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Small fixes #124

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Small fixes #124

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a4e071c
Projector: use members camera_intrinsics and source_to_detector_dista…
coolteemf Feb 15, 2024
2ff55ca
fix logging
coolteemf Feb 15, 2024
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16 changes: 8 additions & 8 deletions deepdrr/projector/projector.py
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Original file line number Diff line number Diff line change
Expand Up @@ -859,7 +859,7 @@ def _setup_pyrender_scene(self, proj: geo.CameraProjection):
self.cam.cx = proj.intrinsic.cx
self.cam.cy = proj.intrinsic.cy
self.cam.znear = 1 # self.device.source_to_detector_distance / 1000
self.cam.zfar = self.device.source_to_detector_distance * 4
self.cam.zfar = self.source_to_detector_distance * 4

deepdrr_to_opengl_cam = np.array(
[
Expand All @@ -872,7 +872,7 @@ def _setup_pyrender_scene(self, proj: geo.CameraProjection):

self.cam_node.matrix = np.array(proj.extrinsic.inv) @ deepdrr_to_opengl_cam

zfar = self.device.source_to_detector_distance * 2 * 4 # TODO (liam)
zfar = self.source_to_detector_distance * 2 * 4 # TODO (liam)

return zfar

Expand Down Expand Up @@ -1166,7 +1166,7 @@ def _render_mesh_subtractive_single(
* NUMBYTES_INT8
),
np.int32(total_pixels),
np.float32(self.device.source_to_detector_distance * 2),
np.float32(self.source_to_detector_distance * 2),
),
block=(32, 1, 1), # TODO (liam)
grid=(2048, 1), # TODO (liam)
Expand Down Expand Up @@ -1363,8 +1363,8 @@ def initialize(self):
log.debug(f"beginning call to Projector.initialize")
init_tick = time.perf_counter()

width = self.device.sensor_width
height = self.device.sensor_height
width = self.camera_intrinsics.sensor_width
height = self.camera_intrinsics.sensor_height
total_pixels = width * height

device_id = int(os.environ.get("EGL_DEVICE_ID", "0"))
Expand Down Expand Up @@ -1469,16 +1469,16 @@ def initialize(self):
self.mesh_nodes.append(node)
self.scene.add(drrmesh.mesh, parent_node=node)

cam_intr = self.device.camera_intrinsics
cam_intr = self.camera_intrinsics

self.cam = IntrinsicsCamera(
fx=cam_intr.fx,
fy=cam_intr.fy,
cx=cam_intr.cx,
cy=cam_intr.cy,
znear=self.device.source_to_detector_distance
znear=self.source_to_detector_distance
/ 1000, # TODO (liam) near clipping plane parameter
zfar=self.device.source_to_detector_distance,
zfar=self.source_to_detector_distance,
)

self.cam_node = self.scene.add(self.cam)
Expand Down
6 changes: 3 additions & 3 deletions deepdrr/utils/image_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -40,18 +40,18 @@ def _neglog(image: np.ndarray, epsilon: float = 0.01) -> np.ndarray:
image_min = image.min(axis=(1, 2), keepdims=True)
image_max = image.max(axis=(1, 2), keepdims=True)
if np.any(image_max == image_min):
logger.debug(
log.debug(
f"mapping constant image to 0. This probably indicates the projector is pointed away from the volume."
)
# TODO(killeen): for multiple images, only fill the bad ones
image[:] = 0
if image.shape[0] > 1:
logger.error("TODO: zeroed all images, even though only one might be bad.")
log.error("TODO: zeroed all images, even though only one might be bad.")
else:
image = (image - image_min) / (image_max - image_min)

if np.any(np.isnan(image)):
logger.warning(f"got NaN values from negative log transform.")
log.warning(f"got NaN values from negative log transform.")

if len(shape) == 2:
return image[0]
Expand Down