CustusX  15.3.4-beta
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cxToolTipCalibrationWidget.cpp
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1 /*=========================================================================
2 This file is part of CustusX, an Image Guided Therapy Application.
3 
4 Copyright (c) 2008-2014, SINTEF Department of Medical Technology
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32 
33 #include "cxToolTipCalibrationWidget.h"
34 
35 #include <QPushButton>
36 #include <QTextStream>
37 #include <QFileDialog>
38 #include <QMessageBox>
39 #include "cxTypeConversions.h"
40 #include "cxLogger.h"
41 #include "cxTrackingService.h"
42 #include "cxVector3D.h"
43 #include "cxDefinitionStrings.h"
44 #include "cxLabeledComboBoxWidget.h"
45 #include "cxTool.h"
46 #include "cxVisServices.h"
47 #include "cxStringPropertySelectTool.h"
48 #include "cxSpaceProvider.h"
49 
50 namespace cx
51 {
52 
53 //------------------------------------------------------------------------------
54 ToolTipCalibrateWidget::ToolTipCalibrateWidget(VisServicesPtr services, QWidget* parent) :
55  BaseWidget(parent, "ToolTipCalibrateWidget", "ToolTip Calibrate"),
56  mServices(services),
57  mCalibrateButton(new QPushButton("Calibrate")),
58  mReferencePointLabel(new QLabel("Ref. point:")),
59  mTestButton(new QPushButton("Test calibration")),
60  mCalibrationLabel(new QLabel("Calibration: \n")),
61  mDeltaLabel(new QLabel("Delta:"))
62 {
63  QVBoxLayout* toplayout = new QVBoxLayout(this);
64 
65  mTools = StringPropertySelectTool::New(mServices->getToolManager());
66  mTools->setValueName("Reference tool");
67  mTools->setHelp("Select a tool with a known reference point");
68  mCalibrateToolComboBox = new LabeledComboBoxWidget(this, mTools);
69  this->setToolTip(this->defaultWhatsThis());
70 
71  //toplayout->addWidget(new QLabel("<b>Select a tool with a known reference point:</b>"));
72  toplayout->addWidget(mCalibrateToolComboBox);
73  toplayout->addWidget(mReferencePointLabel);
74  toplayout->addWidget(mCalibrateButton);
75  toplayout->addWidget(mCalibrationLabel);
76  toplayout->addWidget(this->createHorizontalLine());
77  toplayout->addWidget(mTestButton);
78  toplayout->addWidget(mDeltaLabel);
79  toplayout->addStretch();
80 
81  connect(mCalibrateButton, SIGNAL(clicked()), this, SLOT(calibrateSlot()));
82  connect(mTestButton, SIGNAL(clicked()), this, SLOT(testCalibrationSlot()));
83 
84  connect(mTools.get(), SIGNAL(changed()), this, SLOT(toolSelectedSlot()));
85 
86  //setting default state
87  this->toolSelectedSlot();
88 }
89 
90 ToolTipCalibrateWidget::~ToolTipCalibrateWidget()
91 {}
92 
93 QString ToolTipCalibrateWidget::defaultWhatsThis() const
94 {
95  return "<html>"
96  "<h3>Tool tip calibration.</h3>"
97  "<p><i>Calibrates a tool by sampling it when pointing at a known point on another frame.</i></br>"
98  "By using the test button you can test your calibration by pointing at a known reference point.</br></p>"
99  "</html>";
100 }
101 
102 void ToolTipCalibrateWidget::calibrateSlot()
103 {
104  ToolPtr refTool = mTools->getTool();
105  //Todo, we only allow the reference point with id 1 to be used to calibrate
106  //this could be done more dynamic.
107  if(!refTool || !refTool->hasReferencePointWithId(1))
108  return;
109 
110  ToolPtr tool = mServices->getToolManager()->getActiveTool();
111  CoordinateSystem to = mServices->getSpaceProvider()->getT(tool);
112  Vector3D P_t = mServices->getSpaceProvider()->getActiveToolTipPoint(to);
113 
114  ToolTipCalibrationCalculator calc(mServices->getSpaceProvider(), tool, refTool, P_t);
115  Transform3D calibration = calc.get_calibration_sMt();
116 
117  QMessageBox msgBox;
118  msgBox.setText("Do you want to overwrite "+tool->getName()+"s calibration file?");
119  msgBox.setInformativeText("This cannot be undone.");
120  msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
121  msgBox.setDefaultButton(QMessageBox::Ok);
122  int ret = msgBox.exec();
123 
124  if(ret == QMessageBox::Ok)
125  {
126  tool->setCalibration_sMt(calibration);
127  mCalibrationLabel->setText("Calibration:\n"+qstring_cast(calibration));
128  }
129 }
130 
131 void ToolTipCalibrateWidget::testCalibrationSlot()
132 {
133  ToolPtr selectedTool = mTools->getTool();
134  if(!selectedTool || !selectedTool->hasReferencePointWithId(1))
135  return;
136 
137  CoordinateSystem to = mServices->getSpaceProvider()->getT(mServices->getToolManager()->getActiveTool());
138  Vector3D sampledPoint = mServices->getSpaceProvider()->getActiveToolTipPoint(to);
139 
140  ToolTipCalibrationCalculator calc(mServices->getSpaceProvider(), mServices->getToolManager()->getActiveTool(), selectedTool, sampledPoint);
141  Vector3D delta_selectedTool = calc.get_delta_ref();
142 
143  mDeltaLabel->setText("<b>Delta:</b> "+qstring_cast(delta_selectedTool)+" <br> <b>Length:</b> "+qstring_cast(delta_selectedTool.length()));
144 
145  report("Delta: "+qstring_cast(delta_selectedTool)+" Length: "+qstring_cast(delta_selectedTool.length()));
146 }
147 
148 void ToolTipCalibrateWidget::toolSelectedSlot()
149 {
150  QString text("Ref. point: <UNDEFINED POINT>");
151  mCalibrateButton->setEnabled(false);
152 // mTestButton->setEnabled(false);
153 
154  if(mTools->getTool())
155  {
156  ToolPtr tool = mTools->getTool();
157  if(tool && tool->hasReferencePointWithId(1))
158  {
159  text = "Ref. point: "+qstring_cast(tool->getReferencePoints()[1]);
160  mCalibrateButton->setEnabled(true);
161 // mTestButton->setEnabled(true);
162  }
163  else
164  reportWarning("Selected tool have no known reference point");
165  if(tool)
166  {
167  mCalibrationLabel->setText("Calibration:\n"+qstring_cast(tool->getCalibration_sMt()));
168  }
169  }
170 
171  mReferencePointLabel->setText(text);
172 }
173  //------------------------------------------------------------------------------
174 
175 
176 
177 ToolTipCalibrationCalculator::ToolTipCalibrationCalculator(SpaceProviderPtr spaces, ToolPtr tool, ToolPtr ref, Vector3D p_t) :
178  mTool(tool), mRef(ref), mP_t(p_t), mSpaces(spaces)
179 {}
180 
181 ToolTipCalibrationCalculator::~ToolTipCalibrationCalculator()
182 {}
183 
184 Vector3D ToolTipCalibrationCalculator::get_delta_ref()
185 {
186  return get_referencePoint_ref() - get_sampledPoint_ref();
187 }
188 
189 Transform3D ToolTipCalibrationCalculator::get_calibration_sMt()
190 {
191  return this->get_sMt_new();
192 }
193 
194 Vector3D ToolTipCalibrationCalculator::get_sampledPoint_t()
195 {
196  return mP_t;
197 }
198 
199 Vector3D ToolTipCalibrationCalculator::get_sampledPoint_ref()
200 {
201  CoordinateSystem csT = mSpaces->getT(mTool); //from
202  CoordinateSystem csRef = mSpaces->getT(mRef); //to
203 
204  Transform3D refMt = mSpaces->get_toMfrom(csT, csRef);
205 
206  Vector3D P_ref = refMt.coord(mP_t);
207 
208  return P_ref;
209 }
210 
211 Vector3D ToolTipCalibrationCalculator::get_referencePoint_ref()
212 {
213  return mRef->getReferencePoints()[1];
214 }
215 
216 Transform3D ToolTipCalibrationCalculator::get_sMt_new()
217 {
218  Transform3D sMt_old = mTool->getCalibration_sMt();
219 
220  CoordinateSystem csT = mSpaces->getT(mTool); //to
221  CoordinateSystem csRef = mSpaces->getT(mRef); //from
222  Transform3D tMref = mSpaces->get_toMfrom(csRef, csT);
223 
224  Vector3D delta_t = tMref.vector(this->get_delta_ref());
225  Transform3D T_delta_t = createTransformTranslate(delta_t);
226 
227  return sMt_old * T_delta_t;
228 }
229 //------------------------------------------------------------------------------
230 //------------------------------------------------------------------------------
231 }//namespace cx
cx::SpaceProviderPtr
boost::shared_ptr< class SpaceProvider > SpaceProviderPtr
Definition: cxLegacySingletons.h:41
qstring_cast
QString qstring_cast(const T &val)
Definition: cxTypeConversions.h:67
cx::ToolTipCalibrateWidget::ToolTipCalibrateWidget
ToolTipCalibrateWidget(VisServicesPtr services, QWidget *parent)
Definition: cxToolTipCalibrationWidget.cpp:54
cx::VisServicesPtr
boost::shared_ptr< class VisServices > VisServicesPtr
Definition: cxMainWindow.h:61
cx::Transform3D
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
Definition: cxLandmarkPatientRegistrationWidget.h:55
cx::ToolTipCalibrationCalculator::get_delta_ref
Vector3D get_delta_ref()
how far from the reference point the sampled point is, in pr's coord
Definition: cxToolTipCalibrationWidget.cpp:184
cx::LabeledComboBoxWidget
Composite widget for string selection.
Definition: cxLabeledComboBoxWidget.h:57
cx::ToolTipCalibrateWidget::defaultWhatsThis
virtual QString defaultWhatsThis() const
Returns a short description of what this widget will do for you.
Definition: cxToolTipCalibrationWidget.cpp:93
cx::BaseWidget::createHorizontalLine
static QFrame * createHorizontalLine()
Creates a horizontal line which can be inserted into widgets.
Definition: cxBaseWidget.cpp:89
cx::reportWarning
void reportWarning(QString msg)
Definition: cxLogger.cpp:91
cx::ToolTipCalibrationCalculator::ToolTipCalibrationCalculator
ToolTipCalibrationCalculator(SpaceProviderPtr spaces, ToolPtr tool, ToolPtr ref, Vector3D p_t=Vector3D())
Definition: cxToolTipCalibrationWidget.cpp:177
cx::createTransformTranslate
Transform3D createTransformTranslate(const Vector3D &translation)
Definition: cxTransform3D.cpp:185
cx::CoordinateSystem
Identification of a Coordinate system.
Definition: cxCoordinateSystemHelpers.h:53
cx::Vector3D
Eigen::Vector3d Vector3D
Vector3D is a representation of a point or vector in 3D.
Definition: cxVector3D.h:63
cx::BaseWidget
Interface for QWidget which handles widgets uniformly for the system.
Definition: cxBaseWidget.h:108
cx::StringPropertySelectTool::New
static StringPropertySelectToolPtr New(TrackingServicePtr trackingService)
Definition: cxStringPropertySelectTool.h:61
cx::report
void report(QString msg)
Definition: cxLogger.cpp:90
cx::ToolPtr
boost::shared_ptr< class Tool > ToolPtr
Definition: cxVideoConnectionWidget.h:65