAdaptator->setProgressiveLineSearchLength(true);// tested but not optimal
deformableAdaptator->addCorrectionPoints(points_mask_correction_);
deformableAdaptator->adaptation(); // launch the deformation
meshOutput = deformableAdaptator->getSpinalCordOutput(); // get the spinal cord segmentation mesh
delete deformableAdaptator; // release memory
meshOutput->setRadialResolution(resolutionRadiale_); // the output of DeformableModelBasicAdaptator is a mesh and we need to provide the radial resolution for further computation
// we remove the last disk to prevent edges issues in the deformation process. Indeed, edges have less neighbors and the last disk retract itself.
meshOutput->removeLastPoints(resolutionRadiale_);
meshOutput->removeLastTriangles(2*resolutionRadiale_);
/******************************************************************************************
* Initialization of variables
* numberOfDisks is a constant of propagation - don't change it
* uniqueMesh is the part of the mesh that will be deformed at each iteration
* newStartPoint is the center of the last disk of the mesh. It is the new start point of the propagation. The mesh is duplicated and translated on this point.
*****************************************************************************************/
unsigned int numberOfDisks = resolutionAxiale_+1;
CVector3 nextPoint, newStartPoint, lastPoint, firstPoint = meshOutput->computeGravityCenterFirstDisk(numberOfDisks); // computation of first point = center of mass of the fisrt disk
centerline.push_back(firstPoint); // add point to centerline - first point necessary
SpinalCord *uniqueMesh = meshOutput->extractPartOfMesh(numberOfDisks,true,true); // extraction of a part of the mesh
uniqueMesh->computeConnectivity();
uniqueMesh->computeTrianglesBarycentre();
newStartPoint = meshOutput->computeGravityCenterFirstDisk(numberOfDisks); // compute first point of the mesh
/******************************************************************************************
* Computation of the initial rotation value.
* It is used as a mesh refreshing condition. If the difference between initial and updated rotation value if too high, a new part of mesh is used as the template to be duplicated. Rotation value is the sum of intensity at vertices positions.
*****************************************************************************************/
GlobalAdaptation* gAdaptI = new GlobalAdaptation(image3D_,uniqueMesh,newStartPoint,"rotation");
CVector3 normal_mesh = CVector3(initialNormal2_[0],initialNormal2_[1],initialNormal2_[2]);
gAdaptI->setNormalMesh(normal_mesh);
gAdaptI->setVerbose(verbose_);
double initialRotationValue = gAdaptI->getInitialValue(), rotationValue = 0.0;
delete gAdaptI;
CVector3 position;
/******************************************************************************************
* initialization of stop condition variables
*****************************************************************************************/
bool done = false;
area[0] = 0.0; area[1] = 0.0; area[2] = 0.0;
double meanVoxels[3]; meanVoxels[0] = 0.0; meanVoxels[1] = 0.0; meanVoxels[2] = 0.0;
//double meanVoxelsInit = meshOutput->computeStandardDeviationFromPixelsInside(image3D_->getImageOriginale()); // homogeneity stop condition - not optimal
int numberOfBadOrientation = 0, numberOfBadOrientationTotal = 0, maxBadOrientation = 150;
meanContrast = 0.0;
/******************************************************************************************
* Iterative deformation by adding a portion of mesh at each iteration
*****************************************************************************************/
int i;
for (i=1; i<=numberOfPropagationIteration_ && !done; i++)
{
if (verbose_) cout << endl << "Propagation step " << i << "/" << numberOfPropagationIteration_ << endl;
centerline = meshOutput->computeCenterline();
double segmentationLength = 0.0;
for (unsigned int c=1; c<centerline.size(); c++)
segmentationLength += (centerline[c]-centerline[c-1]).Norm();
if (verbose_) cout << "Propagation length [mm] : " << segmentationLength << " / " << propagationLength_ << endl;
/******************************************************************************************
* Referential computation on the last disk of the mesh
* Computation of the local spinal cord / CSF contrast along the mesh
* Computation of the mean contrast from last disk positions. The mean contrast is used as a parameter in the local deformation and as a stop condition
*****************************************************************************************/
CVector3 sourcePoint1 = centerline[centerline.size()-1], sourcePoint2 = centerline[centerline.size()-5];
CVector3 lastNormal = (sourcePoint1-sourcePoint2).Normalize(), directionCourantePerpendiculaire;
if (lastNormal[2] == 0.0) directionCourantePerpendiculaire = CVector3(0.0,0.0,1.0);
else directionCourantePerpendiculaire = CVector3(1.0,2.0,-(lastNormal[0]+2*lastNormal[1])/lastNormal[2]).Normalize();
Referential refCourant = Referential(lastNormal^directionCourantePerpendiculaire, directionCourantePerpendiculaire, lastNormal, sourcePoint2);
contrast.push_back(pair<CVector3,double>(refCourant.getOrigine(),computeContrast(refCourant)));
int nbContrast = contrast.size()-1;
if (verbose_) cout << "Contrast = " << contrast[nbContrast].second << endl;
if (nbContrast == 0) meanContrast = (contrast[0].second+2*const_contrast)/3.0;
else if (nbContrast == 1) meanContrast = (contrast[nbContrast].second+contrast[nbContrast-1].second+const_contrast)/3.0;
else meanContrast = (contrast[nbContrast].second+contrast[nbContrast-1].second+contrast[nbContrast-2].second)/3.0;
// mean 445.8476 std 113.5695 max 708.9200 min 148.6900
if (verbose_) cout << "Iteration Position = " << sourcePoint1 << endl;
/******************************************************************************************
* newStartPoint is the last point of the mesh and will be the first point of the new section (for duplication and translation)
*****************************************************************************************/
newStartPoint = meshOutput->computeGravityCenterLastDisk(numberOfDisks);
CVector3 indexPosition, temp;
bool inOut = image3D_->TransformPhysicalPointToIndex(newStartPoint,indexPosition); // stop condition
CVector3 lastPointReal = lastPoint;
if (lastPointReal == CVector3::ZERO) lastPointReal = newStartPoint;
/******************************************************************************************
* stop conditions:
* length of propagation
* mean local contrast between CSF and spinal cord
* abnormalities - not good if the new starting point is behind the last starting point
* inferior and superior limits can be imposed by the user
*****************************************************************************************/
if (segmentationLength < propagationLength_ && meanContrast > minContrast && abs(newStartPoint[1]-lastPointReal[1]) <= 15.0 && indexPosition[1]<upLimit && indexPosition[1]>downLimit)
{
lastPoint = meshOutput->computeGravityCenterFirstDisk(numberOfDisks);
if (position == CVector3()) position = lastPoint;
SpinalCord *partMesh = meshOutput->extractLastDiskOfMesh(false);
CMatrix4x4 translation, transformation; translation[12] = newStartPoint[0]-position[0]; translation[13] = newStartPoint[1]-position[1]; translation[14] = newStartPoint[2]-position[2];
position = newStartPoint;
uniqueMesh->transform(translation);
bool orientationBool = true;
/******************************************************************************************
* GlobalAdaptation compute the rigid transformation of the mesh to the image using the gradient magnitude
* It can provide a value of the gradient at the surface vertice positions for a quality control with the function getInitialValue()
* This value is used to change the mesh when it doesn't correspond anymore to the spinal cord edges - this value is negative
* The function adaptation() compute the orientation and transform the mesh
*****************************************************************************************/
GlobalAdaptation* gAdapt = new GlobalAdaptation(image3D_,uniqueMesh,newStartPoint,"rotation");
normal_mesh = CVector3(translation[12],translation[13],translation[14]);
gAdapt->setNormalMesh(normal_mesh);
gAdapt->setVerbose(verbose_);
rotationValue = gAdapt->getInitialValue();
if (rotationValue >= 0.75*initialRotationValue || rotationValue <= 1.5*initialRotationValue) { // if the value of GlobalAdaptation isn't in range, we replace the mesh
// release the memory and create a new mesh using the last disks
delete uniqueMesh;
uniqueMesh = meshOutput->extractPartOfMesh(numberOfDisks,true,true);
uniqueMesh->computeConnectivity();
uniqueMesh->computeTrianglesBarycentre();
lastPoint = meshOutput->computeGravityCenterFirstDisk(numberOfDisks);
CMatrix4x4 translation, transformation; translation[12] = newStartPoint[0]-lastPoint[0]; translation[13] = newStartPoint[1]-lastPoint[1]; translation[14] = newStartPoint[2]-lastPoint[2];
position = newStartPoint;
uniqueMesh->transform(translation); // translate the mesh to its new position
gAdapt = new GlobalAdaptation(image3D_,uniqueMesh,newStartPoint,"rotation");
normal_mesh = CVector3(translation[12],translation[13],translation[14]);
gAdapt->setNormalMesh(normal_mesh);
gAdapt->setVerbose(verbose_);
initialRotationValue = gAdapt->getInitialValue();
rotationValue = gAdapt->getInitialValue();
}
/******************************************************************************************
* if the centerline of the spinal cord is provided by the user, it is what it's used to compute the rotation at each propagation iteration
* TODO: spline interpolation
*****************************************************************************************/
if (propCenterline_)
{
// Computation of the rotation based on the centerline
// Find the point in centerline that is the nearest point to our new starting point.
double nearest_point_value = centerline_approximator.getNearestPoint(newStartPoint, range);
// Evaluate the derivative of the centerline at this location
CVector3 normal = centerline_approximator.EvaluateGradient(nearest_point_value).Normalize();
// Compute normal of our mesh at the starting position
if (numberOfMesh == 1) normal = -normal; // the normal is inverted for the first mesh
CVector3 lastNormalMesh = (newStartPoint-lastPoint).Normalize();
// Compute rotation between the two normals. We need to compute all the necessary axis for establishing referentials.
CVector3 directionCourantePerpendiculaireMesh, directionCourantePerpendiculaireCenterline;
if (lastNormalMesh[2] == 0.0) directionCourantePerpendiculaireMesh = CVector3(0.0,0.0,1.0);
else directionCourantePerpendiculaireMesh = CVector3(1.0,2.0,-(lastNormalMesh[0]+2*lastNormalMesh[1])/lastNormalMesh[2]).Normalize();
Referential refMesh = Referential(lastNormalMesh^directionCourantePerpendiculaireMesh, directionCourantePerpendiculaireMesh, lastNormalMesh, newStartPoint);
if (normal[2] == 0.0) directionCourantePerpendiculaireCenterline = CVector3(0.0,0.0,1.0);
else directionCourantePerpendiculaireCenterline = CVector3(1.0,2.0,-(normal[0]+2*normal[1])/normal[2]).Normalize();
Referential refCenterline = Referential(normal^directionCourantePerpendiculaireCenterline, directionCourantePerpendiculaireCenterline, normal, newStartPoint);
CMatrix4x4 transformationRotation = refMesh.getTransformation(refCenterline);
// As the referential origin is the starting point of our mesh, the transformation that is computed is only a rotation and does not contain any translation.
uniqueMesh->transform(transformationRotation,newStartPoint);
}
/******************************************************************************************
* if the centerline is not provided, the rotation computation used GlobalAdaptation
*****************************************************************************************/
else
{
gAdapt->adaptation(true);
// bad orientation (out of known orientation range) can happened
if (gAdapt->getBadOrientation()) {
numberOfBadOrientation++;
numberOfBadOrientationTotal++;
}
else numberOfBadOrientation = 0;
}
if (orientationBool) // The program can stop if too much bad orientation - not used for now
{
/******************************************************************************************
* Creation of a new mesh with the last disk of meshOutput and the new mesh (uniqueMesh) correctly oriented
*****************************************************************************************/
partMesh->assembleMeshes(uniqueMesh,numberOfDisks,resolutionRadiale_);
partMesh->computeConnectivity();
partMesh->computeTrianglesBarycentre();
if (verbose_) cout << "Mesh deformation : " << partMesh->getNbrOfPoints() << " points and " << partMesh->getNbrOfTriangles() << " triangles" << endl;
/******************************************************************************************
* Creation of the deformation object, including the image, the mesh and the deformation parameters
*****************************************************************************************/
deformableAdaptator = new DeformableModelBasicAdaptator(image3D_,partMesh,numberOfDeformIteration_,meanContrast,false);
if (tradeoff_d_bool) deformableAdaptator->setTradeOff(tradeoff_d_);
deformableAdaptator->setVerbose(verbose_);
if (this->changedParameters_) {
deformableAdaptator->changedParameters();
deformableAdaptator->setAlpha(alpha);
deformableAdaptator->setBeta(beta);
deformableAdaptator->setLineSearch(line_search);
}
deformableAdaptator->addCorrectionPoints(points_mask_correction_);
/******************************************************************************************
* Deformation of the mesh
*****************************************************************************************/
double deformation = deformableAdaptator->adaptation();
/******************************************************************************************
* Extraction of the deformation result and verification of stop conditions:
* mesh consistency
* maximum deformation
* maximum cross-sectional area
* number of wrong orientation (sign of a wrong orientation)
*****************************************************************************************/
SpinalCord* deformed_spinalcord = deformableAdaptator->getSpinalCordOutput();
deformed_spinalcord->computeConnectivity();
deformed_spinalcord->computeTrianglesBarycentre();
deformed_spinalcord->Initialize(resolutionRadiale_);
CVector3 secondPoint = deformed_spinalcord->computeGravityCenterSecondDisk();
double lastCrossSectionalArea = deformed_spinalcord->computeLastCrossSectionalArea();
area[0] = area[1]; area[1] = area[2]; area[2] = lastCrossSectionalArea; meanArea = (area[0]+area[1]+area[2])/3.0;
if ((secondPoint-lastPoint)*(newStartPoint-lastPoint)<0.0) {
if (verbose_) cout << "Stop by deformation error : overlap during propagation" << endl;
done = true;
}
if (deformation >= maxDeformation) {
if (verbose_) cout << "Stop by too large deformation : " << deformation << "/" << maxDeformation << endl;
done = true;
}
if ((meanArea >= maxArea && abs(area[2]-area[1]) >= maxArea/7.0) || meanArea >= 1.2*maxArea) {// || (area[1]>=maxArea && area[2]<maxArea)) {
if (verbose_) cout << "Stop by too large cross sectionnal area : " << meanArea << "/" << maxArea << endl;
done = true;
}
if (numberOfBadOrientation >= maxBadOrientation)
{
if (verbose_) cout << "Stop by too much bad orientation during propagation : " << numberOfBadOrientation << "/" << maxBadOrientation << endl;
done = true;
}
/******************************************************************************************
* Assembling meshOutput (whole spinal cord segmentation) and the new part of the deformed mesh
*****************************************************************************************/
if (!done)
{
meshOutput->assembleMeshes(deformed_spinalcord,numberOfDisks,resolutionRadiale_);
meshOutput->computeConnectivity();
meshOutput->computeTrianglesBarycentre();
// if the mesh get out the image, the propagation has to stop
if(!inOut || indexPosition[1]>upLimit || indexPosition[1]<downLimit) {
done = true;
if (!inOut && verbose_) cout << "Stop because out of image" << endl;
if (indexPosition[1]>upLimit && verbose_) cout << "Stop because out of range: up" << endl;
if (indexPosition[1]<downLimit && verbose_) cout << "Stop because out of range: down" << endl;
}
}
delete deformed_spinalcord;
}
else
{
if (verbose_) cout << "Stop by bad orientation" << endl;
done = true;
}
delete partMesh, gAdapt, deformableAdaptator;//, orientationFilter;
}
else
{
done = true;
if (!inOut && verbose_) cout << "Stop because out of image" << endl;
if (indexPosition[1]>=upLimit && verbose_) cout << "Stop because out of range: up" << endl;
if (indexPosition[1]<=downLimit && verbose_) cout << "Stop because out of range: down" << endl;
if (abs(newStartPoint[1]-lastPointReal[1]) > 15.0 && verbose_) cout << "Stop because bad direction" << endl;
}
if (verbose_) cout << "Number of bad orientation = " << numberOfBadOrientationTotal << " / " << i << endl;
if (verbose_) cout << "Contrast : " << meanContrast << " / " << minContrast << endl;
/******************************************************************************************
* Computation of the new spinal cord centerline
*****************************************************************************************/
centerline = meshOutput->computeCenterline();
if (verbose_) {
double distanceSegmentation = 0.0;
int interval = 1;
for (unsigned int c=interval; c<centerline.size(); c+=interval)
distanceSegmentation += (centerline[c]-centerline[c-interval]).Norm();
cout << "Distance of segmentation [mm] = " << distanceSegmentation << endl;
}
}
/******************************************************************************************
* Smoothing of the low-resolution mesh
*****************************************************************************************/
meshOutput->smoothing(70);
return meshOutput;
}
void PropagatedDeformableModel::computeMeshInitial()
{
// centerline can be added to be followed. Points of centerline have to be added from bottom to top
if (propCenterline_) {
if (centerline.size() < 1) {
cerr << "Error: Not enought points in centerline" << endl;
return;
} else {
//int init = centerline.size()*init_position_;
/******************************************************************************************
* If a centerline is used for the orientation computation, we compute its BSpline approximation. This approximation is used for centerline position and orientation extraction
* The parameter range is the centerline approximation accuracy
*****************************************************************************************/
initial_centerline = centerline;
centerline_approximator = BSplineApproximation(&initial_centerline);
initialPoint_ = centerline_approximator.EvaluateBSpline(init_position_);
initialNormal1_ = -centerline_approximator.EvaluateGradient(init_position_-0.01).Normalize();
initialNormal2_ = centerline_approximator.EvaluateGradient(init_position_+0.01).Normalize();;
//initialNormal1_ = (centerline[init-1]-centerline[init]).Normalize();
//initialNormal2_ = (centerline[init+1]-centerline[init]).Normalize();
hasInitialPointAndNormals_ = true;
}
}
if (centerline.size() < 1 && !hasInitialPointAndNormals_) {
cerr << "Error: Not enought points in centerline" << endl;
}
else if (centerline.size() == 2) {
initialTube1 = new SpinalCord;
CVector3 directionInitiale = (centerline[1]-centerline[0]).Normalize(), directionInitialePerpendiculaire;
if (directionInitiale[2] == 0.0) directionInitialePerpendiculaire = CVector3(0.0,0.0,1.0);
else directionInitialePerpendiculaire = CVector3(1.0,2.0,-(directionInitiale[0]+2*directionInitiale[1])/directionInitiale[2]).Normalize();
Referential refInitial = Referential(directionInitiale^directionInitialePerpendiculaire, directionInitialePerpendiculaire, directionInitiale, centerline[0]);
CMatrix4x4 transformationFromOrigin = refInitial.getTransformationInverse();
double angle;
CMatrix3x3 trZ;
CVector3 point, normale;
// Compute initial disk
for (int k=0; k<resolutionRadiale_; k++)
{
angle = 2*M_PI*k/(double)resolutionRadiale_;
trZ[0] = cos(angle), trZ[1] = sin(angle), trZ[3] = -sin(angle), trZ[4] = cos(angle);
point = transformationFromOrigin*(trZ*CVector3(rayon_,0.0,0.0));
initialTube1->addPoint(new Vertex(point,(point-centerline[0]).Normalize()));
}
CVector3 nextPoint = centerline[0] + deplacementAxial_*directionInitiale;
computeNewBand(initialTube1,centerline[0],nextPoint,resolutionAxiale_+2);
initialTube1->computeConnectivity();
initialTube1->computeTrianglesBarycentre();
isMeshInitialized = true;
meanContrast = computeContrast(refInitial);
//cout << "Contrast = " << contrast << endl;
}
else if (hasInitialPointAndNormals_) {
initialTube1 = new SpinalCord;
CVector3 directionInitiale = initialNormal1_, directionInitialePerpendiculaire;
if (directionInitiale[2] == 0.0) directionInitialePerpendiculaire = CVector3(0.0,0.0,1.0);
else directionInitialePerpendiculaire = CVector3(1.0,2.0,-(directionInitiale[0]+2*directionInitiale[1])/directionInitiale[2]).Normalize();
Referential refInitial = Referential(directionInitiale^directionInitialePerpendiculaire, directionInitialePerpendiculaire, directionInitiale, initialPoint_);
CMatrix4x4 transformationFromOrigin = refInitial.getTransformationInverse();
double angle;
CMatrix3x3 trZ;
CVector3 point, normale;
CVector3 stretchingFactorWorld = image3D_->TransformContinuousIndexToPhysicalPoint(CVector3((1.0-1.0/stretchingFactor_), 0.0, 0.0))-image3D_->getOrigine();
// Compute initial disk
for (int k=0; k<resolutionRadiale_; k++)
{
angle = 2*M_PI*k/(double)resolutionRadiale_;
trZ[0] = cos(angle), trZ[1] = sin(angle), trZ[3] = -sin(angle), trZ[4] = cos(angle);
point = transformationFromOrigin*(trZ*CVector3(rayon_,0.0,0.0));
CVector3 vecPoint = initialPoint_ - point;
point[0] += stretchingFactorWorld[0]*vecPoint[0];
point[1] += stretchingFactorWorld[1]*vecPoint[1];
point[2] += stretchingFactorWorld[2]*vecPoint[2];
initialTube1->addPoint(new Vertex(point,(point-initialPoint_).Normalize()));
}
CVector3 nextPoint = initialPoint_ + deplacementAxial_*directionInitiale;
computeNewBand(initialTube1,initialPoint_,nextPoint,resolutionAxiale_+2);
initialTube1->computeConnectivity();
initialTube1->computeTrianglesBarycentre();
initialTube2 = new SpinalCord;
directionInitiale = initialNormal2_;
if (directionInitiale[2] == 0.0) directionInitialePerpendiculaire = CVector3(0.0,0.0,1.0);
else directionInitialePerpendiculaire = CVector3(1.0,2.0,-(directionInitiale[0]+2*directionInitiale[1])/directionInitiale[2]).Normalize();
refInitial = Referential(directionInitiale^directionInitialePerpendiculaire, directionInitialePerpendiculaire, directionInitiale, initialPoint_);
transformationFromOrigin = refInitial.getTransformationInverse();
// Compute initial disk
for (int k=0; k<resolutionRadiale_; k++)
{
angle = 2*M_PI*k/(double)resolutionRadiale_;
trZ[0] = cos(angle), trZ[1] = sin(angle), trZ[3] = -sin(angle), trZ[4] = cos(angle);
point = transformationFromOrigin*(trZ*CVector3(rayon_,0.0,0.0));
CVector3 vecPoint = initialPoint_ - point;
point[0] += stretchingFactorWorld[0]*vecPoint[0];
point[1] += stretchingFactorWorld[1]*vecPoint[1];
point[2] += stretchingFactorWorld[2]*vecPoint[2];
initialTube2->addPoint(new Vertex(point,(point-initialPoint_).Normalize()));
}
nextPoint = initialPoint_ + deplacementAxial_*directionInitiale;
computeNewBand(initialTube2,initialPoint_,nextPoint,resolutionAxiale_+2);
initialTube2->computeConnectivity();
initialTube2->computeTrianglesBarycentre();
isMeshInitialized = true;
meanContrast = computeContrast(refInitial);
}
else {
initialTube1 = new SpinalCord;
CVector3 directionInitiale = (centerline[1]-centerline[0]).Normalize(), directionInitialePerpendiculaire;
if (directionInitiale[2] == 0.0) directionInitialePerpendiculaire = CVector3(0.0,0.0,1.0);
else directionInitialePerpendiculaire = CVector3(1.0,2.0,-(directionInitiale[0]+2*directionInitiale[1])/directionInitiale[2]).Normalize();
Referential refInitial = Referential(directionInitiale^directionInitialePerpendiculaire, directionInitialePerpendiculaire, directionInitiale, centerline[0]);
CMatrix4x4 transformationFromOrigin = refInitial.getTransformationInverse();
double angle;
CMatrix3x3 trZ;
CVector3 point, normale;
// Compute initial disk
for (int k=0; k<resolutionRadiale_; k++)
{
angle = 2*M_PI*k/(double)resolutionRadiale_;
trZ[0] = cos(angle), trZ[1] = sin(angle), trZ[3] = -sin(angle), trZ[4] = cos(angle);
point = transformationFromOrigin*(trZ*CVector3(rayon_,0.0,0.0));
initialTube1->addPoint(new Vertex(point,(point-centerline[0]).Normalize()));
}
for (unsigned int i=1; i<centerline.size(); i++)
{
computeNewBand(initialTube1,centerline[i-1],centerline[i],resolutionAxiale_);
}
initialTube1->computeConnectivity();
initialTube1->computeTrianglesBarycentre();
isMeshInitialized = true;
}
}