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cxRegistrationTransform.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 
35 //#include <QtXML>
36 #include <QDomElement>
37 #include "cxTime.h"
38 #include "cxTypeConversions.h"
39 
40 namespace cx
41 {
42 
43 // --------------------------------------------------------
44 RegistrationHistoryPtr RegistrationHistory::mNull;
45 // --------------------------------------------------------
46 
47 
51 {
52 public:
53  virtual void addXml(QDomNode& parentNode) const
54  {
55  }
56  virtual void parseXml(QDomNode& dataNode)
57  {
58  }
59 
61  {
62  }
63  virtual void setRegistration(const Transform3D& transform)
64  {
65  }
66  virtual void updateRegistration(const QDateTime& oldTime, const RegistrationTransform& newTransform)
67  {
68  }
69 
70  virtual void setParentSpace(const QString& newParent)
71  {
72  }
73  virtual void addParentSpace(const QString& newParent)
74  {
75  }
76  virtual void addParentSpace(const ParentSpace& newParent)
77  {
78  }
79  virtual void updateParentSpace(const QDateTime& oldTime, const ParentSpace& newParent)
80  {
81  }
82 
83  virtual std::vector<RegistrationTransform> getData() const
84  {
85  return std::vector<RegistrationTransform>();
86  }
87  virtual std::vector<ParentSpace> getParentSpaces() const
88  {
89  return std::vector<ParentSpace>();
90  }
91  virtual void removeNewerThan(const QDateTime& timestamp)
92  {
93  }
94  virtual void setActiveTime(const QDateTime& timestamp)
95  {
96  }
97  virtual QDateTime getActiveTime() const
98  {
99  return QDateTime();
100  }
102  {
103  return RegistrationTransform();
104  }
106  {
107  return ParentSpace();
108  }
109  virtual void clear()
110  {
111  }
112  virtual bool isNull() const
113  {
114  return true;
115  }
116 };
117 
118 //---------------------------------------------------------
119 //------- RegistrationTransform -------------------------
120 //---------------------------------------------------------
121 
123  mValue(Transform3D::Identity())
124 {
125 }
126 
127 RegistrationTransform::RegistrationTransform(const Transform3D& value, const QDateTime& timestamp, const QString& type)
128 {
129  mValue = value;
130  mTimestamp = timestamp;
131  mType = type;
132 }
133 
134 void RegistrationTransform::addXml(QDomNode& parentNode) const
135 {
136  QDomDocument doc = parentNode.ownerDocument();
137  QDomElement base = doc.createElement("registrationTransform");
138  parentNode.appendChild(base);
139 
140  base.setAttribute("timestamp", mTimestamp.toString(timestampSecondsFormat()));
141  base.setAttribute("type", mType);
142 
143  if (!mFixed.isEmpty())
144  base.setAttribute("fixed", mFixed);
145  if (!mMoving.isEmpty())
146  base.setAttribute("moving", mMoving);
147 
148  base.appendChild(doc.createTextNode("\n" + qstring_cast(mValue)));
149 }
150 
151 void RegistrationTransform::parseXml(QDomNode& dataNode)
152 {
153  if (dataNode.isNull())
154  return;
155 
156  QDomElement base = dataNode.toElement();
157 
158  mTimestamp = QDateTime::fromString(base.attribute("timestamp"), timestampSecondsFormat());
159  mType = base.attribute("type");
160  mValue = Transform3D::fromString(base.text());
161  mFixed = base.attribute("fixed");
162  mMoving = base.attribute("moving");
163 }
164 
166 {
167  return lhs.mTimestamp < rhs.mTimestamp;
168 }
169 
171 {
172  return similar(lhs.mValue, rhs.mValue, 1.0E-3) && (lhs.mTimestamp == rhs.mTimestamp) && (lhs.mType == rhs.mType);
173 }
174 
175 //---------------------------------------------------------
176 //------- RegistrationTransform -------------------------
177 //---------------------------------------------------------
178 
180 {
181 
182 }
183 
184 ParentSpace::ParentSpace(const QString& uid, const QDateTime& timestamp, const QString& type)
185 {
186  mValue = uid;
187  mTimestamp = timestamp;
188  mType = type;
189 }
190 
191 void ParentSpace::addXml(QDomNode& parentNode) const
192 {
193  QDomDocument doc = parentNode.ownerDocument();
194  QDomElement base = doc.createElement("parentFrame");
195  parentNode.appendChild(base);
196 
197  base.setAttribute("value", mValue);
198  base.setAttribute("timestamp", mTimestamp.toString(timestampSecondsFormat()));
199  base.setAttribute("type", mType);
200 }
201 
202 void ParentSpace::parseXml(QDomNode& dataNode)
203 {
204  if (dataNode.isNull())
205  return;
206 
207  QDomElement base = dataNode.toElement();
208 
209  mTimestamp = QDateTime::fromString(base.attribute("timestamp"), timestampSecondsFormat());
210  mType = base.attribute("type");
211  mValue = base.attribute("value");
212 }
213 
214 bool operator<(const ParentSpace& lhs, const ParentSpace& rhs)
215 {
216  return lhs.mTimestamp < rhs.mTimestamp;
217 }
218 
219 bool operator==(const ParentSpace& lhs, const ParentSpace& rhs)
220 {
221  return (lhs.mValue == rhs.mValue) && (lhs.mTimestamp == rhs.mTimestamp) && (lhs.mType == rhs.mType);
222 }
223 
224 //---------------------------------------------------------
225 //------- RegistrationHistory -------------------------
226 //---------------------------------------------------------
227 
229 {
230  if (!mNull)
231  mNull.reset(new RegistrationHistoryNull);
232  return mNull;
233 }
234 
235 void RegistrationHistory::addXml(QDomNode& parentNode) const
236 {
237  QDomDocument doc = parentNode.ownerDocument();
238  QDomElement base = doc.createElement("registrationHistory");
239  parentNode.appendChild(base);
240 
241  QDomElement currentTime = doc.createElement("currentTime");
242  currentTime.appendChild(doc.createTextNode(mCurrentTime.toString(timestampSecondsFormat())));
243  base.appendChild(currentTime);
244 
245  for (unsigned i = 0; i < mData.size(); ++i)
246  {
247  mData[i].addXml(base);
248  }
249  for (unsigned i = 0; i < mParentSpaces.size(); ++i)
250  {
251  mParentSpaces[i].addXml(base);
252  }
253 }
254 
255 void RegistrationHistory::parseXml(QDomNode& dataNode)
256 {
257  if (dataNode.isNull())
258  return;
259 
260  mData.clear();
261  QString currentTimeRaw = dataNode.namedItem("currentTime").toElement().text();
262  QDateTime currentTime = QDateTime::fromString(currentTimeRaw, timestampSecondsFormat());
263 
264  // iterate over all data elements
265  QDomElement currentElem = dataNode.firstChildElement("registrationTransform");
266  for (; !currentElem.isNull(); currentElem = currentElem.nextSiblingElement("registrationTransform"))
267  {
269  transform.parseXml(currentElem);
270  mData.push_back(transform);
271  }
272 
273  // iterate over all data elements
274  currentElem = dataNode.firstChildElement("parentFrame");
275  for (; !currentElem.isNull(); currentElem = currentElem.nextSiblingElement("parentFrame"))
276  {
278  transform.parseXml(currentElem);
279  mParentSpaces.push_back(transform);
280  }
281 
282  std::sort(mData.begin(), mData.end());
283  std::sort(mParentSpaces.begin(), mParentSpaces.end());
284  setActiveTime(currentTime); // update cache
285 }
286 
288 {
289  mData.clear();
290  mCurrentTime = QDateTime();
291  mTransformCache = RegistrationTransform();
292 }
293 
297 {
298  if (std::count(mData.begin(), mData.end(), transform)) // ignore if already present
299  return;
300 
301  mData.push_back(transform);
302  std::sort(mData.begin(), mData.end());
303  setActiveTime(QDateTime()); // reset to last registration when reregistering.
304 }
305 
309 void RegistrationHistory::updateRegistration(const QDateTime& oldTime, const RegistrationTransform& newTransform)
310 {
311  for (std::vector<RegistrationTransform>::iterator iter = mData.begin(); iter != mData.end(); ++iter)
312  {
313  if ((iter->mTimestamp == oldTime)
314  && oldTime.isValid()
315  && (iter->mType == newTransform.mType))
316  {
317  mData.erase(iter);
318  break;
319  }
320  }
321  this->addRegistration(newTransform);
322 }
323 
328 {
329  bool changed = true;
330  if (similar(getCurrentRegistration().mValue, transform))
331  {
332  changed = false;
333  }
334  mData.clear();
335  this->addRegistration(RegistrationTransform(transform));
336  if (changed)
337  {
338  emit currentChanged();
339  }
340 }
341 
345 void RegistrationHistory::setParentSpace(const QString& newParent)
346 {
347  mParentSpaces.clear();
348  this->addParentSpace(ParentSpace(newParent));
349 }
350 
351 void RegistrationHistory::addParentSpace(const QString& newParent)
352 {
353  this->addParentSpace(ParentSpace(newParent, QDateTime::currentDateTime(), "Set Parent Frame"));
354 }
355 
357 {
358  if (std::count(mParentSpaces.begin(), mParentSpaces.end(), newParent)) // ignore if already present
359  return;
360 
361  mParentSpaces.push_back(newParent);
362  std::sort(mParentSpaces.begin(), mParentSpaces.end());
363  setActiveTime(QDateTime()); // reset to last registration when reregistering.
364 }
365 
366 void RegistrationHistory::updateParentSpace(const QDateTime& oldTime, const ParentSpace& newParent)
367 {
368  for (std::vector<ParentSpace>::iterator iter = mParentSpaces.begin(); iter != mParentSpaces.end(); ++iter)
369  {
370  if (iter->mTimestamp != oldTime)
371  continue;
372  mParentSpaces.erase(iter);
373  break;
374  }
375  this->addParentSpace(newParent);
376 }
377 
379 {
380  return mParentSpaceCache;
381 }
382 
383 std::vector<RegistrationTransform> RegistrationHistory::getData() const
384 {
385  return mData;
386 }
387 
388 std::vector<ParentSpace> RegistrationHistory::getParentSpaces() const
389 {
390  return mParentSpaces;
391 }
392 
393 void RegistrationHistory::removeNewerThan(const QDateTime& timestamp)
394 {
395  if (!timestamp.isValid())
396  return;
397 
398  for (std::vector<RegistrationTransform>::iterator iter = mData.begin(); iter != mData.end();)
399  {
400  if (iter->mTimestamp > timestamp)
401  {
402  std::cout << "RegistrationHistory::removeNewerThan(" << timestamp.toString(timestampSecondsFormatNice())
403  << "): removed [" << iter->mTimestamp.toString(timestampSecondsFormatNice()) << ", " << iter->mType
404  << "]" << std::endl;
405  iter = mData.erase(iter);
406  }
407  else
408  {
409  ++iter;
410  }
411  }
412 
413  for (std::vector<ParentSpace>::iterator iter = mParentSpaces.begin(); iter != mParentSpaces.end();)
414  {
415  if (iter->mTimestamp > timestamp)
416  {
417  std::cout << "RegistrationHistory::removeNewerThan(" << timestamp.toString(timestampSecondsFormatNice())
418  << "): removed parent frame [" << iter->mTimestamp.toString(timestampSecondsFormatNice()) << ", "
419  << iter->mType << "]" << std::endl;
420  iter = mParentSpaces.erase(iter);
421  }
422  else
423  {
424  ++iter;
425  }
426  }
427 
428  setActiveTime(QDateTime());
429 }
430 
431 void RegistrationHistory::setCache(const RegistrationTransform& val, const ParentSpace& parent,
432  const QDateTime& timestamp)
433 {
434  if ((mTransformCache == val) && (mParentSpaceCache == parent) && (mCurrentTime == timestamp))
435  return;
436 
437  mCurrentTime = timestamp;
438  mTransformCache = val;
439  mParentSpaceCache = parent;
440 
441  emit currentChanged();
442 }
443 
447 void RegistrationHistory::setActiveTime(const QDateTime& timestamp)
448 {
450  ParentSpace parent;
451  // set to specified time
452  if (timestamp.isValid())
453  {
454  for (std::vector<RegistrationTransform>::iterator iter = mData.begin(); iter != mData.end(); ++iter)
455  {
456  if (iter->mTimestamp <= timestamp)
457  val = *iter;
458  }
459  for (std::vector<ParentSpace>::iterator iter = mParentSpaces.begin(); iter != mParentSpaces.end(); ++iter)
460  {
461  if (iter->mTimestamp <= timestamp)
462  parent = *iter;
463  }
464  }
465  else
466  {
467  if (!mData.empty())
468  val = mData.back();
469  if (!mParentSpaces.empty())
470  parent = mParentSpaces.back();
471  }
472 
473  setCache(val, parent, timestamp);
474 }
475 
477 {
478  return mCurrentTime;
479 }
480 
482 {
483  return mTransformCache;
484 }
485 
486 } // end namespace cx
487 
QString qstring_cast(const T &val)
QString mValue
parent frame uid
virtual void setRegistration(const Transform3D &transform)
bool operator<(const Landmark &lhs, const Landmark &rhs)
Definition: cxLandmark.cpp:94
virtual std::vector< RegistrationTransform > getData() const
virtual void setParentSpace(const QString &newParent)
DoubleBoundingBox3D transform(const Transform3D &m, const DoubleBoundingBox3D &bb)
virtual ParentSpace getCurrentParentSpace()
boost::shared_ptr< class RegistrationHistory > RegistrationHistoryPtr
Definition: cxDataManager.h:57
Definition of a parent space event.
virtual void addXml(QDomNode &parentNode) const
write internal state to node
static RegistrationHistoryPtr getNullObject()
virtual void setParentSpace(const QString &newParent)
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
QString timestampSecondsFormatNice()
Definition: cxTime.cpp:47
virtual void updateParentSpace(const QDateTime &oldTime, const ParentSpace &newParent)
virtual void setActiveTime(const QDateTime &timestamp)
virtual QDateTime getActiveTime() const
QString timestampSecondsFormat()
Definition: cxTime.cpp:39
virtual void clear()
reset all data loaded from xml
bool similar(const DoubleBoundingBox3D &a, const DoubleBoundingBox3D &b, double tol)
virtual void addXml(QDomNode &parentNode) const
write internal state to node
virtual std::vector< ParentSpace > getParentSpaces() const
virtual void updateRegistration(const QDateTime &oldTime, const RegistrationTransform &newTransform)
QDateTime mTimestamp
time the transform was registrated.
virtual void addParentSpace(const QString &newParent)
QDateTime mTimestamp
time the transform was registrated.
void parseXml(QDomNode &dataNode)
read internal state from node
virtual std::vector< RegistrationTransform > getData() const
Transform3D mValue
value of transform
void addXml(QDomNode &parentNode) const
write internal state to node
virtual QDateTime getActiveTime() const
virtual RegistrationTransform getCurrentRegistration() const
virtual void removeNewerThan(const QDateTime &timestamp)
QString mType
description of the kind if registration (manual, patient, landmark, coregistration etc) ...
void parseXml(QDomNode &dataNode)
read internal state from node
QString mType
description of the kind if registration (manual, patient, landmark, coregistration etc) ...
virtual void removeNewerThan(const QDateTime &timestamp)
virtual void addRegistration(const RegistrationTransform &transform)
virtual void addRegistration(const RegistrationTransform &transform)
virtual ParentSpace getCurrentParentSpace()
A registration event and its transform.
virtual void clear()
reset all data loaded from xml
virtual void updateParentSpace(const QDateTime &oldTime, const ParentSpace &newParent)
bool operator==(const RegistrationTransform &lhs, const RegistrationTransform &rhs)
virtual RegistrationTransform getCurrentRegistration() const
virtual std::vector< ParentSpace > getParentSpaces() const
virtual void parseXml(QDomNode &dataNode)
read internal state from node
virtual void parseXml(QDomNode &dataNode)
read internal state from node
virtual void setActiveTime(const QDateTime &timestamp)
virtual void updateRegistration(const QDateTime &oldTime, const RegistrationTransform &newTransform)
virtual void addParentSpace(const ParentSpace &newParent)
virtual void addParentSpace(const QString &newParent)
void addXml(QDomNode &parentNode) const
write internal state to node
virtual void setRegistration(const Transform3D &transform)
A history of registration events.