cxTrackedStream.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 "cxTrackedStream.h"

#include <vtkImageData.h>

#include "cxTool.h"
#include "cxRegistrationTransform.h"
#include "cxVideoSource.h"

#include "cxProbeSector.h"
#include "cxSpaceProvider.h"

namespace cx
{

TrackedStreamPtr TrackedStream::create(const QString &uid, const QString &name)
{
        return TrackedStreamPtr(new TrackedStream(uid, name, ToolPtr(), VideoSourcePtr()));
}

TrackedStream::TrackedStream(const QString& uid, const QString& name, const ToolPtr &probe, const VideoSourcePtr &videosource) :
        Data(uid, name), mProbeTool(probe), mVideoSource(VideoSourcePtr()),
        mImage(ImagePtr()),
        mSpaceProvider(SpaceProviderPtr())
{
        if(mProbeTool)
                emit newTool(mProbeTool);

        setVideoSource(videosource);
}

TrackedStream::~TrackedStream()
{
        if(mVideoSource)
        {
                disconnect(mVideoSource.get(), &VideoSource::newFrame, this, &TrackedStream::newFrameSlot);
                disconnect(mVideoSource.get(), &VideoSource::streaming, this, &TrackedStream::streaming);
        }
}

void TrackedStream::setProbeTool(const ToolPtr &probeTool)
{
        if(mProbeTool)
                disconnect(mProbeTool.get(), &Tool::toolTransformAndTimestamp, this, &TrackedStream::toolTransformAndTimestamp);

        mProbeTool = probeTool;
        emit newTool(mProbeTool);

        if(mProbeTool)
                connect(mProbeTool.get(), &Tool::toolTransformAndTimestamp, this, &TrackedStream::toolTransformAndTimestamp);
}

void TrackedStream::toolTransformAndTimestamp(Transform3D prMt, double timestamp)
{
        //tMu calculation in ProbeSector differ from the one used here
//      Transform3D tMu = mProbeDefinition.get_tMu();
        Transform3D tMu = this->get_tMu();
        Transform3D rMpr = mSpaceProvider->get_rMpr();
        Transform3D rMu = rMpr * prMt * tMu;

        if (mImage)
                mImage->get_rMd_History()->setRegistration(rMu);
        emit newPosition();
}

Transform3D TrackedStream::get_tMu()
{
        //Made tMu by copying and modifying code from ProbeSector::get_tMu()
        QString streamUid = mVideoSource->getUid();
        ProbeDefinition probeDefinition = mProbeTool->getProbe()->getProbeDefinition(streamUid);
        Vector3D origin_p = probeDefinition.getOrigin_p();
        Vector3D spacing = probeDefinition.getSpacing();
        Vector3D origin_u(origin_p[0]*spacing[0], origin_p[1]*spacing[1], origin_p[2]*spacing[2]);

        Transform3D Rx = createTransformRotateX(M_PI / 2.0);
        Transform3D Ry = createTransformRotateY(-M_PI / 2.0);
        Transform3D R = (Rx * Ry);
        Transform3D T = createTransformTranslate(-origin_u);

        Transform3D tMu = R * T;
        return tMu;
}

ToolPtr TrackedStream::getProbeTool()
{
        return mProbeTool;
}

void TrackedStream::setVideoSource(const VideoSourcePtr &videoSource)
{
        if(mVideoSource)
        {
                disconnect(mVideoSource.get(), &VideoSource::newFrame, this, &TrackedStream::newFrameSlot);
                disconnect(mVideoSource.get(), &VideoSource::streaming, this, &TrackedStream::streaming);
        }

        mVideoSource = videoSource;
        emit streamChanged(this->getUid());
        emit newVideoSource(mVideoSource);

        if(mVideoSource)
        {
                connect(mVideoSource.get(), &VideoSource::newFrame, this, &TrackedStream::newFrameSlot);
                connect(mVideoSource.get(), &VideoSource::streaming, this, &TrackedStream::streaming);
        }
}

void TrackedStream::newFrameSlot()
{
        //TODO: Check if we need to turn this on/off
        if (mImage && mVideoSource && mVideoSource->isStreaming())
        {
                mImage->setVtkImageData(mVideoSource->getVtkImageData(), false);
                emit newFrame();
        }
}

VideoSourcePtr TrackedStream::getVideoSource()
{
        return mVideoSource;
}

void TrackedStream::setSpaceProvider(SpaceProviderPtr spaceProvider)
{
        mSpaceProvider = spaceProvider;
}

void TrackedStream::addXml(QDomNode &dataNode)
{
        Data::addXml(dataNode);
}

void TrackedStream::parseXml(QDomNode &dataNode)
{
        Data::parseXml(dataNode);
}

DoubleBoundingBox3D TrackedStream::boundingBox() const
{
        DoubleBoundingBox3D bounds;
        if(this->hasVideo())
                bounds = DoubleBoundingBox3D(mVideoSource->getVtkImageData()->GetBounds());
        return bounds;
}

QString TrackedStream::getType() const
{
        return getTypeName();
}

QString TrackedStream::getTypeName()
{
        return "trackedStream";
}

ImagePtr TrackedStream::getChangingImage()
{
        if(!mVideoSource)
                return ImagePtr();
        if (!mImage)
                mImage = ImagePtr(new Image(this->getUid()+"_TrackedStreamHelper", mVideoSource->getVtkImageData(), this->getName()+"_TrackedStreamHelper"));
        return mImage;
}

bool TrackedStream::is3D()
{
        if(this->hasVideo() && ( mVideoSource->getVtkImageData()->GetDataDimension() == 3) )
                return true;
        else
                return false;
}

bool TrackedStream::is2D()
{
        if(this->hasVideo() && ( mVideoSource->getVtkImageData()->GetDataDimension() == 2) )
                return true;
        else
                return false;
}

bool TrackedStream::hasVideo() const
{
        if(!mVideoSource || !mVideoSource->getVtkImageData())
                return false;
        return true;
}

bool TrackedStream::isStreaming() const
{
        if (this->hasVideo())
                return mVideoSource->isStreaming();
        return false;
}

} //cx