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cxICPRegistrationBaseWidget.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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33 
34 #include <QPushButton>
35 #include <QLabel>
36 #include <QSpinBox>
37 #include <QCheckBox>
38 #include <QGroupBox>
39 #include <vtkCellArray.h>
40 #include "cxTypeConversions.h"
41 #include "cxLogger.h"
42 #include "cxTimedAlgorithm.h"
46 #include "cxMesh.h"
47 #include "cxView.h"
48 #include "cxGeometricRep.h"
49 #include "cxGraphicalPrimitives.h"
50 #include "cxRegistrationService.h"
51 #include "cxViewService.h"
52 #include "cxPatientModelService.h"
53 #include "cxICPWidget.h"
54 #include "cxMeshInView.h"
56 #include "cxSpaceProvider.h"
57 #include "cxSpaceListener.h"
58 #include "cxProfile.h"
59 
60 namespace cx
61 {
62 
63 ICPRegistrationBaseWidget::ICPRegistrationBaseWidget(RegServicesPtr services, QWidget* parent, QString uid, QString name) :
64  RegistrationBaseWidget(services, parent, uid, name)
65 {
66  this->setLayout(new QVBoxLayout); // we need something, otherwise the widget might not be painted at all.
67 }
68 
70 {
71 }
72 
74 {
75  if (!mRegistrator)
76  {
77  this->initialize();
78  this->setup();
79  }
80 
81  this->initializeRegistrator();
82 
84  this->updateDifferenceLines();
85  mICPWidget->setRMS(mRegistrator->getResultMetric());
86 }
87 
88 void ICPRegistrationBaseWidget::initialize()
89 {
90  delete this->layout(); // dummy layout from construct
91 
92  mRegistrator.reset(new SeansVesselReg());
93  mOptions = profile()->getXmlSettings().descend("uid");
94 
95  this->initializeProperties();
96 
97  mICPWidget = new ICPWidget(this);
98  mICPWidget->setSettings(this->getAllProperties());
100 
101  mObscuredListener.reset(new WidgetObscuredListener(this));
102  connect(mObscuredListener.get(), SIGNAL(obscured(bool)), this, SLOT(obscuredSlot(bool)));
103 }
104 
105 
106 void ICPRegistrationBaseWidget::initializeProperties()
107 {
108  mAutoLTS = BoolProperty::initialize("autoLTS","Auto LTS",
109  "Ignore LTS, instead attempt to find optimal value",
112 
113  mLTSRatio = DoubleProperty::initialize("LTSRatio", "LTS Ratio",
114  "Fraction of points in the lesser point set to use during each iteration.",
115  80, DoubleRange(20,100,1), 0, mOptions.getElement());
117 
118  mNumberOfIterations = DoubleProperty::initialize("Iterations", "Iterations",
119  "Number of iterations",
120  500, DoubleRange(1,1000,1), 0, mOptions.getElement());
121  connect(mNumberOfIterations.get(), &DoubleProperty::changed, this, &ICPRegistrationBaseWidget::onSettingsChanged);
122 
123  mStopThreshold = DoubleProperty::initialize("StopThreshold", "Stop Threshold",
124  "Differential RMS stop threshold, between iterations",
125  0.001, DoubleRange(0.0001,1,0.0001), 4, mOptions.getElement());
126  connect(mStopThreshold.get(), &DoubleProperty::changed, this, &ICPRegistrationBaseWidget::onSettingsChanged);
127 
128  mMaxTime = DoubleProperty::initialize("MaxTime", "Max Time",
129  "Maximum time spent iterating, in seconds",
130  60, DoubleRange(1,300,1), 0, mOptions.getElement());
132 
133  mMargin = DoubleProperty::initialize("Margin", "Margin",
134  "Data outside a bounding box defined by the intersection\n"
135  "of the fixed/moving by a margin are cropped.",
136  40, DoubleRange(10,100,1), 0, mOptions.getElement());
138 
139  mLinear = BoolProperty::initialize("linear","Linear",
140  "Use only linear iteration",
141  true, mOptions.getElement());
143 
144  mDisplayProgress = BoolProperty::initialize("progress","Display Progress",
145  "Display metric and difference lines between point sets",
146  true, mOptions.getElement());
147  connect(mDisplayProgress.get(), &DoubleProperty::changed, this, &ICPRegistrationBaseWidget::onDisplayProgressChanged);
148 
149  mOneStep = BoolProperty::initialize("onestep","One Step",
150  "Registration is done one iteration at a time.",
151  false); // note: do not store the value in this case: always reset to default.
152 }
153 
154 std::vector<PropertyPtr> ICPRegistrationBaseWidget::getAllProperties()
155 {
156  std::vector<PropertyPtr> properties;
157  properties.push_back(mLTSRatio);
158  properties.push_back(mAutoLTS);
159  properties.push_back(mMargin);
160  properties.push_back(mLinear);
161  properties.push_back(mDisplayProgress);
162  properties.push_back(mOneStep);
163  properties.push_back(mNumberOfIterations);
164  properties.push_back(mStopThreshold);
165  properties.push_back(mMaxTime);
166  return properties;
167 }
168 
169 void ICPRegistrationBaseWidget::obscuredSlot(bool obscured)
170 {
171  if (obscured)
172  {
173  mMeshInView.reset();
174  }
175  else
176  {
177  this->onSettingsChanged();
178  this->onShown();
179  }
180 }
181 
183 {
184  if (mObscuredListener->isObscured())
185  return;
186 
187  this->setModified();
188 // this->initializeRegistrator();
189 
190 // mICPWidget->enableRegistration(mRegistrator->isValid());
191 // this->updateDifferenceLines();
192 // mICPWidget->setRMS(mRegistrator->getResultMetric());
193 }
194 
196 {
197  if (mObscuredListener->isObscured())
198  return;
199  mRegistrator->mt_auto_lts = mAutoLTS->getValue();
200  mRegistrator->mt_ltsRatio = mLTSRatio->getValue();
201  mRegistrator->mt_doOnlyLinear = mLinear->getValue();
202  mRegistrator->margin = mMargin->getValue();
203  mRegistrator->mt_maximumNumberOfIterations = mNumberOfIterations->getValue();
204  mRegistrator->mt_distanceDeltaStopThreshold = mStopThreshold->getValue();
205  mRegistrator->mt_maximumDurationSeconds = mMaxTime->getValue();
206 }
207 
209 {
210 // int lts_ratio = mLTSRatioSpinBox->value();
211 // double stop_delta = 0.001; //TODO, add user interface
212 // double lambda = 0; //TODO, add user interface
213 // double sigma = 1.0; //TODO, add user interface
214 // bool lin_flag = mLinearCheckBox->isChecked(); //TODO, add user interface
215 // int sample = 1; //TODO, add user interface
216 // int single_point_thre = 1; //TODO, add user interface
217 // bool verbose = 1; //TODO, add user interface
218 
219  mRegistrator->notifyPreRegistrationWarnings();
220 
221  if (mRegistrator->mt_auto_lts)
222  {
223  reportDebug("Using automatic lts_ratio");
224  }
225  else
226  {
227  reportDebug("Using lts_ratio: " + qstring_cast(mRegistrator->mt_ltsRatio));
228  }
229 
230  bool success = false;
231  if (mOneStep->getValue())
232  success = mRegistrator->performOneRegistration();
233  else
234  success = mRegistrator->execute();
235 
236  if (!success)
237  {
238  reportWarning("ICP registration failed.");
239  return;
240  }
241 
242  Transform3D linearTransform = mRegistrator->getLinearResult();
243  std::cout << "v2v linear result:\n" << linearTransform << std::endl;
244  //std::cout << "v2v inverted linear result:\n" << linearTransform.inverse() << std::endl;
245 
246  mRegistrator->checkQuality(linearTransform);
247 
248  // The registration is performed in space r. Thus, given an old data position rMd, we find the
249  // new one as rM'd = Q * rMd, where Q is the inverted registration output.
250  // Delta is thus equal to Q:
251  Transform3D delta = linearTransform.inv();
252  //std::cout << "delta:\n" << delta << std::endl;
253 
254  this->applyRegistration(delta);
255 }
256 
257 
258 void ICPRegistrationBaseWidget::updateDifferenceLines()
259 {
260  if (!mMeshInView)
261  mMeshInView.reset(new MeshInView(mServices->view()));
262 
263  bool show = mDisplayProgress->getValue() && mRegistrator->isValid();
264  if (show)
265  mMeshInView->show(mRegistrator->getDifferenceLines());
266  else
267  mMeshInView->hide();
268 }
269 
270 void ICPRegistrationBaseWidget::onDisplayProgressChanged()
271 {
272  this->updateDifferenceLines();
273 }
274 
275 
276 } // namespace cx
QString qstring_cast(const T &val)
cxResource_EXPORT ProfilePtr profile()
Definition: cxProfile.cpp:176
static BoolPropertyPtr initialize(const QString &uid, QString name, QString help, bool value, QDomNode root=QDomNode())
boost::shared_ptr< class RegServices > RegServicesPtr
Definition: cxRegServices.h:41
void setSettings(std::vector< PropertyPtr > properties)
Definition: cxICPWidget.cpp:96
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
virtual void initializeRegistrator()=0
QDomElement getElement()
return the current element
void reportWarning(QString msg)
Definition: cxLogger.cpp:91
void requestRegister()
boost::shared_ptr< class WidgetObscuredListener > mObscuredListener
virtual void applyRegistration(Transform3D delta)=0
ICPRegistrationBaseWidget(RegServicesPtr services, QWidget *parent, QString uid, QString name)
void changed()
emit when the underlying data value is changed: The user interface will be updated.
void setRMS(double val)
void enableRegistration(bool on)
static DoublePropertyPtr initialize(const QString &uid, QString name, QString help, double value, DoubleRange range, int decimals, QDomNode root=QDomNode())
void reportDebug(QString msg)
Definition: cxLogger.cpp:89