cxRegistrationTransform.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 "cxRegistrationTransform.h"
//#include <QtXML>
#include <QDomElement>
#include "cxTime.h"
#include "cxTypeConversions.h"
#include "cxLogger.h"
 
namespace cx
{
 
// --------------------------------------------------------
RegistrationHistoryPtr RegistrationHistory::mNull; 
// --------------------------------------------------------
 
 
class RegistrationHistoryNull: public RegistrationHistory
{
public:
        virtual void addXml(QDomNode& parentNode) const
        {
        }
        virtual void parseXml(QDomNode& dataNode)
        {
        }
 
        virtual void addOrUpdateRegistration(const RegistrationTransform& transform)
        {
        }
        virtual void setRegistration(const Transform3D& transform)
        {
        }
        virtual void addOrUpdateRegistration(const QDateTime& oldTime, const RegistrationTransform& newTransform)
        {
        }
 
        virtual void setParentSpace(const QString& newParent)
        {
        }
        virtual void addParentSpace(const QString& newParent)
        {
        }
        virtual void addParentSpace(const ParentSpace& newParent)
        {
        }
        virtual void updateParentSpace(const QDateTime& oldTime, const ParentSpace& newParent)
        {
        }
 
        virtual std::vector<RegistrationTransform> getData() const
        {
                return std::vector<RegistrationTransform>();
        }
        virtual std::vector<ParentSpace> getParentSpaces() const
        {
                return std::vector<ParentSpace>();
        }
        virtual void removeNewerThan(const QDateTime& timestamp)
        {
        }
        virtual void setActiveTime(const QDateTime& timestamp)
        {
        }
        virtual QDateTime getActiveTime() const
        {
                return QDateTime();
        }
        virtual RegistrationTransform getCurrentRegistration() const
        {
                return RegistrationTransform();
        }
        virtual ParentSpace getCurrentParentSpace()
        {
                return ParentSpace();
        }
        virtual void clear()
        {
        }
        virtual bool isNull() const
        {
                return true;
        }
};
 
//---------------------------------------------------------
//-------  RegistrationTransform  -------------------------
//---------------------------------------------------------
 
RegistrationTransform::RegistrationTransform() :
        mValue(Transform3D::Identity()), mTemp(false)
{
}
 
RegistrationTransform::RegistrationTransform(const Transform3D& value, const QDateTime& timestamp, const QString& type, bool tempTransform)
{
        mValue = value;
        mTimestamp = timestamp;
        mType = type;
        mTemp = tempTransform;
}
 
void RegistrationTransform::addXml(QDomNode& parentNode) const 
{
        QDomDocument doc = parentNode.ownerDocument();
        QDomElement base = doc.createElement("registrationTransform");
        parentNode.appendChild(base);
 
        base.setAttribute("timestamp", mTimestamp.toString(timestampSecondsFormat()));
        base.setAttribute("type", mType);
 
        if (!mFixed.isEmpty())
                base.setAttribute("fixed", mFixed);
        if (!mMoving.isEmpty())
                base.setAttribute("moving", mMoving);
 
        base.appendChild(doc.createTextNode("\n" + qstring_cast(mValue)));
}
 
void RegistrationTransform::parseXml(QDomNode& dataNode)
{
        if (dataNode.isNull())
                return;
 
        QDomElement base = dataNode.toElement();
 
        mTimestamp = QDateTime::fromString(base.attribute("timestamp"), timestampSecondsFormat());
        mType = base.attribute("type");
        mValue = Transform3D::fromString(base.text());
        mFixed = base.attribute("fixed");
        mMoving = base.attribute("moving");
}
 
bool operator<(const RegistrationTransform& lhs, const RegistrationTransform& rhs)
{
        return lhs.mTimestamp < rhs.mTimestamp;
}
 
bool operator==(const RegistrationTransform& lhs, const RegistrationTransform& rhs)
{
        return similar(lhs.mValue, rhs.mValue, 1.0E-3) && (lhs.mTimestamp == rhs.mTimestamp) && (lhs.mType == rhs.mType);
}
 
//---------------------------------------------------------
//-------  RegistrationTransform  -------------------------
//---------------------------------------------------------
 
ParentSpace::ParentSpace()
{
 
}
 
ParentSpace::ParentSpace(const QString& uid, const QDateTime& timestamp, const QString& type)
{
        mUid = uid;
        mTimestamp = timestamp;
        mType = type;
}
 
void ParentSpace::addXml(QDomNode& parentNode) const 
{
        QDomDocument doc = parentNode.ownerDocument();
        QDomElement base = doc.createElement("parentFrame");
        parentNode.appendChild(base);
 
        base.setAttribute("value", mUid);
        base.setAttribute("timestamp", mTimestamp.toString(timestampSecondsFormat()));
        base.setAttribute("type", mType);
}
 
void ParentSpace::parseXml(QDomNode& dataNode)
{
        if (dataNode.isNull())
                return;
 
        QDomElement base = dataNode.toElement();
 
        mTimestamp = QDateTime::fromString(base.attribute("timestamp"), timestampSecondsFormat());
        mType = base.attribute("type");
        mUid = base.attribute("value");
}
 
bool operator<(const ParentSpace& lhs, const ParentSpace& rhs)
{
        return lhs.mTimestamp < rhs.mTimestamp;
}
 
bool operator==(const ParentSpace& lhs, const ParentSpace& rhs)
{
        return (lhs.mUid == rhs.mUid) && (lhs.mTimestamp == rhs.mTimestamp) && (lhs.mType == rhs.mType);
}
 
//---------------------------------------------------------
//-------  RegistrationHistory    -------------------------
//---------------------------------------------------------
 
RegistrationHistoryPtr RegistrationHistory::getNullObject()
{
        if (!mNull)
                mNull.reset(new RegistrationHistoryNull);
        return mNull;
}
 
void RegistrationHistory::addXml(QDomNode& parentNode) const 
{
        QDomDocument doc = parentNode.ownerDocument();
        QDomElement base = doc.createElement("registrationHistory");
        parentNode.appendChild(base);
 
        QDomElement currentTime = doc.createElement("currentTime");
        currentTime.appendChild(doc.createTextNode(mCurrentTime.toString(timestampSecondsFormat())));
        base.appendChild(currentTime);
 
        for (unsigned i = 0; i < mData.size(); ++i)
        {
                mData[i].addXml(base);
        }
        for (unsigned i = 0; i < mParentSpaces.size(); ++i)
        {
                mParentSpaces[i].addXml(base);
        }
}
 
void RegistrationHistory::parseXml(QDomNode& dataNode)
{
        if (dataNode.isNull())
                return;
 
        mData.clear();
        QString currentTimeRaw = dataNode.namedItem("currentTime").toElement().text();
        QDateTime currentTime = QDateTime::fromString(currentTimeRaw, timestampSecondsFormat());
 
        // iterate over all data elements
        QDomElement currentElem = dataNode.firstChildElement("registrationTransform");
        for (; !currentElem.isNull(); currentElem = currentElem.nextSiblingElement("registrationTransform"))
        {
                RegistrationTransform transform;
                transform.parseXml(currentElem);
                mData.push_back(transform);
        }
 
        // iterate over all data elements
        currentElem = dataNode.firstChildElement("parentFrame");
        for (; !currentElem.isNull(); currentElem = currentElem.nextSiblingElement("parentFrame"))
        {
                ParentSpace transform;
                transform.parseXml(currentElem);
                mParentSpaces.push_back(transform);
        }
 
        std::sort(mData.begin(), mData.end());
        std::sort(mParentSpaces.begin(), mParentSpaces.end());
        setActiveTime(currentTime); // update cache
}
 
void RegistrationHistory::clear()
{
        mData.clear();
        mCurrentTime = QDateTime();
        mTransformCache = RegistrationTransform();
}
 
void RegistrationHistory::addRegistrationInternal(const RegistrationTransform& transform)
{
        if (std::count(mData.begin(), mData.end(), transform)) // ignore if already present
                return;
 
        mData.push_back(transform);
        std::sort(mData.begin(), mData.end());
 
        bool silent = transform.mTemp;
        setActiveTime(QDateTime()); // reset to last registration when reregistering.
}
 
void RegistrationHistory::addOrUpdateRegistration(const QDateTime& oldTime, const RegistrationTransform& newTransform)
{
        for (std::vector<RegistrationTransform>::iterator iter = mData.begin(); iter != mData.end(); ++iter)
        {
                if ((iter->mTimestamp == oldTime)
                                && oldTime.isValid()
                                && iter->mTemp)
                {
                        mData.erase(iter);
                        break;
                }
        }
        this->addRegistrationInternal(newTransform);
}
 
void RegistrationHistory::setRegistration(const Transform3D& transform)
{
        bool changed = true;
        if (similar(getCurrentRegistration().mValue, transform))
        {
                changed = false;
        }
        mData.clear();
        this->addRegistrationInternal(RegistrationTransform(transform));
        if (changed)
        {
                emit currentChanged();
        }
}
 
void RegistrationHistory::setParentSpace(const QString& newParent)
{
        mParentSpaces.clear();
        this->addParentSpace(ParentSpace(newParent));
}
 
void RegistrationHistory::addParentSpace(const QString& newParent)
{
        this->addParentSpace(ParentSpace(newParent, QDateTime::currentDateTime(), "Set Parent Frame"));
}
 
void RegistrationHistory::addParentSpace(const ParentSpace& newParent)
{
        for (int i = 0; i < mParentSpaces.size(); ++i)
        {
                if(mParentSpaces[i].mUid == newParent.mUid)
                        return;// ignore if already present
        }
 
        mParentSpaces.push_back(newParent);
        std::sort(mParentSpaces.begin(), mParentSpaces.end());
        setActiveTime(QDateTime()); // reset to last registration when reregistering.
}
 
void RegistrationHistory::updateParentSpace(const QDateTime& oldTime, const ParentSpace& newParent)
{
        for (std::vector<ParentSpace>::iterator iter = mParentSpaces.begin(); iter != mParentSpaces.end(); ++iter)
        {
                if (iter->mTimestamp != oldTime)
                        continue;
                mParentSpaces.erase(iter);
                break;
        }
        this->addParentSpace(newParent);
}
 
ParentSpace RegistrationHistory::getCurrentParentSpace()
{
        return mParentSpaceCache;
}
 
std::vector<RegistrationTransform> RegistrationHistory::getData() const
{
        return mData;
}
 
std::vector<ParentSpace> RegistrationHistory::getParentSpaces() const
{
        return mParentSpaces;
}
 
void RegistrationHistory::removeNewerThan(const QDateTime& timestamp)
{
        if (!timestamp.isValid())
                return;
 
        for (std::vector<RegistrationTransform>::iterator iter = mData.begin(); iter != mData.end();)
        {
                if (iter->mTimestamp > timestamp)
                {
                        std::cout << "RegistrationHistory::removeNewerThan(" << timestamp.toString(timestampSecondsFormatNice())
                                << "): removed [" << iter->mTimestamp.toString(timestampSecondsFormatNice()) << ", " << iter->mType
                                << "]" << std::endl;
                        iter = mData.erase(iter);
                }
                else
                {
                        ++iter;
                }
        }
 
        for (std::vector<ParentSpace>::iterator iter = mParentSpaces.begin(); iter != mParentSpaces.end();)
        {
                if (iter->mTimestamp > timestamp)
                {
                        std::cout << "RegistrationHistory::removeNewerThan(" << timestamp.toString(timestampSecondsFormatNice())
                                << "): removed parent frame [" << iter->mTimestamp.toString(timestampSecondsFormatNice()) << ", "
                                << iter->mType << "]" << std::endl;
                        iter = mParentSpaces.erase(iter);
                }
                else
                {
                        ++iter;
                }
        }
 
        setActiveTime(QDateTime());
}
 
void RegistrationHistory::setCache(const RegistrationTransform& val, const ParentSpace& parent,
        const QDateTime& timestamp)
{
        if ((mTransformCache == val) && (mParentSpaceCache == parent) && (mCurrentTime == timestamp))
                return;
 
        mCurrentTime = timestamp;
        mTransformCache = val;
        mParentSpaceCache = parent;
 
        emit currentChanged();
}
 
void RegistrationHistory::setActiveTime(const QDateTime& timestamp)
{
        RegistrationTransform val;
        ParentSpace parent;
        // set to specified time
        if (timestamp.isValid())
        {
                for (std::vector<RegistrationTransform>::iterator iter = mData.begin(); iter != mData.end(); ++iter)
                {
                        if (iter->mTimestamp <= timestamp)
                                val = *iter;
                }
                for (std::vector<ParentSpace>::iterator iter = mParentSpaces.begin(); iter != mParentSpaces.end(); ++iter)
                {
                        if (iter->mTimestamp <= timestamp)
                                parent = *iter;
                }
        }
        else
        {
                if (!mData.empty())
                        val = mData.back();
                if (!mParentSpaces.empty())
                        parent = mParentSpaces.back();
        }
 
        setCache(val, parent, timestamp);
}
 
QDateTime RegistrationHistory::getActiveTime() const
{
        return mCurrentTime;
}
 
RegistrationTransform RegistrationHistory::getCurrentRegistration() const
{
        return mTransformCache;
}
 
} // end namespace cx