cxCustomMetric.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 "cxCustomMetric.h"
 
#include <vtkImageData.h>
#include "cxBoundingBox3D.h"
#include "cxTypeConversions.h"
#include "cxPatientModelService.h"
#include "cxTypeConversions.h"
#include "cxSpaceProvider.h"
#include "cxSpaceListener.h"
#include "cxMesh.h"
#include "cxImage.h"
#include "cxLogger.h"
#include "cxFrameMetric.h"
 
namespace cx
{
 
CustomMetric::CustomMetric(const QString& uid, const QString& name, PatientModelServicePtr dataManager, SpaceProviderPtr spaceProvider) :
                                DataMetric(uid, name, dataManager, spaceProvider), mShowDistanceMarkers(false), mDistanceMarkerVisibility(50)
{
        mArguments.reset(new MetricReferenceArgumentList(QStringList() << "position" << "direction"));
                mArguments->setValidArgumentTypes(QStringList() << PointMetric::getTypeName() << FrameMetric::getTypeName());
        connect(mArguments.get(), SIGNAL(argumentsChanged()), this, SIGNAL(transformChanged()));
        connect(this, &CustomMetric::propertiesChanged, this, &CustomMetric::onPropertiesChanged);
        mDefineVectorUpMethod = mDefineVectorUpMethods.table;
        mModelUid = "";
        mScaleToP1 = false;
        mOffsetFromP0 = 0.0;
        mOffsetFromP1 = 0.0;
        mRepeatDistance = 0.0;
        mTranslationOnly = false;
        mTextureFollowTool = false;
}
 
bool CustomMetric::needForToolListenerHasChanged() const
{
        bool toolDefinesUp = mDefineVectorUpMethod == mDefineVectorUpMethods.tool;
        bool toolListenerDefined = mToolListener.get()!=NULL;
 
        if (mTextureFollowTool != toolListenerDefined || toolDefinesUp != toolListenerDefined)
                return true;
        else
                return false;
}
 
 
void CustomMetric::createOrDestroyToolListener()
{
        if (this->needForToolListenerHasChanged())
        {
                bool toolDefinesUp = mDefineVectorUpMethod == mDefineVectorUpMethods.tool;
                if (mTextureFollowTool || toolDefinesUp)
                {
                        mToolListener = mSpaceProvider->createListener();
                        mToolListener->setSpace(CoordinateSystem(csTOOL_OFFSET, "active"));
                        connect(mToolListener.get(), &SpaceListener::changed, this, &CustomMetric::transformChanged);
                }
                else
                {
                        disconnect(mToolListener.get(), &SpaceListener::changed, this, &CustomMetric::transformChanged);
                        mToolListener.reset();
                }
        }
}
 
void CustomMetric::onPropertiesChanged()
{
        this->createOrDestroyToolListener();
}
 
CustomMetric::DefineVectorUpMethods CustomMetric::getDefineVectorUpMethods() const
{
        return mDefineVectorUpMethods;
}
 
 
CustomMetricPtr CustomMetric::create(QString uid, QString name, PatientModelServicePtr dataManager, SpaceProviderPtr spaceProvider)
{
    return CustomMetricPtr(new CustomMetric(uid, name, dataManager, spaceProvider));
}
 
CustomMetric::~CustomMetric()
{
}
 
void CustomMetric::addXml(QDomNode& dataNode)
{
        DataMetric::addXml(dataNode);
 
        mArguments->addXml(dataNode);
 
        QDomElement elem = dataNode.toElement();
        elem.setAttribute("definevectorup", mDefineVectorUpMethod);
        elem.setAttribute("meshUid", mModelUid);
 
        elem.setAttribute("scaleToP1", mScaleToP1);
        elem.setAttribute("offsetFromP0", mOffsetFromP0);
        elem.setAttribute("offsetFromP1", mOffsetFromP1);
        elem.setAttribute("repeatDistance", mRepeatDistance);
        elem.setAttribute("showDistance", mShowDistanceMarkers);
        elem.setAttribute("distanceMarkerVisibility", mDistanceMarkerVisibility);
        elem.setAttribute("translationOnly", mTranslationOnly);
        elem.setAttribute("textureFollowTool", mTextureFollowTool);
}
 
void CustomMetric::parseXml(QDomNode& dataNode)
{
        DataMetric::parseXml(dataNode);
 
        mArguments->parseXml(dataNode, mDataManager->getDatas());
 
        QDomElement elem = dataNode.toElement();
        mDefineVectorUpMethod = elem.attribute("definevectorup", qstring_cast(mDefineVectorUpMethod));
        mModelUid = elem.attribute("meshUid", qstring_cast(mModelUid));
        mScaleToP1 = elem.attribute("scaleToP1", QString::number(mScaleToP1)).toInt();
        mOffsetFromP0 = elem.attribute("offsetFromP0", QString::number(mOffsetFromP0)).toDouble();
        mOffsetFromP1 = elem.attribute("offsetFromP1", QString::number(mOffsetFromP1)).toDouble();
        mRepeatDistance = elem.attribute("repeatDistance", QString::number(mRepeatDistance)).toDouble();
        mShowDistanceMarkers = elem.attribute("showDistance", QString::number(mShowDistanceMarkers)).toInt();
        mDistanceMarkerVisibility = elem.attribute("distanceMarkerVisibility", QString::number(mDistanceMarkerVisibility)).toDouble();
        mTranslationOnly = elem.attribute("translationOnly", QString::number(mTranslationOnly)).toInt();
        mTextureFollowTool = elem.attribute("textureFollowTool", QString::number(mTextureFollowTool)).toInt();
 
        this->onPropertiesChanged();
}
 
bool CustomMetric::isValid() const
{
        return !mArguments->getRefCoords().empty();
}
 
Vector3D CustomMetric::getRefCoord() const
{
        return mArguments->getRefCoords().front();
}
 
DoubleBoundingBox3D CustomMetric::boundingBox() const
{
        return DoubleBoundingBox3D::fromCloud(mArguments->getRefCoords());
}
 
std::vector<Vector3D> CustomMetric::getPointCloud() const
{
        std::vector<Vector3D> retval;
 
        DataPtr model = this->getModel();
 
        std::vector<Transform3D> pos = this->calculateOrientations();
        std::vector<Vector3D> cloud;
        Transform3D rrMd;
 
        if (model)
        {
                rrMd = model->get_rMd();
                cloud = model->getPointCloud();
        }
        else
        {
                cloud.push_back(Vector3D::Zero());
                rrMd = Transform3D::Identity();
        }
 
        for (unsigned i=0; i<pos.size(); ++i)
        {
                Transform3D rMd = pos[i] * rrMd;
 
                for (unsigned j=0; j<cloud.size(); ++j)
                {
                        Vector3D p_r = rMd.coord(cloud[j]);
                        retval.push_back(p_r);
                }
        }
 
        return retval;
}
 
Vector3D CustomMetric::getZeroPosition() const
{
        Vector3D zeroPos;
        std::vector<Vector3D> coords = mArguments->getRefCoords();
        if (coords.empty())
                return zeroPos;
        Vector3D p0 = coords[0];
 
        Vector3D dir = this->getDirection();
        Vector3D vup = this->getVectorUp();
        Vector3D scale = this->getScale();
 
        zeroPos = this->calculateOrientation(p0, dir, vup, scale).coord(Vector3D(0,0,0));
 
        return zeroPos;
}
 
std::vector<Vector3D> CustomMetric::getPositions() const
{
        std::vector<Vector3D> retval;
        std::vector<Vector3D> coords = mArguments->getRefCoords();
        if (coords.size() < 2)
                return retval;
 
        Vector3D p0 = coords[0];
        Vector3D p1 = coords[1];
        Vector3D dir = getDirection();
        double fullDist = dot(dir, p1-p0);
 
        int reps = this->getRepeatCount();
        for (int i=0; i<reps; ++i)
        {
                double dist = mOffsetFromP0 + mRepeatDistance*i;
                Vector3D p = p0 + dir*dist;
                retval.push_back(p);
        }
 
        return retval;
}
 
int CustomMetric::getRepeatCount() const
{
        std::vector<Vector3D> coords = mArguments->getRefCoords();
        if (coords.size() < 2)
                return 0;
 
        Vector3D p0 = coords[0];
        Vector3D p1 = coords[1];
        Vector3D dir = getDirection();
 
        int reps = 1;
        if (!similar(mRepeatDistance, 0.0))
                reps = (dot(p1-p0, dir)-mOffsetFromP0-mOffsetFromP1)/mRepeatDistance + 1;
        reps = std::min(100, reps);
        reps = std::max(reps, 1);
 
        return reps;
}
 
 
Vector3D CustomMetric::getDirection() const
{
        std::vector<Vector3D> coords = mArguments->getRefCoords();
        if (coords.size()<2)
                return Vector3D::UnitZ();
        Vector3D diff = (coords[1]-coords[0]);
        if (similar(diff.length(), 0.0))
                return Vector3D(0,1,0);
    return diff.normal();
}
 
Vector3D CustomMetric::getVectorUp() const
{
    if(mDefineVectorUpMethod == mDefineVectorUpMethods.connectedFrameInP1)
    {
        std::vector<Transform3D> transforms = mArguments->getRefFrames();
        if (transforms.size()<2)
            return Vector3D::UnitZ();
 
        Transform3D rMframe = transforms[1];
        Vector3D upVector = rMframe.vector(Vector3D(-1,0,0));
 
        return upVector;
    }
        else if (mDefineVectorUpMethod == mDefineVectorUpMethods.tool)
        {
                Transform3D rMt = mSpaceProvider->getActiveToolTipTransform(CoordinateSystem::reference(), true);
                Vector3D toolUp = -Vector3D::UnitX();
                return rMt.vector(toolUp);
        }
        else
        {
                return mDataManager->getOperatingTable().getVectorUp();
        }
}
 
 
void CustomMetric::updateTexture(MeshPtr model, Transform3D rMrr)
{
        if (!model)
                return;
 
        if (!this->getTextureFollowTool() || !model->hasTexture())
                return;
 
        // special case:
        // Project tool position down to the model, then set that position as
        // the texture x pos.
 
        Transform3D rMt = mSpaceProvider->getActiveToolTipTransform(CoordinateSystem::reference());
        Transform3D rMd = rMrr * model->get_rMd();
        Vector3D t_r = rMt.coord(Vector3D::Zero());
        Vector3D td_r = rMt.vector(Vector3D::UnitZ());
 
        DoubleBoundingBox3D bb_d = model->boundingBox();
        Vector3D bl = bb_d.bottomLeft();
        Vector3D tr = bb_d.topRight();
        Vector3D c = (bl+tr)/2;
        Vector3D x_min_r(c[0], bl[1], c[2]);
        Vector3D x_max_r(c[0], tr[1], c[2]);
        x_min_r = rMd.coord(x_min_r);
        x_max_r = rMd.coord(x_max_r);
 
        double t_x = dot(t_r, td_r);
        double bbmin_x = dot(x_min_r, td_r);
        double bbmax_x = dot(x_max_r, td_r);
        double range = bbmax_x-bbmin_x;
        if (similar(range, 0.0))
                range = 1.0E-6;
        double s = (t_x-bbmin_x)/range;
        model->getTextureData().getPositionY()->setValue(s);
}
 
Vector3D CustomMetric::getScale() const
{
        if (!mScaleToP1 || !this->getModel() || this->getModel()->getType() == Image::getTypeName())
                return Vector3D::Ones();
 
        DoubleBoundingBox3D bounds = this->getModel()->boundingBox();
        bounds = transform(this->getModel()->get_rMd(), bounds);
 
        std::vector<Vector3D> coords = mArguments->getRefCoords();
        double height = (coords[1] - coords[0]).length();
 
        Vector3D dir = this->getDirection();
        double p0 = dot(coords[0], dir);
        double p1 = dot(coords[1], dir);
 
        height = p1 - p0;
        height -= (mOffsetFromP0 + mOffsetFromP1);
 
        Vector3D scale(1,
                                   height/bounds.range()[1],
                        1);
        return scale;
}
 
QString CustomMetric::getDefineVectorUpMethod() const
{
    return mDefineVectorUpMethod;
}
 
void CustomMetric::setDefineVectorUpMethod(QString defineVectorUpMethod)
{
    mDefineVectorUpMethod = defineVectorUpMethod;
}
 
void CustomMetric::setModelUid(QString val)
{
        mModelUid = val;
    emit propertiesChanged();
}
 
QString CustomMetric::getModelUid() const
{
        return mModelUid;
}
 
DataPtr CustomMetric::getModel() const
{
        return mDataManager->getData(mModelUid);
}
 
void CustomMetric::setScaleToP1(bool val)
{
        if (mScaleToP1 == val)
                return;
        mScaleToP1 = val;
        emit propertiesChanged();
}
 
bool CustomMetric::getScaleToP1() const
{
        return mScaleToP1;
}
 
void CustomMetric::setOffsetFromP0(double val)
{
        if (mOffsetFromP0 == val)
                return;
        mOffsetFromP0 = val;
        emit propertiesChanged();
}
 
double CustomMetric::getOffsetFromP0() const
{
        return mOffsetFromP0;
}
 
void CustomMetric::setOffsetFromP1(double val)
{
        if (mOffsetFromP1 == val)
                return;
        mOffsetFromP1 = val;
        emit propertiesChanged();
}
 
double CustomMetric::getOffsetFromP1() const
{
        return mOffsetFromP1;
}
 
void CustomMetric::setRepeatDistance(double val)
{
        if (mRepeatDistance == val)
                return;
        mRepeatDistance = val;
        emit propertiesChanged();
}
 
double CustomMetric::getRepeatDistance() const
{
        return mRepeatDistance;
}
 
void CustomMetric::setShowDistanceMarkers(bool show)
{
        if(mShowDistanceMarkers == show)
                return;
        mShowDistanceMarkers = show;
        emit propertiesChanged();
}
 
bool CustomMetric::getShowDistanceMarkers() const
{
        return mShowDistanceMarkers;
}
        void CustomMetric::setTranslationOnly(bool val)
{
        if (mTranslationOnly == val)
                return;
        mTranslationOnly = val;
        emit propertiesChanged();
}
 
void CustomMetric::setDistanceMarkerVisibility(double val)
{
        if (mDistanceMarkerVisibility == val)
                return;
        mDistanceMarkerVisibility = val;
        emit propertiesChanged();
}
 
double CustomMetric::getDistanceMarkerVisibility() const
{
        return mDistanceMarkerVisibility;
}
 
bool CustomMetric::getTranslationOnly() const
{
        return mTranslationOnly;
}
 
void CustomMetric::setTextureFollowTool(bool val)
{
        if (mTextureFollowTool == val)
                return;
        mTextureFollowTool = val;
        emit propertiesChanged();
}
 
bool CustomMetric::getTextureFollowTool() const
{
        return mTextureFollowTool;
}
 
QStringList CustomMetric::DefineVectorUpMethods::getAvailableDefineVectorUpMethods() const
{
    QStringList retval;
    retval << table;
    retval << connectedFrameInP1;
        retval << tool;
    return retval;
}
 
std::map<QString, QString> CustomMetric::DefineVectorUpMethods::getAvailableDefineVectorUpMethodsDisplayNames() const
{
    std::map<QString, QString> names;
    names[table] = "The operating table";
    names[connectedFrameInP1] = "The connected frame in p1";
        names[tool] = "The active tool";
        return names;
}
 
 
std::vector<Transform3D> CustomMetric::calculateOrientations() const
{
        std::vector<Vector3D> pos = this->getPositions();
        Vector3D dir = this->getDirection();
        Vector3D vup = this->getVectorUp();
        Vector3D scale = this->getScale();
 
        std::vector<Transform3D> retval(pos.size());
        for (unsigned i=0; i<retval.size(); ++i)
        {
                if (mTranslationOnly)
                {
                        retval[i] = createTransformTranslate(pos[i]);
                }
                else
                {
                        retval[i] = this->calculateOrientation(pos[i], dir, vup, scale);
                }
        }
 
        return retval;
}
 
Transform3D CustomMetric::calculateOrientation(Vector3D pos, Vector3D dir, Vector3D vup, Vector3D scale) const
{
        Transform3D R = this->calculateRotation(dir, vup);
 
        Transform3D center2DImage = this->calculateTransformTo2DImageCenter();
 
        Transform3D S = createTransformScale(scale);
        Transform3D T = createTransformTranslate(pos);
        Transform3D M = T*R*S*center2DImage;
        return M;
}
 
Transform3D CustomMetric::calculateTransformTo2DImageCenter() const
{
        Transform3D position2DImage = Transform3D::Identity();
        if(this->modelIsImage())
        {
                DataPtr model = this->getModel();
                ImagePtr imageModel = boost::dynamic_pointer_cast<Image>(model);
                vtkImageDataPtr vtkImage = imageModel->getBaseVtkImageData();
                int xSize = vtkImage->GetExtent()[1] - vtkImage->GetExtent()[0];
                int ySize = vtkImage->GetExtent()[3] - vtkImage->GetExtent()[2];
                Eigen::Array3d spacing(vtkImage->GetSpacing());
 
                position2DImage = createTransformTranslate(Vector3D(-xSize*spacing[0]/2.0, -ySize*spacing[1]/2.0, 0));
        }
        return position2DImage;
}
 
bool CustomMetric::modelIsImage() const
{
        DataPtr model = this->getModel();
 
        return (model && model->getType() == Image::getTypeName());
}
 
Transform3D CustomMetric::calculateRotation(Vector3D dir, Vector3D vup) const
{
        Transform3D R = Transform3D::Identity();
        bool directionAlongUp = similar(dot(vup, dir.normal()), 1.0);
        if (!directionAlongUp)
        {
                Vector3D jvec = dir.normal();
                Vector3D kvec = cross(vup, dir).normal();
                Vector3D ivec = cross(jvec, kvec).normal();
                Vector3D center = Vector3D::Zero();
                R = createTransformIJC(ivec, jvec, center);
 
                Transform3D rotateY = cx::createTransformRotateY(M_PI_2);
                R = R*rotateY;//Let the models X-axis align with patient X-axis
 
                if(this->modelIsImage())
                {
                        Transform3D rotateX = cx::createTransformRotateX(M_PI_2);
                        R = R*rotateX;
                }
        }
        return R;
}
 
}