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cxRegistrationApplicator.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 
34 
35 #include "cxData.h"
36 #include "cxTypeConversions.h"
37 #include "cxLogger.h"
38 
40 #include "cxFrameForest.h"
41 
42 
43 
44 namespace cx
45 {
46 
47 RegistrationApplicator::RegistrationApplicator(const std::map<QString, DataPtr> &source) :
48  mSource(source)
49 {
50 
51 }
52 
54 {
55 
56 }
57 
63 void RegistrationApplicator::updateRegistration(QDateTime oldTime, RegistrationTransform delta_pre_rMd, DataPtr movingData, bool silent)
64 {
65  FrameForest forest(mSource);
66  QDomNode moving = forest.getNode(movingData->getUid());
67  QDomNode fixed = forest.getNode(delta_pre_rMd.mFixed);
68 
69  // if no parent, assume this is an operation on the moving image, thus set fixed to its parent.
70  if (delta_pre_rMd.mFixed == "")
71  {
72  fixed = forest.getNode(movingData->getParentSpace());
73  }
74  QDomNode movingBase = forest.getOldestAncestorNotCommonToRef(moving, fixed);
75 
76  std::vector<DataPtr> allMovingData = forest.getDataFromDescendantsAndSelf(movingBase);
77 
78  if(!silent)
79  report(QString(""
80  "Update Registration using\n"
81  "\tFixed:\t%1\n"
82  "\tMoving:\t%2\n"
83  "\tDelta matrix (rMd'=Delta*rMd)\n"
84  "%3")
85  .arg(delta_pre_rMd.mFixed)
86  .arg(movingData->getUid())
87  .arg(qstring_cast(delta_pre_rMd.mValue)));
88 
89  this->updateTransform(oldTime, allMovingData, delta_pre_rMd, silent);
90 
91  // reconnect only if master and target are unconnected, i.e. doesnt share a common ancestor.
92  // If we are registrating inside an already connected tree we only want to change transforms,
93  // not change the topology of the tree.
94  if (forest.getOldestAncestor(moving) != forest.getOldestAncestor(fixed))
95  {
96  // connect the target to the master's ancestor, i.e. replace targetBase with masterAncestor:
97 
98  QDomNode fixedAncestor = forest.getOldestAncestor(fixed);
99  QString fixedAncestorUid = fixedAncestor.toElement().tagName();
100 
101  QString newFixedSpace = fixedAncestorUid;
102 
103  // if fixedAncestor is a data, insert a pure space above it
104  if (mSource.count(fixedAncestorUid) && mSource[fixedAncestorUid]->getParentSpace()=="")
105  {
106  newFixedSpace = this->generateNewSpaceUid();
107  ParentSpace newParentSpace(newFixedSpace, delta_pre_rMd.mTimestamp, delta_pre_rMd.mType);
108  this->changeParentSpace(oldTime, mSource[fixedAncestorUid], newParentSpace);
109  }
110 
111  QString movingBaseUid = movingBase.toElement().tagName();
112  // if movingBaseUid is a data, then move the space above it
113  if (mSource.count(movingBaseUid))
114  {
115  movingBaseUid = mSource[movingBaseUid]->getParentSpace();
116  }
117 
118  // change parent space of all moving spaces connected to base
119  ParentSpace newParentSpace(newFixedSpace, delta_pre_rMd.mTimestamp, delta_pre_rMd.mType);
120  this->changeParentSpace(oldTime, allMovingData, movingBaseUid, newParentSpace);
121  }
122 }
123 
124 QString RegistrationApplicator::generateNewSpaceUid() const
125 {
126  int max = 0;
127  std::map<QString, DataPtr>::const_iterator iter;
128  for (iter = mSource.begin(); iter != mSource.end(); ++iter)
129  {
130  QStringList parentList = qstring_cast(iter->second->getParentSpace()).split("_");
131  if (parentList.size() < 2)
132  continue;
133  max = std::max(max, parentList[1].toInt());
134  }
135  QString parentFrame = "frame_" + qstring_cast(max + 1);
136  return parentFrame;
137 }
138 
139 void RegistrationApplicator::updateTransform(QDateTime oldTime, std::vector<DataPtr> data, RegistrationTransform delta_pre_rMd, bool silent)
140 {
141  // update the transform on all target data:
142  for (unsigned i=0; i<data.size(); ++i)
143  {
144  RegistrationTransform newTransform = delta_pre_rMd;
145  newTransform.mValue = delta_pre_rMd.mValue * data[i]->get_rMd();
146  data[i]->get_rMd_History()->updateRegistration(oldTime, newTransform);
147 
148  if(!silent)
149  report("Updated registration of data " + data[i]->getName());
150  }
151 }
152 
153 void RegistrationApplicator::changeParentSpace(QDateTime oldTime, std::vector<DataPtr> data, QString oldParentSpace, ParentSpace newParentSpace)
154 {
155  for (unsigned i=0; i<data.size(); ++i)
156  {
157  if (data[i]->getParentSpace() != oldParentSpace)
158  continue;
159  this->changeParentSpace(oldTime, data[i], newParentSpace);
160  }
161 }
162 
163 void RegistrationApplicator::changeParentSpace(QDateTime oldTime, DataPtr data, ParentSpace newParentSpace)
164 {
165  report(QString("Reset parent frame of %1 from [%2] to [%3].")
166  .arg(data->getName())
167  .arg(data->getParentSpace())
168  .arg(newParentSpace.mValue));
169 
170  data->get_rMd_History()->updateParentSpace(oldTime, newParentSpace);
171 }
172 
173 } // namespace cx
QString qstring_cast(const T &val)
QDomNode getOldestAncestor(QDomNode node)
Definition of a parent space event.
A graph combining Space dependencies between all Data.Relations between coordinate spaces among Data ...
Definition: cxFrameForest.h:85
virtual void updateRegistration(QDateTime oldTime, RegistrationTransform deltaTransform, DataPtr data, bool silent=false)
std::vector< DataPtr > getDataFromDescendantsAndSelf(QDomNode node)
boost::shared_ptr< class Data > DataPtr
RegistrationApplicator(const std::map< QString, DataPtr > &source)
QDateTime mTimestamp
time the transform was registrated.
Transform3D mValue
value of transform
QDomNode getNode(QString frame)
QString mType
description of the kind if registration (manual, patient, landmark, coregistration etc) ...
A registration event and its transform.
void report(QString msg)
Definition: cxLogger.cpp:90
QDomNode getOldestAncestorNotCommonToRef(QDomNode child, QDomNode ref)