cxToolTracer.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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   may be used to endorse or promote products derived from this software 
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#include "cxToolTracer.h"

#include "vtkImageData.h"
#include <vtkPointData.h>
#include <vtkUnsignedCharArray.h>
#include <vtkPolyData.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkCellArray.h>
#include <vtkFloatArray.h>
#include <vtkProperty.h>
#include <QColor>
#include <vtkMatrix4x4.h>

#include "cxTool.h"
#include "cxBoundingBox3D.h"
#include "cxVolumeHelpers.h"
#include "cxSpaceProvider.h"
#include "cxSpaceListener.h"

namespace cx
{

ToolTracerPtr ToolTracer::create(SpaceProviderPtr spaceProvider)
{
        ToolTracerPtr retval(new ToolTracer(spaceProvider));
        return retval;
}

ToolTracer::ToolTracer(SpaceProviderPtr spaceProvider)
{
        mSpaceProvider = spaceProvider;
        mRunning = false;
        mPolyData = vtkPolyDataPtr::New();
        mActor = vtkActorPtr::New();
        mPolyDataMapper = vtkPolyDataMapperPtr::New();

        mPolyDataMapper->SetInputData(mPolyData);
        mActor->SetMapper(mPolyDataMapper);

        mProperty = vtkPropertyPtr::New();
        mActor->SetProperty( mProperty );
        mProperty->SetPointSize(4);

        this->setColor(QColor("red"));

        mPoints = vtkPointsPtr::New();
        mLines = vtkCellArrayPtr::New();

        mPolyData->SetPoints(mPoints);
        mPolyData->SetLines(mLines);
        mPolyData->SetVerts(mLines);
        mFirstPoint = false;
        mMinDistance = -1.0;
        mSkippedPoints = 0;

        mSpaceListener = mSpaceProvider->createListener();
        mSpaceListener->setSpace(CoordinateSystem::patientReference());
        connect(mSpaceListener.get(), &SpaceListener::changed, this, &ToolTracer::onSpaceChanged);
        this->onSpaceChanged();
}

void ToolTracer::start()
{
        if (mRunning)
                return;
        mRunning = true;
        mFirstPoint = true;
        mSkippedPoints = 0;
        this->connectTool();
}

void ToolTracer::stop()
{
        if (!mRunning)
                return;
        this->disconnectTool();
        mRunning = false;
}

void ToolTracer::clear()
{
        mPoints->Reset();
        mLines->Reset();
        mPolyData->Modified();
}

void ToolTracer::connectTool()
{
        if (mTool && mRunning)
        {
                connect(mTool.get(), SIGNAL(toolTransformAndTimestamp(Transform3D, double)), this, SLOT(receiveTransforms(Transform3D, double)));
                //connect(mTool.get(), SIGNAL(toolVisible(bool)), this, SLOT(receiveVisible(bool)));
        }
}

void ToolTracer::disconnectTool()
{
        if (mTool && mRunning)
        {
                disconnect(mTool.get(), SIGNAL(toolTransformAndTimestamp(Transform3D, double)), this, SLOT(receiveTransforms(Transform3D, double)));
                //disconnect(mTool.get(), SIGNAL(toolVisible(bool)), this, SLOT(receiveVisible(bool)));
        }
}

void ToolTracer::setColor(QColor color)
{
        mActor->GetProperty()->SetColor(color.redF(), color.greenF(), color.blueF());
}

void ToolTracer::setTool(ToolPtr tool)
{
        this->disconnectTool();
        mTool = tool;
        this->connectTool();
}

vtkPolyDataPtr ToolTracer::getPolyData()
{
        return mPolyData;
}

vtkActorPtr ToolTracer::getActor()
{
        return mActor;
}

void ToolTracer::onSpaceChanged()
{
        Transform3D rMpr = mSpaceProvider->get_rMpr();
//      std::cout << "rMpr ToolTracer: \n" << rMpr << std::endl;
        mActor->SetUserMatrix(rMpr.getVtkMatrix());
}

bool ToolTracer::isRunning() const
{
        return mRunning;
}

void ToolTracer::receiveTransforms(Transform3D prMt, double timestamp)
{
        Transform3D rMpr = Transform3D::Identity(); // handle rMpr in actor
//      Transform3D rMpr = mSpaceProvider->get_rMpr();
        Transform3D rMt = rMpr * prMt;

        Vector3D p = rMt.coord(Vector3D(0,0,0));

        if (mMinDistance > 0.0)
        {
                if (!mFirstPoint && (mPreviousPoint - p).length() < mMinDistance)
                {
                        ++mSkippedPoints;
                        return;
                }
        }
        mFirstPoint = false;
        mPreviousPoint = p;
        mPoints->InsertNextPoint(p.begin());

        if (mPoints->GetNumberOfPoints() > 1)
        {
                // fill cell points for the entire polydata.
                // This is very ineffective, but I have no idea how to update mLines incrementally.
                mLines->Initialize();
                std::vector<vtkIdType> ids(mPoints->GetNumberOfPoints());
                for (unsigned i=0; i<ids.size(); ++i)
                        ids[i] = i;
                mLines->InsertNextCell(ids.size(), &(*ids.begin()));
                
                mPolyData->Modified();
        }
}

void ToolTracer::addManyPositions(TimedTransformMap trackerRecordedData_prMt)
{
    for(TimedTransformMap::iterator iter=trackerRecordedData_prMt.begin(); iter!=trackerRecordedData_prMt.end(); ++iter)
        {
            double timestamp = iter->first;
            Transform3D prMt = iter->second;
            this->receiveTransforms(prMt, timestamp);
        }
}


}