usPixelMeterConversion.cpp

/****************************************************************************
 *
 * This file is part of the ustk software.
 * Copyright (C) 2016 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ustk with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at ustk@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Authors:
 * Marc Pouliquen
 *
 *****************************************************************************/
 
#include <algorithm>
#include <visp3/ustk_core/usPixelMeterConversion.h>
 
void usPixelMeterConversion::convert(const usImagePostScan2D<unsigned char> &image, const double &u, const double &v,
                                     double &x, double &y)
{
  // checking transducer settings to apply corresponding transformation
  // First convex probe type
  if (image.isTransducerConvex()) {
    x = image.getWidthResolution() * u - (((double)image.getWidth() * image.getWidthResolution()) / 2.0);
    y = image.getHeightResolution() * v +
        image.getTransducerRadius() *
            std::cos(((double)image.getScanLineNumber() - 1) * image.getScanLinePitch() / 2.0);
  }
  // Then linear probe type
  else {
    x = image.getWidthResolution() * u - (((double)image.getWidth() * image.getWidthResolution()) / 2.0);
    y = image.getHeightResolution() * v;
  }
}
 
void usPixelMeterConversion::convert(const usImagePostScan3D<unsigned char> &image, const double &u, const double &v,
                                     const double &w, double &x, double &y, double &z)
{
  // checking transducer/motor settings to apply corresponding transformation
  if (!image.isTransducerConvex()) {                            // linear transducer
    if (image.getMotorType() == usMotorSettings::LinearMotor) { // linear motor
      x = image.getElementSpacingX() * u - ((image.getWidth() * image.getElementSpacingX()) / 2.0);
      y = image.getElementSpacingY() * v;
      z = image.getElementSpacingZ() * w - (image.getNumberOfFrames() * image.getElementSpacingZ() / 2.0);
    } else if (image.getMotorType() == usMotorSettings::TiltingMotor) { // tilting motor
      x = image.getElementSpacingX() * u - ((image.getWidth() * image.getElementSpacingX()) / 2.0);
      y = image.getElementSpacingY() * v +
          image.getMotorRadius() * std::cos((image.getFrameNumber() - 1) * image.getFramePitch() / 2.0) -
          image.getMotorRadius();
      z = image.getElementSpacingZ() * w - (image.getNumberOfFrames() * image.getElementSpacingZ() / 2.0);
    } else
      throw(vpException(vpException::notImplementedError, "Rotationnal Motor is not available yet."));
  }
  // Then convex transducer
  else {
    if (image.getMotorType() == usMotorSettings::LinearMotor) { // linear motor
      x = image.getElementSpacingX() * u - (image.getWidth() * image.getElementSpacingX() / 2.0);
      y = image.getElementSpacingY() * v +
          image.getTransducerRadius() * std::cos((image.getScanLineNumber() - 1) * image.getScanLinePitch() / 2.0);
      z = image.getElementSpacingZ() * w - (image.getNumberOfFrames() * image.getElementSpacingZ() / 2.0);
    } else if (image.getMotorType() == usMotorSettings::TiltingMotor) { // tilting motor
      x = image.getElementSpacingX() * u - (image.getWidth() * image.getElementSpacingX() / 2.0);
 
      y = image.getElementSpacingY() * v +
          (image.getTransducerRadius() *                                                // Rmin
               std::cos((image.getScanLineNumber() - 1) * image.getScanLinePitch() / 2) // cos (FOV/2)
           - (image.getTransducerRadius() - image.getMotorRadius()))                    // Delta R
              * std::cos((image.getFrameNumber() - 1) * image.getFramePitch() / 2)      // cos(Phi/2)
          + (image.getTransducerRadius() - image.getMotorRadius());                     // Delta R
 
      z = image.getElementSpacingZ() * w - (image.getNumberOfFrames() * image.getElementSpacingZ() / 2.0);
    } else
      throw(vpException(vpException::notImplementedError, "Rotationnal Motor is not available yet."));
  }
}