cxBronchoscopyRegistrationWidget.cpp

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/*=========================================================================
This file is part of CustusX, an Image Guided Therapy Application.

Copyright (c) 2008-2014, SINTEF Department of Medical Technology
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#include "cxBronchoscopyRegistrationWidget.h"
#include <vtkPolyData.h>
#include "cxTransform3D.h"
#include "cxDataSelectWidget.h"
#include "cxTrackingService.h"
#include "cxMesh.h"
#include "cxSelectDataStringProperty.h"
#include "cxTrackedCenterlineWidget.h"
#include "cxRecordSessionWidget.h"
#include "cxRecordSession.h"
#include "cxView.h"
#include "cxToolRep3D.h"
#include "cxToolTracer.h"
#include "cxBronchoscopyRegistration.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"


namespace cx
{
BronchoscopyRegistrationWidget::BronchoscopyRegistrationWidget(RegServices services, QWidget* parent) :
        RegistrationBaseWidget(services, parent, "org_custusx_registration_method_bronchoscopy_widget",
                                                   "Bronchoscopy Registration"),
        mBronchoscopyRegistration(new BronchoscopyRegistration()),
        mServices(services)
{
        mVerticalLayout = new QVBoxLayout(this);
        mOptions = profile()->getXmlSettings().descend("bronchoscopyregistrationwidget");

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

        mSelectToolWidget = StringPropertySelectTool::New(services.getToolManager());
        //this->initializeTrackingService();

        mProcessCenterlineButton = new QPushButton("Process centerline");
        connect(mProcessCenterlineButton, SIGNAL(clicked()), this, SLOT(processCenterlineSlot()));
        mProcessCenterlineButton->setToolTip(this->defaultWhatsThis());

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

        this->initSessionSelector();

//    mTrackedCenterLine = new TrackedCenterlineWidget(mAcquisitionData, this);

        mRecordSessionWidget.reset(new RecordSessionWidget(services.acquisitionService, this, "Bronchoscope path", false));

        mVerticalLayout->setMargin(0);
        mVerticalLayout->addWidget(new DataSelectWidget(mServices.visualizationService, mServices.patientModelService, this, mSelectMeshWidget));
//    mVerticalLayout->addWidget(mTrackedCenterLine);

        this->selectSubsetOfBranches(mOptions.getElement());
        this->createMaxNumberOfGenerations(mOptions.getElement());
        this->useLocalRegistration(mOptions.getElement());

//      QHBoxLayout* activeToolLayout = new QHBoxLayout;
//      activeToolLayout->addWidget(new QLabel("Name:", this));
//      mToolNameLabel = new QLabel(this);
//      activeToolLayout->addWidget(mToolNameLabel);
//      mActiveToolVisibleLabel = new QLabel("Visible: NA");
//      activeToolLayout->addWidget(mActiveToolVisibleLabel);
//      activeGroupLayout->addLayout(activeToolLayout);

        mVerticalLayout->addWidget(new CheckBoxWidget(this, mUseSubsetOfGenerations));
        mVerticalLayout->addWidget(createDataWidget(mServices.visualizationService, mServices.patientModelService, this, mMaxNumberOfGenerations));
        mVerticalLayout->addWidget(mProcessCenterlineButton);
        mVerticalLayout->addWidget(sscCreateDataWidget(this, mSelectToolWidget));
        mVerticalLayout->addWidget(mRecordSessionWidget.get());
        mVerticalLayout->addWidget(new LabeledComboBoxWidget(this, mSessionSelector));
        mVerticalLayout->addWidget(new CheckBoxWidget(this, mUseLocalRegistration));
        mVerticalLayout->addWidget(mRegisterButton);

        mVerticalLayout->addStretch();

        mObscuredListener.reset(new WidgetObscuredListener(this));
        connect(mObscuredListener.get(), SIGNAL(obscured(bool)), this, SLOT(obscuredSlot(bool)));

}

void BronchoscopyRegistrationWidget::initSessionSelector()
{
        QStringList sessionUids = getSessionList();
        QString defaultValue;
        if(!sessionUids.isEmpty())
                defaultValue = sessionUids.last();
        mSessionSelector = StringProperty::initialize("bronchoscopy_session", "Bronchoscope path", "Select bronchoscope path for registration", defaultValue, sessionUids, QDomNode());

        //TODO: Let mSessionSelector display displaynames instead of uids (StringDataAdapterXml::setDisplayNames)
}

QStringList BronchoscopyRegistrationWidget::getSessionList()
{
        std::vector<RecordSessionPtr> sessions = mServices.acquisitionService->getSessions();
        std::vector<RecordSessionPtr>::iterator it = sessions.begin();
        QStringList sessionUids;

        for(; it != sessions.end(); ++it)
        {
                QString uid = (*it)->getUid();
                sessionUids << uid;
        }

        sessionUids.sort();
        return sessionUids;
}

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

void BronchoscopyRegistrationWidget::initializeTrackingService()
{
        if(mServices.trackingService->getState() < Tool::tsCONFIGURED)
                mServices.trackingService->setState(Tool::tsCONFIGURED);
}

void BronchoscopyRegistrationWidget::processCenterlineSlot()
{
        this->initializeTrackingService();

        if(!mSelectMeshWidget->getMesh())
        {
                reportError("No centerline");
                return;
        }
        vtkPolyDataPtr centerline = mSelectMeshWidget->getMesh()->getVtkPolyData();//input
        Transform3D rMd = mSelectMeshWidget->getMesh()->get_rMd();
        vtkPolyDataPtr processedCenterline;
        if (mUseSubsetOfGenerations->getValue())
                processedCenterline = mBronchoscopyRegistration->processCenterline(centerline, rMd, mMaxNumberOfGenerations->getValue());
        else
                processedCenterline = mBronchoscopyRegistration->processCenterline(centerline, rMd);

        if (!mMesh)
        {
                QString uid = mSelectMeshWidget->getMesh()->getUid() + "_cl%1";
                QString name = mSelectMeshWidget->getMesh()->getName()+" cl_processed%1";
                mMesh = mServices.patientModelService->createSpecificData<Mesh>(uid, name);
        }
        mMesh->setVtkPolyData(processedCenterline);
        mMesh->setColor(QColor(0, 0, 255, 255));
        mServices.patientModelService->insertData(mMesh);
        mServices.visualizationService->autoShowData(mMesh);
}

void BronchoscopyRegistrationWidget::registerSlot()
{
        if(!mBronchoscopyRegistration->isCenterlineProcessed())
        {
                reportError("Centerline not processed");
                return;
        }

        Transform3D old_rMpr = mServices.patientModelService->get_rMpr();//input to registrationAlgorithm
    //std::cout << "rMpr: " << std::endl;
    //std::cout << old_rMpr << std::endl;

        mTool = mSelectToolWidget->getTool();
    if(!mTool)
        mTool = mServices.trackingService->getActiveTool();

    if(!mTool)
    {
        reportError("No tool");
                return;
    }
    std::cout << "Tool name: " << mTool->getName() << std::endl;

        RecordSessionPtr session;
        QString sessionUid = mSessionSelector->getValue();
        if(!sessionUid.isEmpty())
                session = mServices.acquisitionService->getSession(sessionUid);
//      else
//              session = mAcquisition->getLatestSession();

    if(!session)
        reportError("No session");

    TimedTransformMap trackerRecordedData_prMt = RecordSession::getToolHistory_prMt(mTool, session);//input
//    TimedTransformMap trackerRecordedData = mTrackedCenterLine->getRecording();

    if(trackerRecordedData_prMt.size() == 0)
        {
        reportError("No positions");
        return;
    }

        Transform3D new_rMpr;
        double maxDistanceForLocalRegistration = 30; //mm
        if(mUseLocalRegistration->getValue())
                new_rMpr = Transform3D(mBronchoscopyRegistration->runBronchoscopyRegistration(trackerRecordedData_prMt,old_rMpr,maxDistanceForLocalRegistration));
        else
                new_rMpr = Transform3D(mBronchoscopyRegistration->runBronchoscopyRegistration(trackerRecordedData_prMt,old_rMpr,0));

    new_rMpr = new_rMpr*old_rMpr;//output
        mServices.registrationService->applyPatientRegistration(new_rMpr, "Bronchoscopy 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;

    ToolRep3DPtr activeRep3D = getToolRepIn3DView(mTool);
        if(activeRep3D && activeRep3D->getTracer())
        activeRep3D->getTracer()->clear();

        QColor colorGreen = QColor(0, 255, 0, 255);
        activeRep3D->getTracer()->setColor(colorGreen);
    activeRep3D->getTracer()->addManyPositions(trackerRecordedData_prMt);


}

void BronchoscopyRegistrationWidget::acquisitionStarted()
{
    std::cout << "acquisitionStarted" << std::endl;

        mTool = mSelectToolWidget->getTool();
        if(!mTool)
                mTool = mServices.trackingService->getActiveTool();

    ToolRep3DPtr activeRep3D = this->getToolRepIn3DView(mTool);
        if (!activeRep3D)
                return;

        activeRep3D->getTracer()->start();
}
void BronchoscopyRegistrationWidget::acquisitionStopped()
{
    std::cout << "acquisitionStopped" << std::endl;

        this->acquisitionCancelled();
        QString newUid = mServices.acquisitionService->getLatestSession()->getUid();
        QStringList range = mSessionSelector->getValueRange();
        range << newUid;
        mSessionSelector->setValueRange(range);
        mSessionSelector->setValue(newUid);

    mServices.patientModelService->autoSave();

//      this->saveSessions();
}

void BronchoscopyRegistrationWidget::acquisitionCancelled()
{
        ToolRep3DPtr activeRep3D = this->getToolRepIn3DView(mTool);
        if (!activeRep3D)
                return;

        activeRep3D->getTracer()->stop();
}

void BronchoscopyRegistrationWidget::recordedSessionsChanged()
{
        QStringList sessionUids = getSessionList();
        mSessionSelector->setValueRange(sessionUids);
        if(mSessionSelector->getValue().isEmpty() && !sessionUids.isEmpty())
                mSessionSelector->setValue(sessionUids.last());
}

ToolRep3DPtr BronchoscopyRegistrationWidget::getToolRepIn3DView(ToolPtr tool)
{
        RepContainerPtr repContainer = mServices.visualizationService->get3DReps(0, 0);
        if (repContainer)
                return repContainer->findFirst<ToolRep3D>(tool);
        else
                return ToolRep3DPtr();
}

void BronchoscopyRegistrationWidget::obscuredSlot(bool obscured)
{
//      std::cout << "obscuredSlot: " << obscured << std::endl;

    if (!obscured)
        {
                connect(mServices.acquisitionService.get(), &AcquisitionService::started, this, &BronchoscopyRegistrationWidget::acquisitionStarted);
                connect(mServices.acquisitionService.get(), &AcquisitionService::acquisitionStopped, this, &BronchoscopyRegistrationWidget::acquisitionStopped, Qt::QueuedConnection);
                connect(mServices.acquisitionService.get(), &AcquisitionService::cancelled, this, &BronchoscopyRegistrationWidget::acquisitionCancelled);
                connect(mServices.acquisitionService.get(), &AcquisitionService::recordedSessionsChanged, this, &BronchoscopyRegistrationWidget::recordedSessionsChanged);
        return;
        }

        disconnect(mServices.acquisitionService.get(), &AcquisitionService::started, this, &BronchoscopyRegistrationWidget::acquisitionStarted);
        disconnect(mServices.acquisitionService.get(), &AcquisitionService::acquisitionStopped, this, &BronchoscopyRegistrationWidget::acquisitionStopped);
        disconnect(mServices.acquisitionService.get(), &AcquisitionService::cancelled, this, &BronchoscopyRegistrationWidget::acquisitionCancelled);
        disconnect(mServices.acquisitionService.get(), &AcquisitionService::recordedSessionsChanged, this, &BronchoscopyRegistrationWidget::recordedSessionsChanged);

    ToolRep3DPtr activeRep3D = this->getToolRepIn3DView(mTool);
    if (!activeRep3D)
        return;
    //std::cout << "Slot is cleared" << std::endl;
        activeRep3D->getTracer()->clear();
}

void BronchoscopyRegistrationWidget::createMaxNumberOfGenerations(QDomElement root)
{
        mMaxNumberOfGenerations = DoubleProperty::initialize("Max number of generations in centerline", "",
        "Set max number of generations centerline", 4, DoubleRange(0, 10, 1), 0,
                                        root);
        mMaxNumberOfGenerations->setGuiRepresentation(DoublePropertyBase::grSLIDER);
}

void BronchoscopyRegistrationWidget::selectSubsetOfBranches(QDomElement root)
{
        mUseSubsetOfGenerations = BoolProperty::initialize("Select branch generations to be used in registration", "",
                                                                                                                                                        "Select branch generations to be used in registration", false,
                                                                                                                                                                root);
}

void BronchoscopyRegistrationWidget::useLocalRegistration(QDomElement root)
{
        mUseLocalRegistration = BoolProperty::initialize("Use local registration", "",
                                                                                                                                                        "Use local registration", false,
                                                                                                                                                                root);
}

} //namespace cx