WO1999027497A1 - Volume rendering lighting using dot product methodology - Google Patents

Volume rendering lighting using dot product methodology Download PDF

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Publication number
WO1999027497A1
WO1999027497A1 PCT/US1998/025061 US9825061W WO9927497A1 WO 1999027497 A1 WO1999027497 A1 WO 1999027497A1 US 9825061 W US9825061 W US 9825061W WO 9927497 A1 WO9927497 A1 WO 9927497A1
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WO
WIPO (PCT)
Prior art keywords
voxel
light source
gradient
computer
datum
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US1998/025061
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English (en)
French (fr)
Inventor
Vincent J. Argiro
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Canon Medical Informatics Inc
Original Assignee
Vital Images Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vital Images Inc filed Critical Vital Images Inc
Priority to CA002310450A priority Critical patent/CA2310450C/en
Priority to DE69819557T priority patent/DE69819557T2/de
Priority to EP98960423A priority patent/EP1034514B1/en
Priority to AT98960423T priority patent/ATE253757T1/de
Priority to JP2000522562A priority patent/JP2001524722A/ja
Publication of WO1999027497A1 publication Critical patent/WO1999027497A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G06T15/50—Lighting effects

Definitions

  • the present invention relates generally to the display of images that are three-dimensional volume renderings, and more particularly to lighting in the display of such images using dot product methodology.
  • CT requires an x-ray source to rapidly rotate around a patient to obtain up to hundreds of electronically stored pictures of the patient.
  • MR requires that radio-frequency waves be emitted to cause hydrogen atoms in the body's water to move and release energy, which is then detected and translated into an image. Because each of these techniques penetrates the body of a patient to obtain data, and because the body is three-dimensional, this data represents a three-dimensional image, or volume.
  • CT and MR both provide three-dimensional "slices" of the body, which can later be electronically reassembled.
  • Volume-rendering takes a conceptually intuitive approach to rendering, by assuming that three-dimensional objects are composed of basic volumetric building blocks.
  • volumetric building blocks are commonly referred to as voxels.
  • the well known pixel is a picture element — i.e., a tiny two- dimensional sample of a digital image have a particular location in the plane of a picture defined by two coordinates —
  • a voxel is a sample that exists within a three-dimensional grid, positioned at coordinates x, y, and z.
  • the voxel has a "voxel value," as that value is obtained from real-world scientific or medical instruments.
  • the voxel value may be measured in any of a number of different units, such as hounsefield units, which are well known to those of ordinary skill within the art.
  • any three-dimensional volume can be simply divided into a set of three-dimensional samples, or voxels.
  • a volume containing an object of interest is dividable into small cubes, each of which contain some piece of the original object.
  • This continuous volume representation is transformable into discrete elements by assigning to each cube a voxel value that characterizes some quality of the object as contained in that cube.
  • the object is thus summarized by a set of point samples, such that each voxel is associated with a single digitized point in the data set.
  • reconstructing a volume using volume-rendering requires much less effort and is more intuitively and conceptually clear.
  • the original object is reconstructed by the stacking of voxels together in order, so that they accurately represent the original volume.
  • volume-rendering is nevertheless still complex.
  • a key requisite of volume rendering is the use of the entire voxel data set to create an image.
  • image ordering the volume is positioned behind the picture plane, and a ray is projected perpendicularly from each pixel in the picture plane through the volume behind the pixel.
  • ray casting the volume is positioned behind the picture plane, and a ray is projected perpendicularly from each pixel in the picture plane through the volume behind the pixel.
  • image ordering or ray casting the volume is positioned behind the picture plane, and a ray is projected perpendicularly from each pixel in the picture plane through the volume behind the pixel.
  • ray As each ray penetrates the volume, it accumulates the properties of the voxels it passes through and adds them to the corresponding pixel. The properties accumulate more quickly or more slowly depending on the transparency of the voxels.
  • the voxel values are also combined to produce image pixels for display on a computer screen.
  • the image plane is positioned behind the volume, and each pixel is assigned an initial background value.
  • a ray is projected perpendicularly from the image plane through the volume to the viewer.
  • the voxel values are blended into the background, forming the image according to each voxel's interpreted opacity.
  • the image rendered in this method as well depends on the transparency of the voxels.
  • lighting of the voxel data is accomplished by conceptually placing a light source coincident with the viewer's perspective, such that each voxel is illuminated insofar as it reflects light back towards the light source (i.e.. toward' s the viewer's perspective). In most situations, this provides for adequate lighting.
  • voxel data representing features that have surfaces facing away from the light source are desirable to illuminate, but cannot be provided with lighting insofar as they do not reflect light back towards the light source.
  • a blood vessel may have an outer wall facing the light source, and an inner wall on the other side of the outer wall that does not face the light source.
  • This inner wall may be desirable to light for clinical diagnosis, but cannot be by the method just described.
  • a light source directed towards the outer wall that is, provides for illumination of the outer wall because the surface of the outer wall points back to the light source; however, the light source does not provide for lighting of the inner wall because the surface of the inner wall points away from the light source.
  • This is disadvantageous in those situations where lighting both walls is desirable for proper clinical diagnosis, however, and represents an existing shortcoming in current volume-rendering technology.
  • a volume- rendered image includes a set of voxel data that represents an object.
  • Each voxel datum within the set of voxel data may have a gradient associated with it representing the direction of the surface of the voxel datum.
  • a light source is defined as having a vector representing the direction in which light emits from the source.
  • a positive gradient may mean that the surface points in the same direction as does the light source (assuming the light source has a positive vector)
  • a negative gradient may mean that the surface points in the opposite does as does the light source (again assuming that the light source has a positive vector).
  • a computer includes a processor, a computer-readable medium and a computer program.
  • the medium stores first data representing the set of voxel data, each voxel datum having a gradient that is desirably either positive or negative, and second data representing the light source having the directional vector.
  • the computer program is executed by the processor from the medium, and displays the set of the voxel data, including lighting each voxel datum using a dot product of the gradient of the voxel datum with the directional vector of the light source. (It is noted that for purposes this application, taking the dot product of the gradient and the directional vector means more specifically taking the dot product of the vector of the gradient — i.e., the gradient vector — and the directional vector.)
  • the invention thus illuminates surfaces of the object regardless of whether the surface points towards or away from the light source, overcoming disadvantages found in the prior art.
  • voxel data having positive gradients where the light source has a positive directional vector would not be lighted within the prior art, because the surface points away from the light source such that light would not be reflected back towards the light source.
  • a dot product of the gradient and the directional vector (more specifically, the absolute value of the dot product) would yield a non-zero lighting value, such that this voxel data would be illuminated.
  • the only voxel data not lighted by the inventive approach is that which have gradients at a right angle to the lighting source, such that the absolute dot product would be zero.
  • FIG. 1 is a diagram of a typical computer in conjunction with which embodiments of the invention may be implemented;
  • FIGs. 2(a), 2(b) and 2(c) are diagrams showing the manner by which a voxel is lighted in accordance with the prior art;
  • FIGs. 3(a), 3(b) and 3(c) are diagrams showing the manner by which a voxel is lighted in accordance with one embodiment of the invention
  • FIG. 4 is a flowchart of a computerized method in accordance with one embodiment of the invention.
  • Computer 100 is in one embodiment UNIX compatible. More particularly, computer 100 in one embodiment is a Silicon Graphics, Inc. (SGI) workstation running in an OSF/Motif window environment, with a graphical user interface.
  • SGI workstations include the SGI O2, which in one embodiment runs the SGI Irix 6.3 operating system, in which case the embodiment is based on the OpenGL graphics library, and uses the Viewkit class library.
  • pointing device 104 is a mouse, although the invention is not limited to any particular pointing device.
  • pointing device 104 may also be a point stick, trackball, or a touch pad.
  • the pointing device typically has three buttons, although no embodiment of the invention is so particularly limited. As described herein, clicking, selecting, pressing, or holding, etc., of a pointing device button (such as a mouse button) refers to the clicking, selecting, pressing, or holding, etc., of the left button if there is more than one button on the pointing device.
  • an additional pointing device (viz., part of other components 107 as shown in FIG. 1) is also coupled to computer 100.
  • This additional pointing device is a three-dimensional controller, which allows a user of the invention easy control of the fly through feature of embodiments of the invention.
  • One such pointing device is the Spacetec IMC SpaceBall 3003.
  • Display device 106 can be any of a number of different devices, but in one embodiment of the invention is a computer monitor having a cathode ray tube (CRT). In the embodiment of the invention where computer 100 is an SGI workstation, display device 106 is a twenty-one inch monitor capable of displaying twenty-four-bit color graphics, and having a resolution of 1280 x 1024 pixels.
  • Computer 100 may also have the capability of hooking up to a network (such as a DICOM network), may having Internet or intranet capability, or have access to a DICOM server. Each of these is well known to those skilled in the art.
  • computer 100 typically includes a central- processing unit (CPU), a random-access memory (RAM), and a read-only memory (ROM).
  • CPU central- processing unit
  • RAM random-access memory
  • ROM read-only memory
  • the CPU, RAM, and ROM may be of any type; no embodiment of the invention is particularly limited.
  • the CPU is a MIPS R10000 or an R5000, and there are typically one-hundred-twenty-eight megabytes of RAM.
  • computer 100 also usually comprises a fixed storage device such as a hard disk drive, and a removable storage device such as a tape cartridge drive or floppy disk drive.
  • such components may be external components to computer 100, in which case they are a part of other components 107.
  • the tape cartridge drive in one embodiment is compatible with a General Electric Genesis tape archive format.
  • the memory e.g., RAM and ROM
  • the storage devices e.g., hard drives, floppy disks, tapes, etc.
  • the invention provides an environment in which volume data comprised of voxels is displayed. No embodiment of the invention is limited as to the programming language by which the software aspect providing this environment is implemented. However, in one embodiment, the language is the object- oriented programming language C++. Furthermore, no embodiment of the invention is limited as to what the volume data comprised of voxels represents. In one embodiment of the invention, the volume data (voxel data) represents medical images of various parts of the human body, as scanned in from a medical imaging device. One embodiment of the invention specifically relates to the viewing of volume-related medical images; however, it should be understood to and appreciated by those of ordinary skill within the art that no embodiment of the invention is so limited. Overview of the Invention
  • a volume- rendered image includes a set of voxel data — that is, a set of individual voxel datums or "voxels.”
  • Each voxel has a voxel value, such that the set of voxel data has a range of voxel values, spanning from the lowest voxel value for any voxel within the set, to the highest voxel value for any voxel within the set.
  • each voxel has a gradient associated with it.
  • the gradient represents the direction of the surface of the voxel.
  • a positive gradient means that the voxel's surface direction is coincident with the direction of an imaginary light source placed in front of the image — that is, that the voxel's surface direction is the same as a directional vector of the light source — and a negative gradient means that the voxel's surface direction is opposite to the direction of the light source.
  • the imaginary light source is used in conjunction with the gradient of the surface of a voxel to derive a lighting value for the voxel, which dictates the illumination of that voxel.
  • the light source is coincident with a viewer of the voxel data.
  • FIGs. 2(a) and 2(b) show the manner by which a lighting value is obtained for a voxel in accordance with the prior art.
  • FIG. 2(a) shows the situation in which a voxel has a surface having a direction pointing towards the light source, such that the voxel is illuminated.
  • Light source 200 has directional vector 202, which is defined as positive.
  • Voxel 204 has gradient 206 pointing in the opposite direction to vector 202, and thus is negative.
  • Voxel 204 is provided with a non-zero lighting value because light emitted by light source 200, as represented by arrow 208, is reflected by voxel 204 back towards the light source, as represented by arrow 208.
  • FIG. 2(b) shows the situation in which a voxel has a surface having a direction pointing away form the light source, such that the voxel is not illuminated.
  • Light source 250 has directional vector 252, which is defined as positive.
  • Voxel 254 has gradient 256 pointing in the same direction as vector 252, and thus is also positive.
  • Voxel 254 is provided with a zero lighting value because light emitted by light source 250, as represented by arrow 258, is not reflected by voxel 254; the gradient of voxel 254 is not in an opposite direction to that of the directional vector of light source 250. Therefore, as shown in FIG. 2(b), a disadvantage with the prior art is that voxels having gradients pointing away from the light source are not provided with lighting values.
  • FIG. 2(c) shows a screen shot of a blood vessel (CT data) illuminated in accordance with the prior art.
  • CT data blood vessel
  • the interior of the blood vessel is blacked out, because the gradients of the voxels comprising the interior wall of the blood vessel point inward, away from the light source (assumed to be pointing from the outside in as well).
  • the exterior of the blood vessel is visible, because the gradients of the voxels comprising the exterior wall of the blood vessel point outward, towards the light source.
  • FIGs. 3(a) and 3(b), by comparison, show the manner by which a lighting value is obtained for a voxel in accordance with one embodiment of the invention.
  • FIG. 3(a) shows the situation in which a voxel has a surface having a direction pointing towards the light source.
  • Light source 300 has directional vector 302, which is defined as positive.
  • Voxel 304 has gradient 306 pointing in the opposite direction to vector 302, and thus is negative.
  • Voxel 304 is provided with a non-zero lighting value because the absolute dot product of the directional vector of light source 300 and the gradient of voxel 304 is itself non-zero.
  • the invention provides for lighting of the voxel.
  • FIG. 3(b) shows the situation in which a voxel has a surface having a direction pointing away from the light source, but is nevertheless still illuminated.
  • Light source 300 has directional vector 352, which is defined as positive.
  • Voxel 354 has gradient 356 pointing in the same direction as vector 352, and thus is also positive.
  • Voxel 354 is provided with a non-zero lighting value because the absolute dot product of the directional vector of light source 350 and the gradient of voxel 354 is itself non-zero.
  • the invention in the situation where a voxel has a surface having a direction pointing away from the light source, the invention nevertheless provides for lighting of the voxel. Therefore, in situations where such lighting is desirable, the invention provides for an advantage over the prior art.
  • FIG. 3(c) shows a screen shot of a blood vessel (CT data) illuminated in accordance with the invention.
  • CT data blood vessel
  • the interior of the blood vessel is visible, even thought the gradients of the voxels comprising the interior wall of the blood vessel point inward, away from the light source (assumed to be pointing from the outside in as well). This is because the absolute dot products of the gradients and their corresponding light sources are non-zero.
  • the exterior of the blood vessel is visible, because the absolute dot products of the gradients of the voxels comprising the exterior wall of the blood vessel and their corresponding light sources are also non-zero.
  • the embodiment of the invention builds upon the Phong lighting model known in the art, and the lighting methodology described generally in Drebin, U.S. Pat. No. 4,835,721.
  • those skilled in the art are knowledgeable of the mathematics of lighting as described in page 191 of Jackie Neider, "OpenGL Programming Guide” (1993) (ISBN 0-201-63274-8), the chapter entitled “The Mathematics of Lighting”.
  • the intensity of light reflected from each voxel is proportional to the dot product of the surface normal or gradient vector and the light direction vector. When the angle between these vectors is greater than ninety degrees, this dot product is negative.
  • the medium stores first data representing a set of voxel data, each voxel datum having a gradient, desirably either positive or negative, and second data representing a light source having a directional vector.
  • the computer program thus illuminates the voxel data (i.e., provides lighting values for the voxel data), and also desirably displays the voxel data on the display device of the computer.
  • FIG. 4 a flowchart of a computerized method according to one embodiment of the invention is shown.
  • step 400 for each voxel within the set of voxel data stored in the computer-readable medium, a dot product of the gradient of the voxel and the directional vector of the light source is calculated.
  • the dot product is a mathematical function.
  • the voxel data may be displayed on the display device of the computer, as a lighting value has been provided for each voxel by step 400. It is noted that other operations may be performed on the voxel data prior to its being amenable to display on the display device; however, these operations, as well as displaying the voxel data on the display device, are understood by those of ordinary skill in the art.

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  • Engineering & Computer Science (AREA)
  • Computer Graphics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
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PCT/US1998/025061 1997-11-26 1998-11-23 Volume rendering lighting using dot product methodology Ceased WO1999027497A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CA002310450A CA2310450C (en) 1997-11-26 1998-11-23 Volume rendering lighting using dot product methodology
DE69819557T DE69819557T2 (de) 1997-11-26 1998-11-23 Volumendarstellungsleuchten mit punktkodemethodologie
EP98960423A EP1034514B1 (en) 1997-11-26 1998-11-23 Volume rendering lighting using dot product methodology
AT98960423T ATE253757T1 (de) 1997-11-26 1998-11-23 Volumendarstellungsleuchten mit punktkodemethodologie
JP2000522562A JP2001524722A (ja) 1997-11-26 1998-11-23 ドット積方法を用いた体積レンダリングのライティング

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US08/978,984 1997-11-26
US08/978,984 US6130671A (en) 1997-11-26 1997-11-26 Volume rendering lighting using dot product methodology

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EP (1) EP1034514B1 (enExample)
JP (1) JP2001524722A (enExample)
AT (1) ATE253757T1 (enExample)
CA (1) CA2310450C (enExample)
DE (1) DE69819557T2 (enExample)
WO (1) WO1999027497A1 (enExample)

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EP1034514A1 (en) 2000-09-13
CA2310450A1 (en) 1999-06-03
ATE253757T1 (de) 2003-11-15
CA2310450C (en) 2007-06-26
DE69819557D1 (de) 2003-12-11
US6130671A (en) 2000-10-10
EP1034514B1 (en) 2003-11-05
JP2001524722A (ja) 2001-12-04

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