cxRegistrationApplicator.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 "cxRegistrationApplicator.h"

#include "cxData.h"
#include "cxTypeConversions.h"
#include "cxLogger.h"

#include "cxRegistrationTransform.h"
#include "cxFrameForest.h"



namespace cx
{

RegistrationApplicator::RegistrationApplicator(const std::map<QString, DataPtr> &source) :
        mSource(source)
{

}

RegistrationApplicator::~RegistrationApplicator()
{

}

void RegistrationApplicator::updateRegistration(QDateTime oldTime, RegistrationTransform delta_pre_rMd)
{
        bool silent = delta_pre_rMd.mTemp;
  FrameForest forest(mSource);
  QDomNode moving = forest.getNode(delta_pre_rMd.mMoving);
  DataPtr movingData = mSource[delta_pre_rMd.mMoving];
  QDomNode fixed = forest.getNode(delta_pre_rMd.mFixed);

  // if no parent, assume this is an operation on the moving image, thus set fixed to its parent.
  if (delta_pre_rMd.mFixed == "")
  {
          fixed = forest.getNode(movingData->getParentSpace());
  }
  QDomNode movingBase = forest.getOldestAncestorNotCommonToRef(moving, fixed);

  std::vector<DataPtr> allMovingData = forest.getDataFromDescendantsAndSelf(movingBase);

  if(!silent)
          report(QString(""
                                         "Update Registration using\n"
                                         "\tFixed:\t%1\n"
                                         "\tMoving:\t%2\n"
                                         "\tDelta matrix (rMd'=Delta*rMd)\n"
                                         "%3")
                         .arg(delta_pre_rMd.mFixed)
                         .arg(delta_pre_rMd.mMoving)
                         .arg(qstring_cast(delta_pre_rMd.mValue)));

  this->updateTransform(oldTime, allMovingData, delta_pre_rMd);

  // reconnect only if master and target are unconnected, i.e. doesnt share a common ancestor.
  // If we are registrating inside an already connected tree we only want to change transforms,
  // not change the topology of the tree.
  if (forest.getOldestAncestor(moving) != forest.getOldestAncestor(fixed))
  {
        // connect the target to the master's ancestor, i.e. replace targetBase with masterAncestor:

        QDomNode fixedAncestor = forest.getOldestAncestor(fixed);
        QString fixedAncestorUid = fixedAncestor.toElement().tagName();

        QString newFixedSpace = fixedAncestorUid;

        // if fixedAncestor is a data, insert a pure space above it
        if (mSource.count(fixedAncestorUid) && mSource[fixedAncestorUid]->getParentSpace()=="")
        {
                newFixedSpace = this->generateNewSpaceUid();
                ParentSpace newParentSpace(newFixedSpace, delta_pre_rMd.mTimestamp, delta_pre_rMd.mType);
                this->changeParentSpace(oldTime, mSource[fixedAncestorUid], newParentSpace);
        }

        QString movingBaseUid = movingBase.toElement().tagName();
        // if movingBaseUid is a data, then move the space above it
        if (mSource.count(movingBaseUid))
        {
                movingBaseUid = mSource[movingBaseUid]->getParentSpace();
        }

        // change parent space of all moving spaces connected to base
        ParentSpace newParentSpace(newFixedSpace, delta_pre_rMd.mTimestamp, delta_pre_rMd.mType);
        this->changeParentSpace(oldTime, allMovingData, movingBaseUid, newParentSpace);
  }
}

QString RegistrationApplicator::generateNewSpaceUid() const
{
        int max = 0;
        std::map<QString, DataPtr>::const_iterator iter;
        for (iter = mSource.begin(); iter != mSource.end(); ++iter)
        {
                QStringList parentList = qstring_cast(iter->second->getParentSpace()).split("_");
                if (parentList.size() < 2)
                        continue;
                max = std::max(max, parentList[1].toInt());
        }
        QString parentFrame = "frame_" + qstring_cast(max + 1);
        return parentFrame;
}

void RegistrationApplicator::updateTransform(QDateTime oldTime, std::vector<DataPtr> data, RegistrationTransform delta_pre_rMd)
{
        bool silent = delta_pre_rMd.mTemp;
        // update the transform on all target data:
        for (unsigned i=0; i<data.size(); ++i)
        {
          RegistrationTransform newTransform = delta_pre_rMd;
          newTransform.mValue = delta_pre_rMd.mValue * data[i]->get_rMd();
          data[i]->get_rMd_History()->addOrUpdateRegistration(oldTime, newTransform);

          if(!silent)
                  report("Updated registration of data " + data[i]->getName());
        }
}

void RegistrationApplicator::changeParentSpace(QDateTime oldTime, std::vector<DataPtr> data, QString oldParentSpace, ParentSpace newParentSpace)
{
        for (unsigned i=0; i<data.size(); ++i)
        {
                if (data[i]->getParentSpace() != oldParentSpace)
                        continue;
                this->changeParentSpace(oldTime, data[i], newParentSpace);
        }
}

void RegistrationApplicator::changeParentSpace(QDateTime oldTime, DataPtr data, ParentSpace newParentSpace)
{
        report(QString("Reset parent frame of %1 from [%2] to [%3].")
                   .arg(data->getName())
                   .arg(data->getParentSpace())
                   .arg(newParentSpace.mUid));

        data->get_rMd_History()->updateParentSpace(oldTime, newParentSpace);
}

} // namespace cx