cxBronchoscopyNavigationWidget.cpp

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/*=========================================================================
This file is part of CustusX, an Image Guided Therapy Application.

Copyright (c) 2008-2014, SINTEF Department of Medical Technology
All rights reserved.

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modification, are permitted provided that the following conditions are met:

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   this list of conditions and the following disclaimer.

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   and/or other materials provided with the distribution.

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   may be used to endorse or promote products derived from this software 
   without specific prior written permission.

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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
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#include "cxBronchoscopyNavigationWidget.h"
#include <QLabel>
#include <QVBoxLayout>
#include "cxMesh.h"
#include "cxDataSelectWidget.h"
#include "cxReporter.h"
#include <vtkPolyData.h>
#include "cxTrackingSystemBronchoscopyService.h"
#include "cxTrackingServiceProxy.h"
#include "cxPatientModelServiceProxy.h"
#include "cxViewServiceProxy.h"
#include "cxBronchoscopePositionProjection.h"
#include "cxDoubleProperty.h"
#include "cxDataLocations.h"
#include "cxBoolProperty.h"
#include "cxCheckBoxWidget.h"
#include "cxProfile.h"
#include "cxHelperWidgets.h"
#include "cxVisServices.h"
#include "cxVirtualCameraRotationWidget.h"
#include "cxStringPropertySelectTool.h"

namespace cx
{

BronchoscopyNavigationWidget::BronchoscopyNavigationWidget(VisServicesPtr services, QWidget* parent) :
        BaseWidget(parent, "bronchoscopy_navigation_widget", "Bronchoscopy Navigation"),
        mVerticalLayout(new QVBoxLayout(this))
{
        mIsCenerlineProcessed = false;

        mOptions = profile()->getXmlSettings().descend("bronchoscopynavigationwidget");

        mPatientModelService = services->patient();
        mViewService = services->view();
        mTrackingService = services->tracking();


        this->setObjectName("BronchoscopyNavigationWidget");
        this->setWindowTitle("BronchoscopyNavigation");
        this->setWhatsThis(this->defaultWhatsThis());
        
        mToolSelector = StringPropertySelectTool::New(services->tracking());

        mSelectMeshWidget = StringPropertySelectMesh::New(mPatientModelService);
        mSelectMeshWidget->setValueName("Centerline: ");

        mProjectionCenterlinePtr = BronchoscopePositionProjectionPtr(new BronchoscopePositionProjection());
        mProjectionCenterlinePtr->createMaxDistanceToCenterlineOption(mOptions.getElement());
        mProjectionCenterlinePtr->createMaxSearchDistanceOption(mOptions.getElement());
        mProjectionCenterlinePtr->createAlphaOption(mOptions.getElement());

        mProcessCenterlineButton = new QPushButton("Process centerline");
        connect(mProcessCenterlineButton, SIGNAL(clicked()), this, SLOT(processCenterlineSlot()));
        mProcessCenterlineButton->setToolTip(this->defaultWhatsThis());

        mEnableButton = new QPushButton("Enable", this);
        connect(mEnableButton, SIGNAL(clicked()), this, SLOT(enableSlot()));
        mEnableButton->setToolTip(this->defaultWhatsThis());

        mDisableButton = new QPushButton("Disable", this);
        connect(mDisableButton, SIGNAL(clicked()), this, SLOT(disableSlot()));
        mDisableButton->setToolTip(this->defaultWhatsThis());

        mAdvancedOption = new QCheckBox("Use advanced centerline projection", this);
        connect(mAdvancedOption, SIGNAL(clicked()), this, SLOT(showAdvancedOptionsSlot()));


        PropertyPtr maxDistanceToCenterline = mProjectionCenterlinePtr->getMaxDistanceToCenterlineOption();
        PropertyPtr maxSearchDistance = mProjectionCenterlinePtr->getMaxSearchDistanceOption();
        PropertyPtr alpha = mProjectionCenterlinePtr->getAlphaOption();

        mMaxSearchDistanceWidget = createDataWidget(mViewService, mPatientModelService, this, maxSearchDistance);
        mAlphaWidget = createDataWidget(mViewService, mPatientModelService, this, alpha);

        mVerticalLayout->addWidget(sscCreateDataWidget(this, mToolSelector));
        mVerticalLayout->addWidget(new DataSelectWidget(mViewService, mPatientModelService, this, mSelectMeshWidget));
        mVerticalLayout->addWidget(mProcessCenterlineButton);
        mVerticalLayout->addWidget(createDataWidget(mViewService, mPatientModelService, this, maxDistanceToCenterline));
        mVerticalLayout->addWidget(mAdvancedOption);

        mVerticalLayout->addWidget(mMaxSearchDistanceWidget);
        mVerticalLayout->addWidget(mAlphaWidget);
        mVerticalLayout->addWidget(mEnableButton);
        mVerticalLayout->addWidget(mDisableButton);
        mVerticalLayout->addWidget(this->createHorizontalLine());
        mVerticalLayout->addWidget(new VirtualCameraRotationWidget(services, mToolSelector, this));
        mVerticalLayout->addStretch();
        
        mEnableButton->setEnabled(false);
        mDisableButton->setEnabled(false);
        this->showAdvancedOptionsSlot();

}

BronchoscopyNavigationWidget::~BronchoscopyNavigationWidget()
{
}

void BronchoscopyNavigationWidget::processCenterlineSlot()
{
        if(!mSelectMeshWidget->getMesh())
        {
                reportError("No centerline");
                return;
        }
        vtkPolyDataPtr centerline = mSelectMeshWidget->getMesh()->getVtkPolyData();//input
        Transform3D rMd = mSelectMeshWidget->getMesh()->get_rMd();
        Transform3D rMpr = mPatientModelService->get_rMpr();
        Transform3D prMd = rMpr.inverse()*rMd;

        mProjectionCenterlinePtr->processCenterline(centerline, rMd, rMpr);
        mIsCenerlineProcessed = true;
        mEnableButton->setEnabled(true);
}

void BronchoscopyNavigationWidget::enableSlot()
{
        if(!mIsCenerlineProcessed)
        {
                reportError("Centerline not processed");
                return;
        }
        
        if(!mToolSelector->getTool())
                {
                        reportError("Tool not selected");
                        return;
                }
                

        mProjectionCenterlinePtr->setAdvancedCenterlineOption(mAdvancedOption->isChecked());
        if (!mTrackingSystem)
        {
//              std::vector<TrackingSystemServicePtr> trackingSystems = mTrackingService->getTrackingSystems();
//              for (int i=0; i<trackingSystems.size(); i++ )
//                      if(trackingSystems[i]->getUid() == "org.custusx.bronchoscopynavigation")
//                              mTrackingSystem = trackingSystems[i];
//              if(!mTrackingService)
//                      CX_LOG_WARNING() << "Did not find bronchoscopy navigation tracking system.";

                mTrackingSystem = TrackingSystemBronchoscopyServicePtr(new TrackingSystemBronchoscopyService(mTrackingService, mProjectionCenterlinePtr, mToolSelector->getTool()));
                mTrackingService->unInstallTrackingSystem(mTrackingSystem->getBase());
                mTrackingService->installTrackingSystem(mTrackingSystem);
        }
        mEnableButton->setEnabled(false);
        mDisableButton->setEnabled(true);
        
        std::cout << "BronchoscopyNavigation started. Position locked to centerline." << std::endl;
}

void BronchoscopyNavigationWidget::disableSlot()
{
        if (mTrackingSystem)
        {
                mTrackingService->unInstallTrackingSystem(mTrackingSystem);
                mTrackingService->installTrackingSystem(mTrackingSystem->getBase());
                mTrackingSystem.reset();
        }

        std::cout << "BronchoscopyNavigation stopped." << std::endl;
        mEnableButton->setEnabled(true);
        mDisableButton->setEnabled(false);

}


void BronchoscopyNavigationWidget::showAdvancedOptionsSlot()
{
        if(mAdvancedOption->isChecked())
        {
                mMaxSearchDistanceWidget->show();
                mAlphaWidget->show();
        }
        else{
                mMaxSearchDistanceWidget->hide();
                mAlphaWidget->hide();
        }
}

QString BronchoscopyNavigationWidget::defaultWhatsThis() const
{
        return  "<html>"
                                        "<h3>BronchoscopyNavigation plugin.</h3>"
                                        "<p>Locks tool position to CT centerline.</p>"
                                        "</html>";
}


} /* namespace cx */