cxNavigation.cpp

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/*=========================================================================
This file is part of CustusX, an Image Guided Therapy Application.
                 
Copyright (c) SINTEF Department of Medical Technology.
All rights reserved.
                 
CustusX is released under a BSD 3-Clause license.
                 
See Lisence.txt (https://github.com/SINTEFMedtek/CustusX/blob/master/License.txt) for details.
=========================================================================*/

#include "cxNavigation.h"
#include "cxImage.h"
#include "cxBoundingBox3D.h"
#include "cxPatientModelService.h"
#include "cxTrackingService.h"
#include "cxManualTool.h"
#include "cxVolumeHelpers.h"
#include "cxCameraControl.h"
#include "cxVisServices.h"
#include "cxViewService.h"
#include "cxActiveData.h"

namespace cx
{

Navigation::Navigation(VisServicesPtr services, CameraControlPtr camera3D) :
        mServices(services),
        mCamera3D(camera3D)
{

}

void Navigation::centerToPosition(Vector3D p_r, QFlags<VIEW_TYPE> viewType)
{
        this->moveManualToolToPosition(p_r);

        if (viewType.testFlag(v2D))
        {
                // set center to calculated position
                mServices->patient()->setCenter(p_r);
        }

        if (viewType.testFlag(v3D))
        {
                if (mCamera3D)
                        mCamera3D->translateByFocusTo(p_r);
        }
}

void Navigation::centerToData(DataPtr image)
{
        if (!image)
                return;
        Vector3D p_r = image->get_rMd().coord(image->boundingBox().center());

        this->centerToPosition(p_r);
}

void Navigation::centerToData(const std::vector<DataPtr>& images)
{
        Vector3D p_r = findDataCenter(images);
        this->centerToPosition(p_r);
}

void Navigation::centerToDataInActiveViewGroup(DataViewProperties properties)
{
        ViewGroupDataPtr activeGroup = mServices->view()->getActiveViewGroup();
        this->centerToDataInViewGroup(activeGroup, properties);
}

void Navigation::centerToDataInViewGroup(ViewGroupDataPtr group, DataViewProperties properties)
{
        if(!group)
                return;

        std::vector<DataPtr> visibleData = group->getData(properties);
        if(visibleData.empty())
                return;

        ActiveDataPtr active = mServices->patient()->getActiveData();
        ImagePtr activeImage = active->getActive<Image>();
        if(activeImage && std::count(visibleData.begin(), visibleData.end(), activeImage))
                this->centerToData(activeImage);
        else
                this->centerToData(visibleData);
}

void Navigation::centerToTooltip()
{
        ToolPtr tool = mServices->tracking()->getActiveTool();
        Vector3D p_pr = tool->get_prMt().coord(Vector3D(0, 0, tool->getTooltipOffset()));
        Vector3D p_r = mServices->patient()->get_rMpr().coord(p_pr);

        this->centerToPosition(p_r);
//      // set center to calculated position
//      mBackend->getDataManager()->setCenter(p_r);
}

Vector3D Navigation::findDataCenter(const std::vector<DataPtr>& data)
{
        DoubleBoundingBox3D bb_sigma = findEnclosingBoundingBox(data, Transform3D::Identity());
        return bb_sigma.center();
}

void Navigation::moveManualToolToPosition(Vector3D& p_r)
{
        // move the manual tool to the same position. (this is a side effect... do we want it?)
        ToolPtr manual = mServices->tracking()->getManualTool();
        Vector3D p_pr = mServices->patient()->get_rMpr().inv().coord(p_r);
        Transform3D prM0t = manual->get_prMt(); // modify old pos in order to keep orientation
        Vector3D t_pr = prM0t.coord(Vector3D(0, 0, manual->getTooltipOffset()));
        Transform3D prM1t = createTransformTranslate(p_pr - t_pr) * prM0t;

        if (!similar(prM1t, prM0t))
                manual->set_prMt(prM1t);
//  std::cout << "center manual tool" << std::endl;
}


} // namespace cx