/**Move the tool pos / axis pos to a new position given
* by the input click position in vp space.
*/
void ViewWrapper2D::setAxisPos(Vector3D click_vp)
{
ToolPtr tool = mServices->getToolManager()->getManualTool();
Transform3D sMr = mSliceProxy->get_sMr();
Transform3D rMpr = mServices->getPatientService()->get_rMpr();
Transform3D prMt = tool->get_prMt();
// find tool position in s
Vector3D tool_t(0, 0, tool->getTooltipOffset());
Vector3D tool_s = (sMr * rMpr * prMt).coord(tool_t);
// find click position in s.
Transform3D vpMs = mView->get_vpMs();
Vector3D click_s = vpMs.inv().coord(click_vp);
// compute the new tool position in slice space as a synthesis of the plane part of click and the z part of original.
Vector3D cross_s(click_s[0], click_s[1], tool_s[2]);
// compute the position change and transform to patient.
Vector3D delta_s = cross_s - tool_s;
Vector3D delta_pr = (rMpr.inv() * sMr.inv()).vector(delta_s);
// MD is the actual tool movement in patient space, matrix form
Transform3D MD = createTransformTranslate(delta_pr);
// set new tool position to old modified by MD:
tool->set_prMt(MD * prMt);
}
void ViewWrapper2D::samplePoint(Vector3D click_vp)
{
if(!this->isAnyplane())
return;
Transform3D sMr = mSliceProxy->get_sMr();
Transform3D vpMs = mView->get_vpMs();
Vector3D p_s = vpMs.inv().coord(click_vp);
Vector3D p_r = sMr.inv().coord(p_s);
emit pointSampled(p_r);
}
/**Call when viewport size or zoom has changed.
* Recompute camera zoom and reps requiring vpMs.
*/
void ViewWrapper2D::viewportChanged()
{
if (!mView->getRenderer()->IsActiveCameraCreated())
return;
mView->setZoomFactor(mZoom2D->getFactor());
double viewHeight = mView->getViewport_s().range()[1];
mView->getRenderer()->GetActiveCamera()->SetParallelScale(viewHeight / 2);
// Heuristic guess for a good clip depth. The point is to show 3D data clipped in 2D
// with a suitable thickness projected onto the plane.
double clipDepth = 2.0; // i.e. all 3D props rendered outside this range is not shown.
double length = clipDepth*10;
clipDepth = viewHeight/120 + 1.5;
mView->getRenderer()->GetActiveCamera()->SetPosition(0,0,length);
mView->getRenderer()->GetActiveCamera()->SetClippingRange(length-clipDepth, length+0.1);
mSliceProxy->setToolViewportHeight(viewHeight);
double anyplaneViewOffset = settings()->value("Navigation/anyplaneViewOffset").toDouble();
mSliceProxy->initializeFromPlane(mSliceProxy->getComputer().getPlaneType(), false, Vector3D(0, 0, 1), true, viewHeight, anyplaneViewOffset, true);
DoubleBoundingBox3D BB_vp = getViewport();
Transform3D vpMs = mView->get_vpMs();
DoubleBoundingBox3D BB_s = transform(vpMs.inv(), BB_vp);
PLANE_TYPE plane = mSliceProxy->getComputer().getPlaneType();
mToolRep2D->setViewportData(vpMs, BB_vp);
if (mSlicePlanes3DMarker)
{
mSlicePlanes3DMarker->getProxy()->setViewportData(plane, mSliceProxy, BB_s);
}
mViewFollower->setView(BB_s);
}
void LandmarkRegistrationWidget::cellChangedSlot(int row, int column)
{
QTableWidgetItem* item = mLandmarkTableWidget->item(row, column);
QString uid = item->data(Qt::UserRole).toString();
if (column == 0)
{
QString name = item->text();
mServices->patient()->setLandmarkName(uid, name);
}
if (column == 1)
{
Qt::CheckState state = item->checkState();
mServices->patient()->setLandmarkActive(uid, state == Qt::Checked);
this->performRegistration(); // automatic when changing active state (Mantis #0000674)s
}
if (column == 2)
{
QString val = item->text();
// remove formatting stuff:
val = val.replace('(', " ");
val = val.replace(')', " ");
val = val.replace(',', " ");
Transform3D rMtarget = this->getTargetTransform();
Vector3D p_r = Vector3D::fromString(val);
Vector3D p_target = rMtarget.inv().coord(p_r);
this->setTargetLandmark(uid, p_target);
}
}
/**\brief Identical to doFastRegistration_Orientation(), except data does not move.
*
* When applying a new transform to the patient orientation, all data is moved
* the the inverse of that value, thus giving a net zero change along the path
* pr...d_i.
*
*/
void RegistrationImplService::applyPatientOrientation(const Transform3D& tMtm, const Transform3D& prMt)
{
Transform3D rMpr = mPatientModelService->get_rMpr();
//create a marked(m) space tm, which is related to tool space (t) as follows:
//the tool is defined in DICOM space such that
//the tool points toward the patients feet and the spheres faces the same
//direction as the nose
Transform3D tMpr = prMt.inv();
// this is the new patient registration:
Transform3D tmMpr = tMtm * tMpr;
// the change in pat reg becomes:
Transform3D F = tmMpr * rMpr.inv();
QString description("Patient Orientation");
QDateTime oldTime = this->getLastRegistrationTime(); // time of previous reg
this->applyPatientRegistration(tmMpr, description);
// now apply the inverse of F to all data,
// thus ensuring the total path from pr to d_i is unchanged:
Transform3D delta_pre_rMd = F;
// use the same registration time as generated in the applyPatientRegistration() above:
RegistrationTransform regTrans(delta_pre_rMd, this->getLastRegistrationTime(), description);
std::map<QString,DataPtr> data = mPatientModelService->getData();
// update the transform on all target data:
for (std::map<QString,DataPtr>::iterator iter = data.begin(); iter!=data.end(); ++iter)
{
DataPtr current = iter->second;
RegistrationTransform newTransform = regTrans;
newTransform.mValue = regTrans.mValue * current->get_rMd();
current->get_rMd_History()->updateRegistration(oldTime, newTransform);
report("Updated registration of data " + current->getName());
std::cout << "rMd_new\n" << newTransform.mValue << std::endl;
}
this->setLastRegistrationTime(regTrans.mTimestamp);
reportSuccess("Patient Orientation has been performed");
}
/**Move the tool pos / axis pos to a new position given
* by delta movement in vp space.
*/
void ViewWrapper2D::shiftAxisPos(Vector3D delta_vp)
{
delta_vp = -delta_vp;
ToolPtr tool = mServices->getToolManager()->getManualTool();
Transform3D sMr = mSliceProxy->get_sMr();
Transform3D rMpr = mServices->getPatientService()->get_rMpr();
Transform3D prMt = tool->get_prMt();
Transform3D vpMs = mView->get_vpMs();
Vector3D delta_s = vpMs.inv().vector(delta_vp);
Vector3D delta_pr = (rMpr.inv() * sMr.inv()).vector(delta_s);
// MD is the actual tool movement in patient space, matrix form
Transform3D MD = createTransformTranslate(delta_pr);
// set new tool position to old modified by MD:
tool->set_prMt(MD * prMt);
}
Vector3D ViewFollower::findCenter_r_fromShift_s(Vector3D shift_s)
{
Transform3D sMr = mSliceProxy->get_sMr();
Vector3D c_s = sMr.coord(mDataManager->getCenter());
Vector3D newcenter_s = c_s + shift_s;
Vector3D newcenter_r = sMr.inv().coord(newcenter_s);
return newcenter_r;
}
/**called when transform is changed
* reset it in the prop.*/
void GeometricRep2D::transformChangedSlot()
{
if (!mSlicer || !mMesh)
return;
Transform3D rMs = mSlicer->get_sMr().inv();
Transform3D dMr = mMesh->get_rMd().inv();
Transform3D dMs = dMr * rMs;
mActor->SetUserMatrix(dMs.inv().getVtkMatrix());
}
void ViewWrapper2D::setSlicePlanesProxy(SlicePlanesProxyPtr proxy)
{
mSlicePlanes3DMarker = SlicePlanes3DMarkerIn2DRep::New("uid");
PLANE_TYPE plane = mSliceProxy->getComputer().getPlaneType();
mSlicePlanes3DMarker->setProxy(plane, proxy);
DoubleBoundingBox3D BB_vp = getViewport();
Transform3D vpMs = mView->get_vpMs();
mSlicePlanes3DMarker->getProxy()->setViewportData(plane, mSliceProxy, transform(vpMs.inv(), BB_vp));
mView->addRep(mSlicePlanes3DMarker);
}
/**Perform a fast orientation by setting the patient registration equal to the current active
* tool position.
* Input is an additional transform tMtm that modifies the tool position. Use this to
* define DICOM-ish spaces relative to the tool.
*
*/
void RegistrationImplService::doFastRegistration_Orientation(const Transform3D& tMtm, const Transform3D& prMt)
{
//create a marked(m) space tm, which is related to tool space (t) as follows:
//the tool is defined in DICOM space such that
//the tool points toward the patients feet and the spheres faces the same
//direction as the nose
Transform3D tMpr = prMt.inv();
Transform3D tmMpr = tMtm * tMpr;
this->applyPatientRegistration(tmMpr, "Fast Orientation");
// also apply the fast translation registration if any (this frees us form doing stuff in a well-defined order.)
this->doFastRegistration_Translation();
}
void LandmarkRegistrationWidget::setManualToolPosition(Vector3D p_r)
{
Transform3D rMpr = mServices->patient()->get_rMpr();
Vector3D p_pr = rMpr.inv().coord(p_r);
// set the picked point as offset tip
ToolPtr tool = mServices->tracking()->getManualTool();
Vector3D offset = tool->get_prMt().vector(Vector3D(0, 0, tool->getTooltipOffset()));
p_pr -= offset;
p_r = rMpr.coord(p_pr);
// TODO set center here will not do: must handle
mServices->patient()->setCenter(p_r);
Vector3D p0_pr = tool->get_prMt().coord(Vector3D(0, 0, 0));
tool->set_prMt(createTransformTranslate(p_pr - p0_pr) * tool->get_prMt());
}
Transform3D ManualImage2ImageRegistrationWidget::getMatrixFromBackend()
{
if (!this->isValid()) // Check if fixed and moving data are defined
return Transform3D::Identity();
Transform3D rMm = mServices->registration()->getMovingData()->get_rMd();
Transform3D rMf = mServices->registration()->getFixedData()->get_rMd();
Transform3D fMm = rMf.inv() * rMm;
RegistrationHistoryPtr history = mServices->registration()->getMovingData()->get_rMd_History();
Transform3D init_rMd;
if(!history->getData().empty()) // Is vector with RegistrationTransforms empty ?
init_rMd = history->getData().front().mValue;
else
init_rMd = Transform3D::Identity();
Transform3D current_rMd = history->getCurrentRegistration().mValue;
fMm = current_rMd * init_rMd.inv();
return fMm;
}
void ElastixManager::executionFinishedSlot()
{
if (mDisableRendering->getValue())
mServices->view()->enableRender(true);
bool ok = false;
Transform3D mMf = mExecuter->getAffineResult_mMf(&ok);
if (!ok)
return;
// std::cout << "ElastixManager::executionFinishedSlot(), Linear Result mMf: \n" << mMf << std::endl;
QStringList parameterFiles = mParameters->getActiveParameterFiles();
QString desc = QString("Image2Image [exe=%1]").arg(QFileInfo(mParameters->getActiveExecutable()->getValue()).fileName());
for (unsigned i=0; i<parameterFiles.size(); ++i)
desc += QString("[par=%1]").arg(QFileInfo(parameterFiles[i]).fileName());
// Start with fMr * D * rMm = fMm'
// where the lhs is the existing data and the delta that is input to regmanager,
// and the rhs is the (inverse of the) output from ElastiX.
// This gives
// D = rMf * fMm' * mMr
// as the input to regmanager applyImage2ImageRegistration()
Transform3D delta_pre_rMd =
mServices->registration()->getFixedData()->get_rMd()
* mMf.inv()
* mServices->registration()->getMovingData()->get_rMd().inv();
// std::cout << "ElastixManager::executionFinishedSlot(), delta_pre_rMd: \n" << delta_pre_rMd << std::endl;
// std::cout << "ElastixManager::executionFinishedSlot(), expected new rMdm: \n" << mServices->registration()->getFixedData()->get_rMd() * mMf.inv() << std::endl;
// mServices->registration()->applyImage2ImageRegistration(mMf.inv(), desc);
mServices->registration()->applyImage2ImageRegistration(delta_pre_rMd, desc);
// add nonlinear data AFTER registering - we dont want these data to be double-registered!
this->addNonlinearData();
}
/** return the bow widget current size in data space
*/
DoubleBoundingBox3D InteractiveCropper::getBoxWidgetSize()
{
if (!mImage || !mBoxWidget)
{
return DoubleBoundingBox3D::zero();
}
double bb_hard[6] =
{ -0.5, 0.5, -0.5, 0.5, -0.5, 0.5 };
DoubleBoundingBox3D bb_unit(bb_hard);
vtkTransformPtr transform = vtkTransformPtr::New();
mBoxWidget->GetTransform(transform);
Transform3D M(transform->GetMatrix());
Transform3D rMd = mImage->get_rMd();
M = rMd.inv() * M;
DoubleBoundingBox3D bb_new_r = cx::transform(M, bb_unit);
return bb_new_r;
}
void ManualImage2ImageRegistrationWidget::setMatrixFromWidget(Transform3D M)
{
if (!this->isValid()) // Check if fixed and moving data are defined
return;
Transform3D rMm = mServices->registration()->getMovingData()->get_rMd();
RegistrationHistoryPtr history = mServices->registration()->getMovingData()->get_rMd_History();
Transform3D init_rMd;
if(!history->getData().empty()) // Is vector with RegistrationTransforms empty ?
init_rMd = history->getData().front().mValue;
else
init_rMd = Transform3D::Identity();
Transform3D new_rMd = M * init_rMd;
Transform3D delta = new_rMd * rMm.inv();
mServices->registration()->addImage2ImageRegistration(delta, "Manual Image");
this->updateAverageAccuracyLabel();
}
