cxBranchList.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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#include "cxBranchList.h"
#include "cxBranch.h"
#include "cxMesh.h"
#include "cxVector3D.h"
#include <vtkPolyData.h>
#include "vtkCardinalSpline.h"

typedef vtkSmartPointer<class vtkCardinalSpline> vtkCardinalSplinePtr;

namespace cx
{

BranchList::BranchList()
{

}


BranchList::~BranchList()
{
//      for (int i = 0; i < mBranches.size(); i++)
//              mBranches[i]->~Branch();
}

void BranchList::addBranch(BranchPtr b)
{
        mBranches.push_back(b);
}

void BranchList::deleteBranch(BranchPtr b)
{
        for( int i = 0; i < mBranches.size(); i++ )
        {
                if (b == mBranches[i])
                {
                        mBranches.erase(mBranches.begin() + i);
                        return;
                }
        }
}

void BranchList::deleteAllBranches()
{
        mBranches.clear();
}

std::vector<BranchPtr> BranchList::getBranches()
{
        return mBranches;
}

void BranchList::selectGenerations(int maxGeneration)
{
        std::vector<int> branchNumbersToBeDeleted;
        for( int i = 0; i < mBranches.size(); i++ )
        {
                int generationCounter = 1;
                BranchPtr currentBranch = mBranches[i];
                while (currentBranch->getParentBranch()){
                        generationCounter++;
                        currentBranch = currentBranch->getParentBranch();
                        if (generationCounter > maxGeneration)
                        {
                                branchNumbersToBeDeleted.push_back(i);
                                break;
                        }
                }

        }

        for ( int i = branchNumbersToBeDeleted.size() - 1; i >= 0; i-- )
                deleteBranch(mBranches[branchNumbersToBeDeleted[i]]);
}


void BranchList::calculateOrientations()
{
        for (int i = 0; i < mBranches.size(); i++)
        {
                Eigen::MatrixXd positions = mBranches[i]->getPositions();
                Eigen::MatrixXd diff = positions.rightCols(positions.cols() - 1) - positions.leftCols(positions.cols() - 1);
                Eigen::MatrixXd orientations(positions.rows(),positions.cols());
                orientations.leftCols(orientations.cols() - 1) = diff / diff.norm();
                orientations.rightCols(1) = orientations.col(orientations.cols() - 1);
                mBranches[i]->setOrientations(orientations);
        }
}

void BranchList::smoothOrientations()
{
        for (int i = 0; i < mBranches.size(); i++)
        {
                Eigen::MatrixXd orientations = mBranches[i]->getOrientations();
                Eigen::MatrixXd newOrientations(orientations.rows(),orientations.cols());
                int numberOfColumns = orientations.cols();
                for (int j = 0; j < numberOfColumns; j++)
                {
                        newOrientations.col(j) = orientations.block(0,std::max(j-2,0),orientations.rows(),std::min(5,numberOfColumns-j)).rowwise().mean(); //smoothing
                        newOrientations.col(j) = newOrientations.col(j) / newOrientations.col(j).norm(); // normalizing
                }
                mBranches[i]->setOrientations(newOrientations);
        }
}

void BranchList::interpolateBranchPositions(int interpolationFactor){

        for (int i = 0; i < mBranches.size(); i++)
        {
                Eigen::MatrixXd positions = mBranches[i]->getPositions();
                std::vector<Eigen::Vector3d> interpolatedPositions;
                for (int j = 0; j < positions.cols()-1; j++)
                {
                        for (int k = 0; k < interpolationFactor; k++){
                                Eigen::Vector3d interpolationPoint;
                                interpolationPoint[0] = (positions(0,j)*(interpolationFactor-k) + positions(0,j+1)*(k) ) / interpolationFactor;
                                interpolationPoint[1] = (positions(1,j)*(interpolationFactor-k) + positions(1,j+1)*(k) ) / interpolationFactor;
                                interpolationPoint[2] = (positions(2,j)*(interpolationFactor-k) + positions(2,j+1)*(k) ) / interpolationFactor;
                                interpolatedPositions.push_back(interpolationPoint);
                        }
                }
                Eigen::MatrixXd interpolationResult(3 , interpolatedPositions.size());
                for (int j = 0; j < interpolatedPositions.size(); j++)
                {
                        interpolationResult(0,j) = interpolatedPositions[j](0);
                        interpolationResult(1,j) = interpolatedPositions[j](1);
                        interpolationResult(2,j) = interpolatedPositions[j](2);
                }
                mBranches[i]->setPositions(interpolationResult);
        }

}

void BranchList::smoothBranchPositions()
{
        for (int i = 0; i < mBranches.size(); i++)
        {
                Eigen::MatrixXd positions = mBranches[i]->getPositions();
                int numberOfInputPoints = positions.cols();
        int controlPointFactor = 10;
                int numberOfControlPoints = numberOfInputPoints / controlPointFactor;

                vtkCardinalSplinePtr splineX = vtkSmartPointer<vtkCardinalSpline>::New();
                vtkCardinalSplinePtr splineY = vtkSmartPointer<vtkCardinalSpline>::New();
                vtkCardinalSplinePtr splineZ = vtkSmartPointer<vtkCardinalSpline>::New();

                if (numberOfControlPoints >= 2)
                {
                        //add control points to spline
                        for(int j=0; j<numberOfControlPoints; j++)
                        {
                                int indexP = (j*numberOfInputPoints)/numberOfControlPoints;

                                splineX->AddPoint(indexP,positions(0,indexP));
                                splineY->AddPoint(indexP,positions(1,indexP));
                                splineZ->AddPoint(indexP,positions(2,indexP));
                        }
                        //Always add the last point to complete spline
                        splineX->AddPoint(numberOfInputPoints-1,positions(0,numberOfInputPoints-1));
                        splineY->AddPoint(numberOfInputPoints-1,positions(1,numberOfInputPoints-1));
                        splineZ->AddPoint(numberOfInputPoints-1,positions(2,numberOfInputPoints-1));

                        //evaluate spline - get smoothed positions
                        Eigen::MatrixXd smoothingResult(3 , numberOfInputPoints);
                        for(int j=0; j<numberOfInputPoints; j++)
                        {
                                double splineParameter = j;
                                smoothingResult(0,j) = splineX->Evaluate(splineParameter);
                                smoothingResult(1,j) = splineY->Evaluate(splineParameter);
                                smoothingResult(2,j) = splineZ->Evaluate(splineParameter);
                        }
                        mBranches[i]->setPositions(smoothingResult);
                }
        }
}

void BranchList::findBranchesInCenterline(Eigen::MatrixXd positions_r)
{
    positions_r = sortMatrix(2,positions_r);
    Eigen::MatrixXd positionsNotUsed_r = positions_r;

//      int minIndex;
        int index;
        int splitIndex;
        Eigen::MatrixXd::Index startIndex;
        BranchPtr branchToSplit;
    while (positionsNotUsed_r.cols() > 0)
        {
                if (!mBranches.empty())
                {
                        double minDistance = 1000;
                        for (int i = 0; i < mBranches.size(); i++)
                        {
                                std::pair<std::vector<Eigen::MatrixXd::Index>, Eigen::VectorXd> distances;
                distances = dsearchn(positionsNotUsed_r, mBranches[i]->getPositions());
                                double d = distances.second.minCoeff(&index);
                                if (d < minDistance)
                                {
                                        minDistance = d;
                                        branchToSplit = mBranches[i];
                                        startIndex = index;
                                        if (minDistance < 2)
                                                break;
                                }
                        }
            std::pair<Eigen::MatrixXd::Index, double> dsearchResult = dsearch(positionsNotUsed_r.col(startIndex) , branchToSplit->getPositions());
                        splitIndex = dsearchResult.first;
                }
                else //if this is the first branch. Select the top position (Trachea).
            startIndex = positionsNotUsed_r.cols() - 1;

        std::pair<Eigen::MatrixXd,Eigen::MatrixXd > connectedPointsResult = findConnectedPointsInCT(startIndex , positionsNotUsed_r);
                Eigen::MatrixXd branchPositions = connectedPointsResult.first;
        positionsNotUsed_r = connectedPointsResult.second;

                if (branchPositions.cols() >= 5) //only include brances of length >= 5 points
                {
                        BranchPtr newBranch = BranchPtr(new Branch());
                        newBranch->setPositions(branchPositions);
                        mBranches.push_back(newBranch);

                        if (mBranches.size() > 1) // do not try to split another branch when the first branch is processed
                        {
                                if ((splitIndex + 1 >= 5) && (branchToSplit->getPositions().cols() - splitIndex - 1 >= 5))
                                        //do not split branch if the new branch is close to the edge of the branch
                                        //if the new branch is not close to one of the edges of the
                                        //connected existing branch: Split the existing branch
                                {
                                        BranchPtr newBranchFromSplit = BranchPtr(new Branch());
                                        Eigen::MatrixXd branchToSplitPositions = branchToSplit->getPositions();
                                        newBranchFromSplit->setPositions(branchToSplitPositions.rightCols(branchToSplitPositions.cols() - splitIndex - 1));
                                        branchToSplit->setPositions(branchToSplitPositions.leftCols(splitIndex + 1));
                                        mBranches.push_back(newBranchFromSplit);
                                        newBranchFromSplit->setParentBranch(branchToSplit);
                                        newBranch->setParentBranch(branchToSplit);
                                        newBranchFromSplit->setChildBranches(branchToSplit->getChildBranches());
                                        branchVector branchToSplitChildren = branchToSplit->getChildBranches();
                                        for (int i = 0; i < branchToSplitChildren.size(); i++)
                                                branchToSplitChildren[i]->setParentBranch(newBranchFromSplit);
                                        branchToSplit->deleteChildBranches();
                                        branchToSplit->addChildBranch(newBranchFromSplit);
                                        branchToSplit->addChildBranch(newBranch);
                                }
                                else if (splitIndex + 1 < 5)
                                         // If the new branch is close to the start of the existing
                                         // branch: Connect it to the same position start as the
                                         // existing branch
                                {
                                        newBranch->setParentBranch(branchToSplit->getParentBranch());
                                        if(branchToSplit->getParentBranch())
                                                branchToSplit->getParentBranch()->addChildBranch(newBranch);
                                }
                                else if (branchToSplit->getPositions().cols() - splitIndex - 1 < 5)
                                        // If the new branch is close to the end of the existing
                                        // branch: Connect it to the end of the existing branch
                                {
                                        newBranch->setParentBranch(branchToSplit);
                                        branchToSplit->addChildBranch(newBranch);
                                }

                        }

                }
        }
}


BranchListPtr BranchList::removePositionsForLocalRegistration(Eigen::MatrixXd trackingPositions, double maxDistance)
{
        BranchListPtr retval = BranchListPtr(new BranchList());
        BranchPtr b;
        for (int i = 0; i < mBranches.size(); i++)
        {
                b = BranchPtr(new Branch());
                b->setPositions(mBranches[i]->getPositions());
                b->setOrientations(mBranches[i]->getOrientations());
                retval->addBranch(b);
        }

        std::vector<BranchPtr> branches = retval->getBranches();
        Eigen::MatrixXd positions;
        Eigen::MatrixXd orientations;
        for (int i = 0; i < branches.size(); i++)
        {
                positions = branches[i]->getPositions();
                orientations = branches[i]->getOrientations();
                std::pair<std::vector<Eigen::MatrixXd::Index>, Eigen::VectorXd> distanceData;
                distanceData = dsearchn(positions, trackingPositions);
                Eigen::VectorXd distance = distanceData.second;
        for (int j = positions.cols() - 1; j >= 0; j--)
                {
                        if (distance(j) > maxDistance)
                        {
                                positions = eraseCol(j, positions);
                                orientations = eraseCol(j, orientations);
                        }
                }
                branches[i]->setPositions(positions);
                branches[i]->setOrientations(orientations);
        }
        return retval;
}

Eigen::MatrixXd sortMatrix(int rowNumber, Eigen::MatrixXd matrix)
{
        for (int i = 0; i < matrix.cols() - 1; i++)  {
           for (int j = i + 1; j < matrix.cols(); j++) {
                  if (matrix(rowNumber,i) > matrix(rowNumber,j)){
                          matrix.col(i).swap(matrix.col(j));
                  }
           }
        }
return matrix;
}



Eigen::MatrixXd eraseCol(int removeIndex, Eigen::MatrixXd positions)
{
        positions.block(0 , removeIndex , positions.rows() , positions.cols() - removeIndex - 1) = positions.rightCols(positions.cols() - removeIndex - 1);
    positions.conservativeResize(Eigen::NoChange, positions.cols() - 1);
        return positions;
}

std::pair<Eigen::MatrixXd::Index, double> dsearch(Eigen::Vector3d p, Eigen::MatrixXd positions)
{
        Eigen::MatrixXd::Index index;
        // find nearest neighbour
        (positions.colwise() - p).colwise().squaredNorm().minCoeff(&index);
        double d = (positions.col(index) - p).norm();

        return std::make_pair(index , d);
}

std::pair<std::vector<Eigen::MatrixXd::Index>, Eigen::VectorXd > dsearchn(Eigen::MatrixXd p1, Eigen::MatrixXd p2)
{
        Eigen::MatrixXd::Index index;
        std::vector<Eigen::MatrixXd::Index> indexVector;
        Eigen::VectorXd D(p1.cols());
        for (int i = 0; i < p1.cols(); i++)
        {
                // find nearest neighbour
                (p2.colwise() - p1.col(i)).colwise().squaredNorm().minCoeff(&index);
                D(i) = (p2.col(index) - p1.col(i)).norm();
                indexVector.push_back(index);
        }
        return std::make_pair(indexVector , D);
}

std::pair<Eigen::MatrixXd,Eigen::MatrixXd > findConnectedPointsInCT(int startIndex , Eigen::MatrixXd positionsNotUsed)
{
    //Eigen::MatrixXd branchPositions(positionsNotUsed.rows(), positionsNotUsed.cols());
        Eigen::MatrixXd thisPosition(3,1);
    std::vector<Eigen::MatrixXd> branchPositionsVector;
        thisPosition = positionsNotUsed.col(startIndex);
    branchPositionsVector.push_back(thisPosition); //add first position to branch
        positionsNotUsed = eraseCol(startIndex,positionsNotUsed);; //remove first position from list of remaining points

    while (positionsNotUsed.cols() > 0)
        {
                std::pair<Eigen::MatrixXd::Index, double > minDistance = dsearch(thisPosition, positionsNotUsed);
                Eigen::MatrixXd::Index index = minDistance.first;
        double d = minDistance.second;
                if (d > 3) // more than 3 mm distance to closest point --> branch is compledted
                        break;

                thisPosition = positionsNotUsed.col(index);
                positionsNotUsed = eraseCol(index,positionsNotUsed);
                //add position to branch
        branchPositionsVector.push_back(thisPosition);

        }

    Eigen::MatrixXd branchPositions(3,branchPositionsVector.size());

    for (int j = 0; j < branchPositionsVector.size(); j++)
    {
        branchPositions.block(0,j,3,1) = branchPositionsVector[j];
    }

    return std::make_pair(branchPositions, positionsNotUsed);
}


}//namespace cx