Frequency-Domain Upsampling on a Body-Centered Cubic Lattice for Efcient and High-Quality Volume Rendering

Bal zs Cs bfalvi1 , Bal zs Domonkos2 a e a Budapest University of Technology and Economics 2 Mediso Medical Imaging Systems, Hungary Email: cseb@iit.bme.hu, bdomonkos@mediso.hu
1

Abstract
In volume-rendering applications, an appropriate resampling lter can be chosen by making a compromise between quality and efciency. For realtime volume visualization, usually the trilinear lter is used, since its evaluation is directly supported by the recent GPUs. Although higher-order lters (e.g. quadratic or cubic lters) ensure much higher image quality, due to their larger support, they are signicantly more expensive to evaluate even if a GPU acceleration is applied. Instead of higher-order ltering, in this paper, we propose a frequency-domain upsampling on an optimal BodyCentered Cubic (BCC) lattice. The obtained BCCsampled representation is rendered by using a simple GPU-accelerated trilinear B-spline reconstruction. Although this approach doubles the storage requirements, it provides similar quality as the most popular cubic lters, but for a signicantly lower computational overhead.

Introduction

From a signal processing point of view, direct volume rendering is a resampling task, since the discrete volume representation needs to be resampled at evenly located sample positions along the viewing rays. The applied resampling lter strongly inuences the image quality. If the underlying signal is assumed to be band-limited and sampled above the Nyquist limit, the ideal sinc lter theoretically provides a perfect reconstruction [19]. Nevertheless, the sinc lter is impractical due to its innite support. For practical spatial-domain resampling, it is usually approximated by a piecewise polynomial lter [18] or truncated by an appropriate windowing function [15, 21]. In the frequency doVMV 2009

main, sinc interpolation can be efciently implemented if the original signal is assumed to be periodic [1, 13]. Generally, the frequency-domain reconstruction methods are used for globally resampling volume data on a transformed lattice, and cannot be applied for efcient local resampling at arbitrary sample positions. In order to increase the quality of spatial-domain resampling, two fundamentally different strategies can be followed. The rst strategy is to apply higher-order lters [18], such as the cubic B-spline or the Catmull-Rom spline. These lters, however, are much more expensive computationally than the popular trilinear lter. A trilinear sample is calculated from the eight nearest voxels, whereas the cubic lters take the nearest 64 voxels into account. In practice, a lter of a larger support can drastically decrease the rendering performance because of the costly cache misses. Although it has been shown that a cubic ltering can be efciently implemented on the recent GPUs by calculating a weighted average of eight trilinear texture samples [20], the trilinear ltering is still signicantly faster. The second strategy for improving the quality of local resampling is to combine the complementary advantages of spatial-domain and frequencydomain techniques. In a preprocessing step, the initial volume data is upsampled in the frequencydomain implementing the sinc interpolation by either zero padding or phase shifts [19]. After the preprocessing, the obtained higher-resolution data is resampled in the spatial domain by using a lter of a smaller support. Generally, the smaller the support of a lter, the higher is its postaliasing effect [15]. However, the upsampling can potentially compensate the higher postaliasing effect of a cheap reconstruction lter. The major drawback of this approach is that the memory requirements are drastically increased. For example, if the volume resM. Magnor, B. Rosenhahn, H. Theisel (Editors)

olution is doubled along each axis, the number of voxels is increased by a factor of eight, which might be prohibitive in practical applications. In this paper, we assume that the volume is originally sampled on a Cartesian Cubic (CC) lattice, since most of the recent 3D scanning technologies, such as CT or MRI, produce data in this format. On the other hand, in order to attain the highest reconstruction quality for a xed storage overhead, the CC-sampled representation is upsampled on an optimal BCC lattice rather than on a higher-resolution CC lattice. Recently, it has been demonstrated that the theoretical advantages of the BCC lattice can be utilized also in practice by applying appropriate reconstruction schemes [8, 4, 7, 6, 10]. In the previous work, the BCC lattice is mainly used for downsampling CC-sampled data sets [9, 6]. Nevertheless, according to our best knowledge, the upsampling potential of the BCC lattice has not been analyzed yet. In Section 2, the previous work related to frequency-domain upsampling and optimal regular volume sampling is reviewed. In Section 3, our upsampling strategy is presented, which yields a BCCsampled volume data. In order to efciently visualize such a volume representation, different resampling techniques can be used, which are evaluated in Section 4. The implementation details are discussed in Section 5. Finally, in Section 6, the contribution of this paper is summarized.

2 Related Work
2.1 Frequency-domain upsampling

One of the most popular frequency-domain upsampling methods is zero padding [19]. Using this technique, the Discrete Fourier Transform (DFT) of a sampled signal is extended by additional zero coefcients, and the extended DFT is transformed back into the spatial domain. The obtained discrete signal is equivalent to the upsampling of the initial signal by the sinc lter. Frequency-domain volumerendering techniques usually exploit such an ideal resampling [1, 13]. For example, to increase the sampling frequency along the viewing rays, additional slices are interpolated by zero padding [1]. Due to the applied DFT, frequency-domain techniques assume periodicity in the spatial domain, which leads to unexpected boundary effects. If the volume is resampled on a transformed lattice, sam-

ples of the spatial-domain replicas are introduced. Therefore, the replicas appear in the rendered images. To remedy this problem, zero padding is used in the spatial domain for reducing the boundary effects. This approach is applied also in Fourier volume rendering [14, 24], which provides simulated X-ray images. Using this method, the 3D DFT of the volume data is resampled along a slice perpendicular to the viewing direction. According to the Fourier projection-slice theorem, the inverse DFT of the resampled slice is equivalent to the projection of the volume. Since the practical resampling lters are imperfect in the stop-band [15], the spatialdomain replicas also contribute to the image. By an appropriate zero padding, these replicas get far from the origin, so even a cheap lter can sufciently suppress them. The better the stop-band behavior of the resampling lter, the narrower zeropadding is necessary. This concept can be applied the other way around. If a cheap lter is used for resampling in the spatial-domain, its imperfect stopband behavior can be compensated if the initial volume data is upsampled in the frequency domain. In the Fourier transform of the upsampled volume, the aliasing spectra get far from the primary spectrum, so they can be sufciently suppressed even if the Fourier transform of the resampling lter has a longer decay. If the initial volume data has to be upsampled along each axis by an integer factor k, the sinc interpolation can be alternatively implemented by frequency-domain phase shifts utilizing the shifting theorem [26]. The intermediate samples are produced by shifting the original ones k3 1 times. Such a sinc interpolation has to be carefully used if the volume contains drastically different data values at the opposite sides of the boundary. In this case, false frequency components are articially introduced because of the assumed periodicity, which might lead to ringing artifacts. This problem is usually avoided by using either a mirror extension or an appropriate windowing in the spatial domain [1].

2.2

Optimal regular volume sampling

The BCC lattice is optimal for sampling 3D signals if it is assumed that the signal is band-limited and its spectrum does not contain preferred directions [23]. Therefore, about 30% fewer samples have to be taken on a BCC lattice than on an equivalent CC lattice to represent the same amount of spatial infor-

mation. If the same number of voxels is assumed and equivalent lters are used for the reconstruction, a BCC-sampled volume representation ensures much higher quality of reconstruction than a CCsampled representation. An important aspect of optimal regular volume sampling is how to reconstruct the continuous underlying signal from a BCC-sampled volume. Early methods tried to use splatting with spherically symmetric lters [23] or ray casting with sheared trilinear interpolation [22, 16]. The former approach resulted in rather blurry images, whereas the latter approach led to an anisotropic reconstruction. In order to take the special geometry of the BCC lattice into account in the reconstruction, non-separable linear and quintic box-spline lters were proposed [8, 10]. These lters provide higher quality than the early methods and their GPU implementation [12] can be used for interactive volume rendering of BCC-sampled data. Similar quality can be achieved by preltered Gaussian [4] and preltered B-spline reconstructions [7]. These methods exploit that the BCC lattice consists of two interleaved CC lattices. The preltered trilinear B-spline reconstruction can be implemented very efciently on the current GPUs by calculating the average of two trilinear texture samples [7]. Therefore, this is the fastest method that is capable for rendering BCC-sampled data in real-time [12]. BCC-sampled data can be acquired by either a tomography reconstruction that directly provides BCC samples [11], or by downsampling CCsampled data on a BCC lattice [9, 6]. In this paper, we demonstrate that the theoretical benets of the BCC lattice can also be utilized if it is used for upsampling.

sampled volume data is produced, which oversamples the original signal. Although the BCC upsampling yields a redundant volume representation, it is still more reasonable than an upsampling on an equivalent CC lattice, which would result in 30% more samples.

Figure 1: The BCC lattice as two interleaved CC lattices. The red CC lattice is obtained by translating the blue CC lattice by a vector [ 1 , 1 , 1 ]. 2 2 2 To avoid ringing artifacts, we use a mirror extension along those axes, where the data values are drastically different at the opposite sides of the boundary. In practical CT or MRI data, most of the boundary voxels represent the air. However, along the z-axis usually a region of interest is scanned instead of the full body, which leads to discontinuities in a periodic extension. Therefore, a mirror extension is usually necessary along the z-axis. Note that, the mirror extension does not increase the storage requirements, since after the inverse DFT the same number of voxels is extracted as in case of a periodic extension.

Upsampling on a BCC Lattice 4 Rendering

The upsampling makes sense if the obtained BCCsampled volume can be resampled by a computationally cheap lter more efciently than the original CC-sampled volume using a higher-order lter. Additionally, the reconstruction quality is required to be at least competitive. Therefore, the choice of the continuous reconstruction lter is of crucial importance in our method. In a CPU implementation, the quintic box-spline ltering on a BCC lattice is twice as fast as an

As it is demonstrated in Figure 1, the BCC lattice consists of two interleaved CC lattices. Assume that the volume is originally sampled on the blue CC lattice. If this lattice sufciently samples the underlying signal, the samples on the red lattice can be obtained by a sinc interpolation implemented as a frequency domain phase shift. Based on the shift(0) ing theorem, the DFT Fu,v,w of the blue samples (0) i(u+v+w) fi,j,k is modulated by e . The red samples fi,j,k are obtained by transforming the result back into the spatial domain. In this way, a BCC(1)

directional linear box spline [12], and the other one is the trilinear B-spline [7]. In order to analyze these lters in terms of both quality and efciency, we implemented a texture-based isosurface rendering application using optimized shader codes for the resampling. (a) (d) First we rendered the classical Marschner-Lobb signal [15]. Using our upsampling strategy, we produced 40 40 40 2 BCC samples from an initial volume data of resolution 40 40 40, which samples the test signal near the Nyquist limit. In order to avoid ringing artifacts, we applied a mirror extension along the z-axis. Figure 2 shows the isosurfaces of the obtained BCC-sampled volume reconstructed by the linear box spline and the trilinear B-spline. Note that, the linear box spline introduces severe artifacts, while the postaliasing effect of the trilinear B-spline is much less apparent. The trilinear B-spline provides still higher visual quality if 8080802 BCC samples are produced from 808080 CC samples. We also rendered higherresolution CC-sampled representations, which contain approximately the same number of voxels that our BCC upsampling provides. Therefore, we sampled the test signal at resolutions 50 50 50 and 100100100 respectively. The obtained data sets were rendered by using a simple trilinear interpolation. Note that, in this case, the data values are accurate samples of the test signal and not calculated by a frequency-domain upsampling. Figure 2 well demonstrates that a higher-resolution CC-sampled representation provides still lower quality than a precalculated BCC-sampled representation for the same storage overhead, if in both cases the trilinear B-spline lter is used for the reconstruction. We rendered the initial CC-sampled volume representations by using also higher-order lters, such as the tricubic B-spline and the Catmull-Rom spline. The Catmull-Rom spline is an interpolating C 1 3-EF lter, whereas the tricubic B-spline is an approximating C 2 2-EF lter (k-EF denotes a kth degree Error Filter) [17, 18]. Applying the principle of generalized interpolation [2], the tricubic B-spline can be made interpolating and its approximation power can be fully exploited by an appropriate discrete preltering [5]. The interpolating preltered tricubic B-spline reconstruction is a C 2 4-EF ltering scheme, which additionally does not blur the high-frequency details as much as the non-preltered tricubic B-spline reconstruc-

(b)

(e)

(c)

(f)

Figure 2: Reconstruction of the Marschner-Lobb signal from 50 50 50 (a) and 100 100 100 (d) CC samples, and from 40 40 40 2 (b, c) and 80 80 80 2 (e, f) BCC samples. (a, d): Trilinear interpolation. (b, e): Linear box-spline reconstruction. (c, f): Trilinear B-spline reconstruction. equivalent tricubic B-spline ltering on a CC lattice [10]. Nevertheless, in a GPU implementation, the tricubic B-spline lter is still faster to evaluate, since unlike the quintic box-spline lter, it can utilize the direct hardware support for trilinear texture fetching [20, 12]. In this paper, we focus on GPU-based real-time volume rendering, therefore we reject the quintic box spline as an alternative. A GPU-accelerated tricubic B-spline reconstruction is slower on a BCC lattice than on a CC lattice [7], therefore this alternative is also rejected. In the state of the art, there are really just two linear lters left that can be considered for efciently rendering BCC-sampled data. One of them is the four-

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)

Figure 3: Reconstruction of the Marschner-Lobb signal from 40 40 40 (a - d) and 80 80 80 (e h) CC samples. (a, e): Trilinear interpolation. (b, f): Tricubic B-spline reconstruction. (c, g): Interpolating preltered tricubic B-spline reconstruction. (d, h): Catmull-Rom spline reconstruction. tion. Because of this advantageous properties, we also tested the tricubic B-spline reconstruction combined with preltering. Figure 3 shows that this scheme is superior over the Catmull-Rom spline interpolation but it still leads to severe postaliasing. In contrast, the C 1 2-EF trilinear B-spline reconstruction on our upsampled BCC representation clearly provides higher visual quality than the cubic lters applied on the initial CC-sampled representation (compare Figure 2c to the images (b), (c), and (d) in Figure 3). Increasing the resolution of the initial data, the difference disappears (compare Figure 2f to the images (f), (g), and (h) in Figure 3), but it is still worthwhile to use a fast trilinear B-spline reconstruction on a denser BCC lattice rather than computationally expensive cubic lters on the initial CC lattice. We tested our method also on real-world measured data. First we tried to reconstruct the skeleton of a carp from 128 128 256 CC samples of an initial CT scan. Figure 4 shows that a simple trilinear interpolation causes severe staircase aliasing. Using a tricubic B-spline reconstruction, the staircase artifacts are avoided, but the ne details are removed. In contrast, the interpolating preltered tricubic B-spline reconstruction gives an excellent result. Note that, the linear reconstruction schemes data set
trilinear B-spline tricubic B-spline

brain 15 fps 1.1 fps

engine 19 fps 1.6 fps

carp 37 fps 3.6 fps

Table 1: Frame rates of texture-based isosurface rendering of CC-sampled volume data using trilinear interpolation (trilinear B-spline ltering) and tricubic B-spline ltering.

combined with our BCC upsampling guarantee similar visual quality as a cubic ltering on the initial CC-sampled data. On the BCC lattice, the linear box-spline lter can reconstruct the ne details better than the trilinear B-spline lter. On the other hand, the trilinear B-spline can reduce the postaliasing effect more efciently. We tested our technique on noisy data sets as well (see Figure 5). The BCC representations of the brain and the engine block were produced by upsampling the initial CC-sampled MRI and CT scans. Note that, our frequency-domain upsampling has to be carefully used on noisy data, as it enhances not just the ne details but the measurement or quantization noise as well. However, due to its stronger smoothing effect, the trilinear B-spline can compensate this effect better than the linear box spline.

data set
trilinear B-spline linear box spline

brain 8.3 fps 1.5 fps

engine 12 fps 2.4 fps

carp 25 fps 2.2 fps

Table 2: Frame rates of texture-based isosurface rendering of BCC-sampled volume data using the trilinear B-spline and the linear box spline for resampling.

(a)

(b)

5 Implementation
In order to evaluate the efciency of the different reconstruction schemes, we implemented a texturebased isosurface-rendering application in OpenGL and Cg, and tested it on an NVIDIA GeForce 6800 GT graphics card. We applied the classical textureslicing approach [3] exploiting the OpenGL alpha test and z-buffering [25] to avoid unnecessary resampling in the hidden regions. For the shading computations, we estimated the gradients at the visible surface points by calculating central differences on the y. The skeleton of the application was the same for CC-sampled and BCC-sampled data, only the shader codes and the storage schemes were different. For the linear box-spline ltering we used a Cg code that is line by line equivalent to an optimized GLSL code recently published by Finkbeiner et al. [12]. For trilinear B-spline reconstruction on the BCC lattice [7] and tricubic B-spline reconstruction on the CC lattice [20] we used fast GPU-implementations that exploit the direct hardware support for trilinear texture fetching. We rendered images of resolution 512 512 by evaluating 1024 texture slices. The frame rates of rendering CC-sampled and BCC-sampled data are shown in Tables 1 and 2 respectively. Note that, a tricubic B-spline ltering on a CC lattice is an order of magnitude slower than a trilinear B-spline ltering on both the CC and BCC lattices. Additionally, on the BCC lattice, the trilinear B-spline reconstruction is much faster to evaluate than the linear box-spline reconstruction. Although the support of the linear box-spline lter is more compact than that of the trilinear B-spline lter [12], it cannot exploit the fast trilinear texture fetching capability of the recent GPUs. Thus, at least in our application, the best compromise between image quality and rendering speed seems to be guaranteed by the trilinear B-spline reconstruction on the BCC lattice.

(c)

(d)

Figure 5: Comparison of the linear box-spline reconstruction (a, c) to the trilinear B-spline reconstruction (b, d). (a, b): Human brain represented by 256 256 166 2 BCC samples. (c, d): Engine block represented by 256 256 110 2 BCC samples. Using 16-bit oating-point 3D textures, the trilinear interpolation is supported by even the older graphics cards, like the GeForce 6800. If it is assumed that our BCC upsampling provides data in this format and the initial data contains 16-bit integers (which is usual, for example, in medical imaging practice), the storage requirements are doubled. However, we do think that this storage overhead is a reasonable price for the increased image quality that is competitive to the result of a tricubic B-spline ltering. Furthermore, our method provides this quality for a signicantly lower computational overhead than the tricubic ltering on the initial CC-sampled data.

6 Conclusion
In this paper, an efcient combination of frequencydomain upsampling and optimal regular volume sampling has been proposed. According to our best knowledge, such a combination has not been evaluated for volume rendering before. Our combined method represents a good compromise be-

tween image quality, rendering speed, and storage requirements. We have demonstrated that, after a frequency-domain upsampling on a BCC lattice, a trilinear B-spline reconstruction provides similar quality as a tricubic B-spline reconstruction on the initial CC-sampled data, but for an order of magnitude lower computational cost. The major goal of this work was to propagate BCC sampling even in those applications, where the input data is originally acquired on a traditional CC lattice.

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Acknowledgements
This work was supported by Mediso Medical Imaging Systems, the Hungarian National Ofce for Research and Technology (TECH 08/A2), the J nos Bolyai Research a Scholarship of the Hungarian Academy of Sciences, and OTKA (F68945). The rst author of this paper is a grantee of the J nos Bolyai Scholarship. a

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Trilinear B-spline reconstruction from 128 128 256 CC samples.

Tricubic B-spline reconstruction from 128 128 256 CC samples.

Preltered tricubic B-spline reconstruction from 128 128 256 CC samples.

Trilinear B-spline reconstruction from 128 128 256 2 BCC samples.

Linear box-spline reconstruction from 128 128 256 2 BCC samples.

Figure 4: Reconstructing the skeleton of a carp from 128 128 256 CC samples and from 128 128 256 2 BCC samples obtained by a frequency-domain upsampling. The data set is courtesy of http://www9.informatik.uni-erlangen.de/External/vollib.