cxBranch.cpp

Go to the documentation of this file.

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

Copyright (c) SINTEF Department of Medical Technology.
All rights reserved.

CustusX is released under a BSD 3-Clause license.

See Lisence.txt (https://github.com/SINTEFMedtek/CustusX/blob/master/License.txt) for details.
=========================================================================*/
#include "cxBranch.h"

namespace cx
{

Branch::Branch() :
        mParentBranch(BranchPtr())
{
        // TODO Auto-generated constructor stub

}

void Branch::setPositions(Eigen::MatrixXd pos)
{
        mPositions = pos;
        this->removeEqualPositions();
        this->calculateOrientations();
}

Eigen::MatrixXd Branch::getPositions()
{
        return mPositions;
}

void Branch::setOrientations(Eigen::MatrixXd orient)
{
        mOrientations = orient;
}

Eigen::MatrixXd Branch::getOrientations()
{
        return mOrientations;
}

void Branch::setRadius(Eigen::VectorXd r)
{
        mRadius = r;
}

Eigen::VectorXd Branch::getRadius()
{
        return mRadius;
}

double Branch::getAverageRadius()
{
        return mRadius.mean();
}

void Branch::addChildBranch(BranchPtr child)
{
        mChildBranches.push_back(child);
}

void Branch::setChildBranches(branchVector children)
{
        mChildBranches = children;
}

void Branch::deleteChildBranches()
{
        mChildBranches.clear();
}

branchVector Branch::getChildBranches()
{
        return mChildBranches;
}

void Branch::setParentBranch(BranchPtr parent)
{
        mParentBranch = parent;
}
BranchPtr Branch::getParentBranch()
{
        return mParentBranch;
}

void Branch::calculateOrientations()
{
        Eigen::MatrixXd positions = this->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);
        this->setOrientations(orientations);
}

int Branch::findParentIndex(branchVector bv) const
{
        for(size_t i = 0; i < bv.size(); ++i)
        {
                if(bv[i] == mParentBranch)
                        return static_cast<int>(i);
        }

        return -1;
}

int Branch::findGenerationNumber()
{
        int generationNumber = 1;

        BranchPtr parentBranchPtr = this->getParentBranch();
        while (parentBranchPtr)
        {
                if (parentBranchPtr->getChildBranches().size() > 1) // Do not count generation if it is not a real division
                        generationNumber = generationNumber + 1;

                parentBranchPtr = parentBranchPtr->getParentBranch();

                if (generationNumber > 23) //maximum possible generations - avoiding infinite loop
                        break;
        }

        return generationNumber;
}

double Branch::findBranchRadius()
{
        int generationNumber = this->findGenerationNumber();

        if (generationNumber == 1)
                return 8;
        if (generationNumber == 2)
                return 6;
        if (generationNumber == 3)
                return 4;
        if (generationNumber == 4)
                return 3;
        if (generationNumber == 5)
                return 2.5;
        else
                return 2;
}


void Branch::setBronchoscopeBendingDirection(Vector3D bendingDirection)
{
        mBendingDirection = bendingDirection;
}

Vector3D Branch::getBronchoscopeBendingDirection()
{
        return mBendingDirection;
}

void Branch::setBronchoscopeRotation(double rotation)
{
        mBronchoscopeRotation = rotation;
}

double Branch::getBronchoscopeRotation()
{
        return mBronchoscopeRotation;
}

void Branch::removeEqualPositions()
{
        Eigen::MatrixXd positions = this->getPositions();
        Eigen::MatrixXd orientations = this->getOrientations();
        bool resizeOrientations = false;
        if (positions.cols() == orientations.cols())
                resizeOrientations = true;

        for (int i = positions.cols() - 1; i > 0; i--)
        {
                if (similar( (positions.col(i)-positions.col(i-1)).cwiseAbs().sum(), 0))
                {
                        positions.block(0 , i , positions.rows() , positions.cols() - i - 1) = positions.rightCols(positions.cols() - i - 1);
                        positions.conservativeResize(Eigen::NoChange, positions.cols() - 1);
                        if (resizeOrientations)
                                orientations.conservativeResize(Eigen::NoChange, orientations.cols() - 1);
                }
        }

        mPositions = positions;
        if (resizeOrientations)
                mOrientations = orientations;
}

void Branch::setLap(QString lap)
{
        mLap = lap;
}

QString Branch::getLap()
{
        return mLap;
}


Branch::~Branch()
{

}

}//namespace cx