CustusX  16.5
An IGT application
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cxRMPCFromPointerWidget.cpp
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1 /*=========================================================================
2 This file is part of CustusX, an Image Guided Therapy Application.
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4 Copyright (c) 2008-2014, SINTEF Department of Medical Technology
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33 
34 #include "cxMesh.h"
35 #include "cxPatientModelService.h"
36 #include "cxRegistrationService.h"
37 #include "cxStringProperty.h"
40 #include "cxRecordTrackingWidget.h"
41 #include <QGroupBox>
44 #include "cxMeshHelpers.h"
45 #include "cxICPWidget.h"
46 #include "cxSpaceListener.h"
47 #include "cxSpaceProvider.h"
48 #include "cxAcquisitionService.h"
50 #include "cxLogger.h"
51 #include "cxTrackingService.h"
52 
53 namespace cx
54 {
56  ICPRegistrationBaseWidget(services, parent, "org_custusx_registration_method_pointcloud_frompointer_widget",
57  "Point Cloud Registration")
58 {
59 }
60 
62 {
63  mSpaceListenerMoving = mServices->spaceProvider()->createListener();
64  mSpaceListenerFixed = mServices->spaceProvider()->createListener();
65  mSpaceListenerMoving->setSpace(mServices->spaceProvider()->getPr());
66  connect(mSpaceListenerMoving.get(), &SpaceListener::changed, this, &RMPCFromPointerWidget::onSpacesChanged);
67  connect(mSpaceListenerFixed.get(), &SpaceListener::changed, this, &RMPCFromPointerWidget::onSpacesChanged);
68 
69  mFixedImage.reset(new StringPropertyRegistrationFixedImage(mServices->registration(), mServices->patient()));
70  mFixedImage->setTypeRegexp("mesh");
71  mFixedImage->setValueName("Select Surface");
72  mFixedImage->setHelp("Select a surface model to register against.");
73 
74  connect(mServices->registration().get(), &RegistrationService::fixedDataChanged,
76 
77  mRecordTrackingWidget = new RecordTrackingWidget(mOptions.descend("recordTracker"),
78  mServices->acquisition(),
79  mServices,
80  "tracker",
81  this);
82  mRecordTrackingWidget->displayToolSelector(false);
83  connect(mRecordTrackingWidget->getSessionSelector().get(), &StringProperty::changed,
85  this->connectAutoRegistration();
86 
88 
89  QVBoxLayout* layout = new QVBoxLayout(this);
90  layout->setMargin(0);
91  layout->addWidget(new LabeledComboBoxWidget(this, mFixedImage));
92 
93  QVBoxLayout* trackLayout = this->createVBoxInGroupBox(layout, "Tracking Recorder");
94  trackLayout->setMargin(0);
95  trackLayout->addWidget(mRecordTrackingWidget);
96  layout->addWidget(mICPWidget);
97  layout->addStretch();
98 
99  this->inputChanged();
100  this->onSettingsChanged();
101 }
102 
103 void RMPCFromPointerWidget::connectAutoRegistration()
104 {
105  // connect queued: we record based on the selected session and not the last one
106  // and must thus wait for the selection to update
107  connect(mRecordTrackingWidget, &RecordTrackingWidget::acquisitionCompleted, this,
108  &RMPCFromPointerWidget::queuedAutoRegistration,
109  Qt::QueuedConnection);
110 }
111 
112 
113 QVBoxLayout* RMPCFromPointerWidget::createVBoxInGroupBox(QVBoxLayout* parent, QString header)
114 {
115  QWidget* widget = new QWidget(this);
116  QVBoxLayout* layout = new QVBoxLayout(widget);
117  layout->setMargin(0);
118 
119  QGroupBox* groupBox = this->wrapInGroupBox(widget, header);
120  parent->addWidget(groupBox);
121 
122  return layout;
123 }
124 
126 {
127  return QString();
128 }
129 
131 {
132  DataPtr fixed = mServices->registration()->getFixedData();
133  MeshPtr moving = this->getTrackerDataAsMesh();
134  QString logPath = mServices->patient()->getActivePatientFolder() + "/Logs/";
135 
136  mRegistrator->initialize(moving, fixed, logPath);
137 }
138 
139 MeshPtr RMPCFromPointerWidget::getTrackerDataAsMesh()
140 {
141  Transform3D rMpr = mServices->patient()->get_rMpr();
142 
143  TimedTransformMap trackerRecordedData_prMt = mRecordTrackingWidget->getSelectRecordSession()->getRecordedTrackerData_prMt();
144  vtkPolyDataPtr trackerdata_r = polydataFromTransforms(trackerRecordedData_prMt, rMpr);
145 
146  MeshPtr moving(new Mesh("tracker_points"));
147  moving->setVtkPolyData(trackerdata_r);
148  return moving;
149 }
150 
152 {
153  if (mObscuredListener->isObscured())
154  return;
155 
156  DataPtr fixed = mServices->registration()->getFixedData();
157  mSpaceListenerFixed->setSpace(mServices->spaceProvider()->getD(fixed));
158 
159  this->onSpacesChanged();
160  this->setModified();
161 }
162 
163 void RMPCFromPointerWidget::queuedAutoRegistration()
164 {
165  if (!mObscuredListener->isObscured())
166  {
167  this->registerSlot();
168  }
169 }
170 
172 {
173  ToolPtr tool = mRecordTrackingWidget->getSelectRecordSession()->getTool();
174  Transform3D rMpr = mServices->patient()->get_rMpr();
175  Transform3D new_rMpr = delta*rMpr;//output
176  mServices->registration()->setLastRegistrationTime(QDateTime::currentDateTime());//Instead of restart
177  QString text = QString("Contour from %1").arg(tool->getName());
178  mServices->registration()->applyPatientRegistration(new_rMpr, text);
179 }
180 
182 {
183  this->inputChanged();
184 }
185 
186 
187 
188 } //namespace cx
A mesh data set.
Definition: cxMesh.h:61
boost::shared_ptr< class RegServices > RegServicesPtr
Definition: cxRegServices.h:41
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
virtual void applyRegistration(Transform3D delta)
QGroupBox * wrapInGroupBox(QWidget *base, QString name)
Composite widget for string selection.
void fixedDataChanged(QString uid)
boost::shared_ptr< class Data > DataPtr
RMPCFromPointerWidget(RegServicesPtr services, QWidget *parent)
void activeToolChanged(const QString &uId)
vtkSmartPointer< class vtkPolyData > vtkPolyDataPtr
boost::shared_ptr< class WidgetObscuredListener > mObscuredListener
vtkPolyDataPtr polydataFromTransforms(TimedTransformMap transformMap_prMt, Transform3D rMpr)
SelectRecordSessionPtr getSelectRecordSession()
void changed()
emit when the underlying data value is changed: The user interface will be updated.
virtual QString defaultWhatsThis() const
void acquisitionCompleted()
aquisition complete, and widget internal state is updated accordingly
boost::shared_ptr< class Mesh > MeshPtr
std::map< double, Transform3D > TimedTransformMap
XmlOptionFile descend(QString element) const
step one level down in the xml tree
boost::shared_ptr< class Tool > ToolPtr