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cxFrameMetricBase.cpp
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1 /*=========================================================================
2 This file is part of CustusX, an Image Guided Therapy Application.
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4 Copyright (c) 2008-2014, SINTEF Department of Medical Technology
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32 
33 #include "cxFrameMetricBase.h"
34 #include "cxBoundingBox3D.h"
35 #include "cxTypeConversions.h"
36 #include "cxSpaceProvider.h"
37 #include "cxSpaceListener.h"
38 
39 namespace cx {
40 
41 FrameMetricBase::FrameMetricBase(const QString& uid, const QString& name, PatientModelServicePtr dataManager, SpaceProviderPtr spaceProvider) :
42  DataMetric(uid, name, dataManager, spaceProvider),
43  mSpace(CoordinateSystem::reference()),
44  mFrame(Transform3D::Identity())
45 {
46  mSpaceListener = mSpaceProvider->createListener();
47  mSpaceListener->setSpace(mSpace);
48 // mSpaceListener.reset(new SpaceListener(mSpace));
49  connect(mSpaceListener.get(), SIGNAL(changed()), this, SIGNAL(transformChanged()));
50 }
51 
53 {
54 }
55 
57 {
58  return mSpaceProvider->convertToSpecific(mSpace).mRefObject;
59 }
60 
62 {
63  mFrame = rMt;
64  emit transformChanged();
65 }
66 
68 {
69  return mFrame;
70 }
71 
73 {
74  Vector3D point_t = Vector3D(0,0,0);
75  return mFrame.coord(point_t);
76 }
77 
81 {
82  Transform3D rMq = mSpaceProvider->get_toMfrom(this->getSpace(), CoordinateSystem(csREF));
83  return rMq * mFrame;
84 }
85 
89 {
90  Transform3D rMq = this->getRefFrame();
91  Vector3D p_r = rMq.coord(Vector3D(0,0,0));
92  return p_r;
93 }
94 
96 {
97  if (space == mSpace)
98  return;
99 
100  // keep the absolute position (in ref) constant when changing space.
101  Transform3D new_M_old = mSpaceProvider->get_toMfrom(this->getSpace(), space);
102  mFrame = new_M_old*mFrame;
103 
104  mSpace = space;
105  mSpaceListener->setSpace(space);
106 }
107 
109 {
110  return mSpace;
111 }
112 
114 {
115  // convert both inputs to r space
116  Transform3D rM0 = mSpaceProvider->get_toMfrom(this->getSpace(), CoordinateSystem(csREF));
117  Vector3D p0_r = rM0.coord(this->getCoordinate());
118 
119  return DoubleBoundingBox3D(p0_r, p0_r);
120 }
121 
123 {
124  std::stringstream stream;
125  mFrame.put(stream, 0, ' ');
126  return qstring_cast(stream.str());
127 }
128 
129 } //namespace cx
boost::shared_ptr< class SpaceProvider > SpaceProviderPtr
QString qstring_cast(const T &val)
virtual void setFrame(const Transform3D &qMt)
virtual Vector3D getCoordinate() const
CoordinateSystem mSpace
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
virtual QString getParentSpace()
void transformChanged()
emitted when transform is changed
virtual void setSpace(CoordinateSystem space)
csREF
the data reference space (r) using LPS (left-posterior-superior) coordinates.
QString matrixAsSingleLineString() const
SpaceProviderPtr mSpaceProvider
Definition: cxDataMetric.h:89
SpaceListenerPtr mSpaceListener
boost::shared_ptr< class PatientModelService > PatientModelServicePtr
Identification of a Coordinate system.
FrameMetricBase(const QString &uid, const QString &name, PatientModelServicePtr dataManager, SpaceProviderPtr spaceProvider)
Representation of a floating-point bounding box in 3D. The data are stored as {xmin,xmax,ymin,ymax,zmin,zmax}, in order to simplify communication with vtk.
virtual CoordinateSystem getSpace() const
cxLogicManager_EXPORT SpaceProviderPtr spaceProvider()
Eigen::Vector3d Vector3D
Vector3D is a representation of a point or vector in 3D.
Definition: cxVector3D.h:63
virtual Vector3D getRefCoord() const
as getRefFrame, but coord only.
virtual Transform3D getRefFrame() const
return frame described in ref space r : rFt = rMq * qFt
virtual DoubleBoundingBox3D boundingBox() const
Base class for all Data Metrics.
Definition: cxDataMetric.h:64
virtual Transform3D getFrame()
Transform3D mFrame
frame qFt described in local space q = mSpace