cxCenterlineRegistrationWidget.cpp

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/*=========================================================================
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 "cxCenterlineRegistrationWidget.h"
#include "cxCenterlineRegistration.h"
#include <vtkPolyData.h>
#include "cxTransform3D.h"
#include "cxDataSelectWidget.h"
#include "cxTrackingService.h"
#include "cxMesh.h"
#include "cxSelectDataStringProperty.h"
#include "cxRecordSessionWidget.h"
#include "cxRecordSession.h"
#include "cxView.h"
#include "cxToolRep3D.h"
#include "cxToolTracer.h"
#include "cxLogger.h"
#include "cxTypeConversions.h"
#include "cxPatientModelService.h"
#include "cxRegistrationService.h"
#include "cxViewService.h"
#include "cxStringProperty.h"
#include "cxLabeledComboBoxWidget.h"
#include "cxTrackingService.h"
#include "cxDoubleProperty.h"
#include "cxProfile.h"
#include "cxHelperWidgets.h"
#include "cxBoolProperty.h"
#include "cxCheckBoxWidget.h"
#include "cxRepContainer.h"
#include "cxWidgetObscuredListener.h"
#include "cxViewGroupData.h"
#include "cxStringPropertySelectTool.h"
#include "cxHelperWidgets.h"
#include "cxAcquisitionService.h"
#include "cxRegServices.h"
#include "cxRecordTrackingWidget.h"


namespace cx
{
CenterlineRegistrationWidget::CenterlineRegistrationWidget(RegServicesPtr services, QWidget* parent) :
    RegistrationBaseWidget(services, parent, "org_custusx_registration_method_centerline_widget",
                           "Centerline Registration"),
        mServices(services),
        mRecordTrackingWidget(NULL)
{
        mVerticalLayout = new QVBoxLayout(this);
}

void CenterlineRegistrationWidget::prePaintEvent()
{
        if (!mRecordTrackingWidget)
        {
                this->setup();
        }
}

void CenterlineRegistrationWidget::setup()
{
    mOptions = profile()->getXmlSettings().descend("centerlineregistrationwidget");

        mSelectMeshWidget = StringPropertySelectMesh::New(mServices->patient());
        mSelectMeshWidget->setValueName("Centerline: ");

    mCenterlineRegistration = CenterlineRegistrationPtr(new CenterlineRegistration());

    connect(mServices->patient().get(),&PatientModelService::patientChanged,this,&CenterlineRegistrationWidget::clearDataOnNewPatient);


        mRegisterButton = new QPushButton("Register");
        connect(mRegisterButton, SIGNAL(clicked()), this, SLOT(registerSlot()));
        mRegisterButton->setToolTip(this->defaultWhatsThis());

        mRecordTrackingWidget = new RecordTrackingWidget(mOptions.descend("recordTracker"),
                                                                                                         mServices->acquisition(), mServices,
                                                                                                         "bronc_path",
                                                                                                         this);
    mRecordTrackingWidget->getSessionSelector()->setHelp("Select tool path for registration");
    mRecordTrackingWidget->getSessionSelector()->setDisplayName("Tool path");

        mVerticalLayout->setMargin(0);
        mVerticalLayout->addWidget(new DataSelectWidget(mServices->view(), mServices->patient(), this, mSelectMeshWidget));

    this->selectXtranslation(mOptions.getElement());
    this->selectYtranslation(mOptions.getElement());
    this->selectZtranslation(mOptions.getElement());
    this->selectXrotation(mOptions.getElement());
    this->selectYrotation(mOptions.getElement());
    this->selectZrotation(mOptions.getElement());

        mVerticalLayout->addWidget(mRecordTrackingWidget);
    mVerticalLayout->addWidget(new CheckBoxWidget(this, mUseXtranslation));
    mVerticalLayout->addWidget(new CheckBoxWidget(this, mUseYtranslation));
    mVerticalLayout->addWidget(new CheckBoxWidget(this, mUseZtranslation));
    mVerticalLayout->addWidget(new CheckBoxWidget(this, mUseXrotation));
    mVerticalLayout->addWidget(new CheckBoxWidget(this, mUseYrotation));
    mVerticalLayout->addWidget(new CheckBoxWidget(this, mUseZrotation));
        mVerticalLayout->addWidget(mRegisterButton);

        mVerticalLayout->addStretch();
}

QString CenterlineRegistrationWidget::defaultWhatsThis() const
{
        return QString();
}

void CenterlineRegistrationWidget::initializeTrackingService()
{
        if(mServices->tracking()->getState() < Tool::tsCONFIGURED)
                mServices->tracking()->setState(Tool::tsCONFIGURED);
}


void CenterlineRegistrationWidget::registerSlot()
{

    if(!mSelectMeshWidget->getMesh())
    {
        reportError("No centerline");
        return;
    }
    vtkPolyDataPtr centerline = mSelectMeshWidget->getMesh()->getVtkPolyData();//input
    Transform3D rMd = mSelectMeshWidget->getMesh()->get_rMd();

    mCenterlineRegistration->UpdateScales(
                mUseXrotation->getValue(), mUseYrotation->getValue(), mUseZrotation->getValue(),
                mUseXtranslation->getValue(), mUseYtranslation->getValue(), mUseZtranslation->getValue());

        Transform3D old_rMpr = mServices->patient()->get_rMpr();//input to registrationAlgorithm

        TimedTransformMap trackerRecordedData_prMt = mRecordTrackingWidget->getRecordedTrackerData_prMt();

        if(trackerRecordedData_prMt.empty())
        {
        reportError("No positions");
        return;
    }

        Transform3D new_rMpr;

    new_rMpr = mCenterlineRegistration->runCenterlineRegistration(centerline, rMd, trackerRecordedData_prMt, old_rMpr);

    std::cout << "Running centerline registration." << std::endl;

    new_rMpr = new_rMpr*old_rMpr;//output
    mServices->registration()->addPatientRegistration(new_rMpr, "Centerline centerline to tracking data");

    Eigen::Matrix4d display_rMpr = Eigen::Matrix4d::Identity();
            display_rMpr = new_rMpr*display_rMpr;
    std::cout << "New prMt: " << std::endl;
        for (int i = 0; i < 4; i++)
            std::cout << display_rMpr.row(i) << std::endl;


}

void CenterlineRegistrationWidget::selectXtranslation(QDomElement root)
{
    mUseXtranslation = BoolProperty::initialize("X translation:", "",
                                                                            "Select if X translation be used in registration", true,
                                                                                root);
}

void CenterlineRegistrationWidget::selectYtranslation(QDomElement root)
{
    mUseYtranslation = BoolProperty::initialize("Y translation:", "",
                                                                            "Select if Y translation be used in registration", true,
                                                                                root);
}

void CenterlineRegistrationWidget::selectZtranslation(QDomElement root)
{
    mUseZtranslation = BoolProperty::initialize("Z translation:", "",
                                                                            "Select if Z translation be used in registration", true,
                                                                                root);
}

void CenterlineRegistrationWidget::selectXrotation(QDomElement root)
{
    mUseXrotation = BoolProperty::initialize("X rotation:    ", "",
                                                                            "Select if X rotation be used in registration", true,
                                                                                root);
}

void CenterlineRegistrationWidget::selectYrotation(QDomElement root)
{
    mUseYrotation = BoolProperty::initialize("Y rotation:    ", "",
                                                                            "Select if Y rotation be used in registration", true,
                                                                                root);
}

void CenterlineRegistrationWidget::selectZrotation(QDomElement root)
{
    mUseZrotation = BoolProperty::initialize("Z rotation:    ", "",
                                                                            "Select if Z rotation be used in registration", true,
                                                                                root);
}



void CenterlineRegistrationWidget::clearDataOnNewPatient()
{
        mMesh.reset();
}
} //namespace cx